A tower-climbing robot based on zero-value detection

Abstract

This invention relates to the field of tower climbing and maintenance operations for power transmission lines, and discloses a tower climbing robot based on zero-value detection. The robot includes two rotatably connected bases and a control system for detection and control. A through-screw motor is fixed inside each base. An adjustment assembly is provided on the outer wall of each connecting block. The adjustment assembly includes brackets rotatably connected to both sides of the connecting block. A clamping assembly is provided on the upper side of each bracket. The clamping assembly includes a clamping shell rotatably connected to the upper side of the brackets and insulating grippers rotatably connected to the inner wall of the clamping shell. By adjusting the angle and direction of the insulating grippers through the adjustment assembly, the two insulating grippers can move alternately, achieving efficient tower climbing. Furthermore, by clamping the ends of the insulator strings with the insulating grippers and by opening and closing the insulating grippers between the two bases, in conjunction with the adjustment of the adjustment assembly, non-destructive and efficient zero-value detection of the insulator strings is achieved.

Description

Technical Field

[0001] This invention relates to the field of tower climbing and maintenance operations for power transmission lines, specifically to a tower climbing robot based on zero-value detection. Background Technology

[0002] Porcelain insulators are widely used in power towers, and their large numbers and complex operating environment significantly impact the safe operation of the power grid. Exposed to the outdoors for extended periods, insulators are subjected to high-voltage electric field stress, wind, rain, lightning strikes, pollution, and temperature differences, making them prone to insulation degradation, decreased mechanical strength, and internal discharge faults. Therefore, regular zero-value testing, visual inspection, and cleaning of insulator strings are necessary. Existing insulator string inspection robots are mainly divided into two categories based on their gripping and movement methods: one type encircles the insulating sheets of the insulator string, moving based on the friction between the robot and the insulating sheets; the other type grips the steel caps, without contacting the insulating sheets, with the grippers moving alternately.

[0003] However, the coating on the surface of the insulator sheet is relatively fragile. When the inspection robot moves along the insulator string by hugging the insulator sheet, it may cause damage to the surface of the insulator sheet.

[0004] Additionally, a search revealed Chinese Patent Publication No. CN117970060B, which discloses a crawling robot for zero-value detection of insulator strings. The robot includes a guide rail base, a clamping assembly, and a zero-value detection device. The clamping assembly comprises a mounting base, two support arms, and two insulating claws. The two support arms are rotatably connected to the mounting base. The two insulating claws are rotatably connected to the two support arms. The rotation axis of the insulating claws is perpendicular to the length direction of the transmission line. Each of two adjacent clamping assemblies includes a probe mounted on one of the insulating claws. The probes are electrically connected to the zero-value detection device. This method simultaneously clamps the steel cap and detects the insulator string, reducing the robot's weight and size. The insulating claws grip the steel cap directly, avoiding contact with the insulator sheets and preventing damage to the surface coating of the insulator sheets. The reaction force of the insulating claws relative to the support arms increases the contact area with the steel cap, thereby improving stability.

[0005] The aforementioned patented solution involves sequentially gripping each steel cap, with the robot not contacting the insulating sheet and the grippers moving alternately. However, it suffers from the following problems: First, existing ceramic insulator steel caps are made of cast iron, with a bowl-shaped arc surface. They are prone to slipping during gripping and are highly susceptible to corrosion. Therefore, under the premise of requiring regular inspections, this frequent inspection method of gripping the steel caps in high-altitude working environments, due to the weight of the device and the curvature of the insulator string, can scratch the anti-corrosion and anti-rust coating of the steel caps, leading to a reduction in the lifespan of the insulator string. Second, existing automatic inspection devices require manual operation of drones for hoisting and then remote operation of the machine for inspection, which cannot achieve automatic tower climbing inspection and has low efficiency. Summary of the Invention

[0006] To address the shortcomings of existing technologies and solve the aforementioned technical problems, this invention provides a tower-climbing robot based on zero-value detection.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a tower-climbing robot based on zero-value detection, comprising two rotatably connected bases, a control system for detection and control, and a zero-value detection device. The zero-value detection device includes a device body disposed inside the base and a detection probe electrically connected to the device body. A through-screw motor is fixed inside the base. Connecting blocks are provided at one end of each of the two through-screw motors and between the two bases. An adjustment assembly is provided on the outer wall of the connecting block. The adjustment assembly includes a bracket rotatably connected to both sides of the connecting block. A clamping assembly is provided on the upper side of the bracket. The clamping assembly includes a clamping shell rotatably connected to the upper side of the bracket and an insulating gripper rotatably connected to the inner wall of the clamping shell. The detection probe of the zero-value detection device is disposed on the insulating gripper between the two bases.

[0008] Preferably, a rotating rod is provided between the outer walls of the two bases, and an electric push rod is fixed to the outer wall of the rotating rod. A steering assembly is provided at the output end of the electric push rod. The steering assembly includes a steering seat. One side of the steering seat is provided on the outer wall of the output end of the electric push rod, and the other side of the steering seat is rotatably connected to the outer wall of the connecting block between the two bases.

[0009] Preferably, both ends of the rotating rod are fixed with worm gears, the inner wall of the base is fixed with a motor three, and the output end of the motor three is fixed with a worm gear that meshes with the tooth end of the worm gear.

[0010] Preferably, the detection probe of the zero-value detection device slides through the outer wall of the insulating gripper. An electromagnet is provided inside the insulating gripper to magnetically attract the detection head of the zero-value detection device. A spring is fixed between the outer wall of the electromagnet and the outer wall of the detection probe. A winding device is installed on the inner wall of the insulating gripper for winding up the wire bundle between the zero-value detection device body and its detection probe.

[0011] Preferably, a pressure sensor is slidably connected to the outer wall of the detection probe of the zero-value detection device, and the pressure sensor is installed on the outer wall of the insulating gripper.

[0012] Preferably, an electric push rod two is fixed to the inner wall of the clamping housing, and a slide rod is fixedly provided at the output end of the electric push rod two. The outer wall of the slide rod is slidably connected to the inner wall of the insulating gripper.

[0013] Preferably, support components are provided on both sides of the clamping housing. The support components include a support plate rotatably connected to the outer wall of the clamping housing, a guide block is fixed to the outer wall of the insulating gripper, and a guide plate is provided on the outer wall of the support plate and slidably connected to the guide block.

[0014] Preferably, the inner wall of the clamping housing is slidably connected to a locking block made of iron material, a spring is fixed between the outer wall of the locking block and the inner wall of the clamping housing, the outer wall of the support plate is provided with a locking groove for cooperating with the locking block, and the outer wall of the insulating gripper is fixed with a magnetic block that is magnetically attracted to the locking block.

[0015] Preferably, an electromagnet is fixed to the inner wall of the clamping housing, and a locking rod is attached to one end of the electromagnet. One end of the locking rod is slidably connected to the inner wall of the guide plate, and the guide plate is rotatably connected to the outer wall of the support plate through a bidirectional spring hinge.

[0016] Preferably, the control system includes a visual recognition module and a ranging and obstacle avoidance module fixed to the outer wall of the clamping housing, as well as a control module. The control module integrates a motion control unit, a data processing unit, a wireless communication unit, an attitude and inertial measurement module, an electromagnetic compatibility circuit, and a fault protection circuit, and is electrically connected to each electronic control module.

[0017] Working principle: When in use, the through screw motor is fully extended. By adjusting the components, the bracket angle and the horizontal rotation of the clamping components can be adjusted. After the control system is positioned, one side of the insulated gripper clamps the tower wall to support the machine body. Then, the single-sided through screw motor drives the base to move upward. After the other side of the insulated gripper firmly grasps the tower wall, the front side is released, and the other side of the through screw motor drives the base to move upward again. The two sides alternately extend and retract to clamp, realizing continuous and efficient tower climbing.

[0018] When performing vertical insulator string testing, the control system drives the adjustment component to make one side of the insulating gripper hold the upper end of the insulator string, the base moves from top to bottom, the middle adjustment component adjusts the posture of the insulating gripper, and the zero-value detection device tests the insulator piece by piece. The insulator does not contact the steel cap throughout the process, thus avoiding wear on the steel cap.

[0019] When performing horizontal insulator string inspection, the insulating grippers on both sides clamp the ends of the two horizontal insulator strings respectively, with the base positioned below and the middle insulating gripper between the two strings. By adjusting the inspection probe through the adjustment component, the insulators on both sides are inspected alternately and synchronously, thereby enabling the robot to achieve efficient zero-value detection.

[0020] This invention provides a tower-climbing robot based on zero-value detection. It has the following beneficial effects:

[0021] 1. This invention drives the clamping assembly to move by extending through the lead screw motor, and adjusts the angle and direction of the insulating grippers by adjusting the assembly, so that the two insulating grippers can move alternately to achieve efficient tower climbing; and provides support for the robot by clamping the end of the insulator string by the insulating grippers, and achieves non-destructive and efficient zero-value detection of the insulator string by opening and closing the insulating grippers between the two bases and adjusting the assembly.

[0022] 2. This invention enables the two bases to rotate relative to each other by driving the three output ends of the motor, and by adjusting the components, it increases the applicability of the robot in detecting insulator strings. Furthermore, by driving the one output end of the electric push rod, it increases the distance between the base and the tower wall, thereby enabling the robot to climb towers and overcome obstacles.

[0023] 3. This invention uses electromagnet two to attract the detection probe and make it retract into the clamping housing by overcoming the elastic potential energy of spring two, and with the help of a wire winder, the wire bundle is promptly stored, thereby helping to improve the protection of the zero-value detection device.

[0024] 4. This invention drives the support plate to rotate by rotating the insulating gripper, thereby increasing the contact area between the insulating gripper and the end of the insulator string. The support plate is limited and locked by the cooperation of the magnetic block and the locking block, which helps to improve the stability during zero value detection. The cooperation of the electromagnet and the locking rod also helps to improve the practicality of the robot. Attached Figure Description

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a schematic diagram of the vertical measurement of the present invention;

[0027] Figure 3 This is a schematic diagram of side-by-side measurement during the extended measurement process of the present invention;

[0028] Figure 4 This is a schematic diagram of a single measurement during the extended measurement of the present invention;

[0029] Figure 5 This is a schematic diagram of the interior of the base of the present invention;

[0030] Figure 6 This is a three-dimensional schematic diagram of the steering component of the present invention;

[0031] Figure 7 This is a three-dimensional schematic diagram of the adjustment component of the present invention;

[0032] Figure 8 This is a schematic cross-sectional view of the clamping housing of the present invention;

[0033] Figure 9 This is a three-dimensional structural diagram of the clamping component of the present invention;

[0034] Figure 10 This is a three-dimensional structural diagram of the support component of the present invention;

[0035] Figure 11 for Figure 10 Enlarged view of point A in the middle;

[0036] Figure 12 for Figure 10 Enlarged diagram of point B in the middle.

[0037] Among them, 1. base; 2. through-screw motor; 3. connecting block;

[0038] 4. Adjustment assembly; 40. Bracket; 41. Linkage 1; 42. Gear 1; 43. Gear 2; 44. Motor 1; 45. Motor 2; 46. Gear 3; 47. Gear 4; 48. Linkage 2;

[0039] 5. Clamping assembly; 50. Clamping housing; 51. Insulating gripper; 52. Electric push rod II; 53. Slide rod;

[0040] 6. Zero-value detection device;

[0041] 7. Steering assembly; 70. Steering seat; 71. Worm gear; 72. Worm; 73. Motor III;

[0042] 8. Electric linear actuator; 9. Visual recognition module; 10. Distance measurement and obstacle avoidance module; 11. Pressure sensor; 12. Rotating rod;

[0043] 13. Support assembly; 130. Support plate; 131. Guide block; 132. Guide plate; 133. Locking block; 134. Spring 1; 135. Locking rod; 136. Electromagnet 1;

[0044] 14. Winding reel; 15. Electromagnet II; 16. Spring II; 17. Control module. Detailed Implementation

[0045] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1, please refer to the appendix. Figure 1 and attached Figure 2 and appendix Figure 5 - Appendix Figure 8 This invention provides a tower-climbing robot based on zero-value detection. In power towers, insulator strings are arranged horizontally and vertically. Horizontally placed insulator strings are typically arranged in pairs side-by-side, while vertically placed insulator strings are typically arranged individually. Furthermore, the adjustment assembly 4 includes a second connecting rod 48 rotatably connected between the side walls of the support 40. The outer wall of the second connecting rod 48 penetrates and is fixed to the inner wall of the connecting block 3. A gear 47 is fixed to the outer wall of the second connecting rod 48, and a second motor is fixed to the inner wall of the support 40. 45. The output end of motor 2 45 is fixed with gear 3 46 that meshes with the tooth end of gear 47. The lower side of clamping housing 50 is fixed with connecting rod 1 41. The lower end of connecting rod 1 41 passes through the upper side of bracket 40. Gear 1 42 is fixed on the outer wall of connecting rod 1 41. Motor 1 44 is fixed on the inner top wall of bracket 40. The output end of motor 1 44 is fixed with gear 2 43 that meshes with the tooth end of gear 1 42. A guide limit rod for moving through the output end of lead screw motor 2 is provided between base 1 and connecting block 3. All of these are existing technologies.

[0047] A tower-climbing robot based on zero-value detection includes two rotatably connected bases 1, a control system for detection and control, and a zero-value detection device 6. The zero-value detection device 6 includes a device body disposed inside the base 1 and a detection probe electrically connected to the device body. A through-screw motor 2 is fixed inside the base 1. A connecting block 3 is provided at one end of each of the two through-screw motors 2 and between the two bases 1. An adjustment component 4 is provided on the outer wall of the connecting block 3. The adjustment component 4 includes a bracket 40 rotatably connected to both sides of the connecting block 3. A clamping component 5 is provided on the upper side of the bracket 40. The clamping component 5 includes a clamping housing 50 rotatably connected to the upper side of the bracket 40 and an insulating gripper 51 rotatably connected to the inner wall of the clamping housing 50. The detection probe of the zero-value detection device 6 is disposed on the insulating gripper 51 between the two bases 1.

[0048] Specifically, during tower climbing, two bases 1 are set side by side at the bottom of the tower, and the output end of the through-screw motor 2 in the initial state extends fully upward. Through the cooperation of the control system and the adjustment of a set of adjustment components 4 on it: that is, the output end of motor 2 45 drives gear 3 46 to rotate, and through the cooperation of gear 4 47, force is applied to connecting rod 2 48 and acts on connecting block 3. Through the cooperation of through-screw motor 2, the angle between the support 40 and through-screw motor 2 is deflected, thereby realizing the angle adjustment of clamping component 5. And through the output end of motor 1 44, the output end drives gear 2 43 to rotate, and through the cooperation of gear 1 42 and connecting rod 1 41, the clamping component 5 is driven to rotate horizontally. Thus, through the above adjustment and cooperation, and through the monitoring of the position of the insulating gripper 51 by the control system, the insulating gripper 51 on one of the clamping shells 50 grabs the tower wall and supports the robot itself.

[0049] Then, a through-screw motor 2 drives the base 1 to move up and get close to a clamping shell 50. At this time, the upper end of the clamping shell 50 of the other through-screw motor 2 is higher than the base 1 by one screw distance. After the other insulating claw 51 on it grabs the tower wall, the insulating claw 51 is released. The other through-screw motor 2 drives the base 1 to move up and get close to another clamping shell 50. During this process, a through-screw motor 2 drives synchronously, so that one clamping shell 50 moves up away from the base 1 to a distance of one screw. By repeating this process, the robot can achieve efficient tower climbing.

[0050] When inspecting vertically arranged insulator strings, the control system controls the adjustment component 4 to make one of the insulating grippers 51 grasp the upper end of the insulator string. Driven by the through screw motor 2, the base 1 moves from top to bottom. At the same time, the adjustment component 4 located between the two bases 1 adjusts the position of the corresponding insulating gripper 51, causing it to deflect. This allows the detection probe of the zero-value detection device 6 on it to inspect each insulator one by one. This enables the robot to inspect vertically arranged insulators. During the inspection process, the robot itself does not come into contact with the insulators and steel caps, thus avoiding the problem of frequent inspections causing the steel caps to break and lose their protective function.

[0051] When inspecting horizontally positioned insulator strings, the control system, through the cooperation of multiple adjusting components 4 and insulating grippers 51, ensures that the two insulating grippers 51 respectively grasp the ends of the two insulator strings, with the base 1 positioned between the insulator strings and the insulating grippers 51. At this time, the two bases 1 are directly below the two insulator strings, and the insulating grippers 51 between them are located in the middle of the two insulator strings. Through the cooperation of the adjusting components 4, the position of the insulating grippers 51 is adjusted, allowing the detection probes on the insulating grippers 51 to inspect the insulator strings on both sides. Driven by the through-screw motor 2, the base 1 can move along the insulator strings from one end to the other, thus realizing the robot's efficient inspection function. Similarly, during the inspection process, the robot will not touch the insulators or steel caps. After the inspection is completed, the control system controls the robot to reverse and repeat the tower climbing action for a rapid return.

[0052] Example 2, please refer to the appendix. Figure 1 - Appendix Figure 6 Based on the above embodiments, the robot climbs the tower by moving sequentially using two insulated grippers 51. However, there are too many obstacles on the power tower, so it is necessary to detour when crossing obstacles, which makes the tower climbing efficiency low. This embodiment proposes the following solution to solve the above problems: A rotating rod 12 is provided between the outer walls of the two bases 1. An electric push rod 8 is fixed to the outer wall of the rotating rod 12. A steering assembly 7 is provided at the output end of the electric push rod 8. The steering assembly 7 includes a steering seat 70. One side of the steering seat 70 is provided on the outer wall of the output end of the electric push rod 8. The other side of the steering seat 70 is rotatably connected to the outer wall of the connecting block 3 between the two bases 1. Worm gears 71 are fixed at both ends of the rotating rod 12. A motor 73 is fixed to the inner wall of the base 1. A worm 72 that meshes with the tooth end of the worm gear 71 is fixed to the output end of the motor 73.

[0053] Specifically, when overcoming obstacles, the adjustment component 4 adjusts the insulating gripper 51 between the two bases 1 to grip the tower wall, while the other two insulating grippers 51 move to a position close to the base 1. Then, driven by the output end of the electric push rod 8, the distance between the base 1 and the tower is increased until the two insulating grippers 51 can overcome the obstacle. Then, driven by the through screw motor 2, one of the insulating grippers 51 moves upward by one screw distance. Then, through the cooperation of the adjustment component 4 between the two bases 1, the angle of the base 1 is adjusted so that the adjustment component 4 on the upper insulating gripper 51 can grip the tower wall. Then, the insulating gripper 51 between the two bases 1 releases the tower wall, and the through screw motor 2 drives the base 1 to move upward at a certain angle to overcome the obstacle. After that, through the cooperation of the adjustment component 4 on the insulating gripper 51, the base 1 moves back close to the tower wall to climb the tower, thus realizing the obstacle-crossing function of the robot.

[0054] Furthermore, when switching to a horizontal state, the above embodiments require multiple adjustments of the adjustment components 4 and the insulating grippers 51 to complete the state adjustment, which is inefficient. Therefore, unlike the above embodiments, this embodiment can use the insulating grippers 51 between the two bases 1 to grip a set of insulator strings and the tower connection position. Then, with the cooperation of the through screw motor 2, the position of the screw is adjusted without interfering with the steering. Then, the connecting block 3 is driven by the output end of the electric push rod 8 to make the connecting block 3 higher than the top of the base 1. Next, the robot is adjusted to a horizontal state by the adjustment component 4, and then the angle of the bracket 40 and the connecting block 3 is adjusted so that the other two gripping components 5 are at the same horizontal height. Then, with the cooperation of the electric push rod 8, the other two gripping components 5 grip the ends of the two insulator strings, thereby realizing a rapid switch to a horizontal state.

[0055] In addition, when the length of two insulator strings exceeds the distance of one lead screw, the control system can control the insulating gripper 51 on a through-screw motor 2 to grasp one end of an insulator string. Then, through the drive of the output end of motor 3 73, the worm gear 72 is driven to rotate, which in turn causes the worm wheel 71 to drive the two bases 1 to rotate 180 degrees relative to each other. Through the drive of the through-screw motor 2, the distance of one lead screw is measured. At this time, by adjusting the adjustment component 4, the robot itself can be horizontally deflected to adapt to the different spacing between the two insulator strings, so that the other insulating gripper 51 grasps the other end of the other insulator string. At this time, the robot extends and is erected at different ends of the two insulator strings. When one insulating gripper 51 is released, it moves horizontally through the drive of the other through-screw motor 2 to measure the distance of the other lead screw. In addition, it may be necessary to encounter situations where the horizontal or vertical measurement of a single insulator string exceeds the distance of one lead screw. In this case, the above steps can be repeated. By adjusting the adjustment component 4 on the two through-screw motors 2, the two ends of the insulator string can be alternately grasped and measured, thereby realizing the function of the robot extending the distance detection.

[0056] Example 3, please refer to the appendix. Figure 8 Based on the above embodiments, when performing obstacle crossing, tower climbing, and turning, there is a problem that the detection probe of the zero-value detection device 6 may touch the tower wall, causing damage. This embodiment proposes the following solution to solve the above problem: the detection probe of the zero-value detection device 6 slides through the outer wall of the insulating gripper 51. An electromagnet 2 15 is provided inside the insulating gripper 51, which is magnetically attracted to the detection head of the zero-value detection device 6. A spring 2 16 is fixed between the outer wall of the electromagnet 2 15 and the outer wall of the detection probe. A winding device 14 is installed on the inner wall of the insulating gripper 51 for winding the wire harness between the body of the zero-value detection device 6 and its detection probe. A pressure sensor 11 is slidably connected to the outer wall of the detection probe of the zero-value detection device 6. The pressure sensor 11 is installed on the outer wall of the insulating gripper 51.

[0057] Specifically, the detection probe of the zero-value detection device 6 is typically a magnetically adsorbable rod. When zero-value detection is not performed, the electromagnet 15 is energized, causing the detection probe to overcome the elastic potential energy of the spring 16 and retract into the insulating gripper 51. The wire bundle is then stored by the winding reel 14. When zero-value detection is performed, the electromagnet 15 is de-energized. Under the push of the spring 16, the wire bundle is pushed out of the insulating gripper 51 to perform detection. The pressure sensor 11 is a ring-shaped pressure plate sensor, or multiple pressure sensor contacts can be distributed in an inner ring shape. This allows the detection probe to slide inside the sensor while the control system can determine whether the detection probe is in effective contact with the detection point through data feedback from the pressure sensor 11. This solves the problem of the detection probe of the zero-value detection device 6 touching the tower wall and causing damage when climbing the tower or turning.

[0058] Please see the appendix Figure 8 and attached Figure 9 An electric push rod 52 is fixed to the inner wall of the clamping housing 50. A slide rod 53 is fixed to the output end of the electric push rod 52. The outer wall of the slide rod 53 is slidably connected to the inner wall of the insulating gripper 51.

[0059] Specifically, the insulating gripper 51 has two grippers, male and female, which are rotatably connected to the inner wall of the clamping housing 50. The left end of the right gripper has a horizontal groove for the slide rod 53 to pass through, and a vertical groove for the output end of the electric push rod 52 to pass through. The right end of the left gripper has a vertical groove for the left end of the right gripper to slide through. A sliding groove is provided between the front and rear side walls for the slide rod 53 to slide. Thus, by retracting the output end of the electric push rod 52, the slide rod 53 and the two grippers can slide together to achieve the clamping function.

[0060] Example 4, please refer to the appendix. Figure 4 and attached Figure 6 and appendix Figure 9 - Appendix Figure 12Based on the above embodiments, when measuring the horizontal insulator string that exceeds the distance of one lead screw, an insulating gripper 51 is needed to support the entire robot. However, the area of ​​the insulating gripper 51 holding the end of the insulator string is small, which will cause vertical swaying and affect the detection efficiency. This embodiment proposes the following solution to solve the above problems: support components 13 are provided on both sides of the clamping housing 50. The support components 13 include a support plate 130 rotatably connected to the outer wall of the clamping housing 50. A guide block 131 is fixed to the outer wall of the insulating gripper 51. A guide plate 132 is provided on the outer wall of the support plate 130 and slidably connected to the guide block 131. A locking block 133 made of iron material is slidably connected to the inner wall of the clamping housing 50. A spring 134 is fixed between the outer wall of the locking block 133 and the inner wall of the clamping housing 50. A slot for the locking block 133 is opened on the outer wall of the support plate 130. A magnetic block that is magnetically attracted to the locking block 133 is fixed on the outer wall of the insulating gripper 51.

[0061] Specifically, the support plate 130 is rotatably connected to the clamping housing 50 via a shaft equipped with a torsion spring. Initially, the torsion spring causes the outer wall of the support plate 130 to fit against the outer wall of the clamping housing 50. The guide block 131 includes a slider and a guide rod fixed to the slider. When the insulating jaws 51 are not closed, the magnetic block adsorption block 133 retracts the insulating jaws 51 and does not contact the support plate 130. When the insulating jaws 51 are closed, the rotation of the guide block 131 causes the guide rod to press the guide plate 132 to rotate 90 degrees, causing the outer wall of the support plate 130 to fit against the lower side of the insulator string end. During the process, when the rotation of the guide block 131 causes the insulating gripper 51 to release its adsorption on the block 133, the outer wall of the guide block 131 still slides relative to the outer wall of the guide plate 132, supporting it. At this time, under the rebound of the spring 134, the block 133 slides into the slot, limiting and fixing the support plate 130. After that, the insulating gripper 51 completely clamps the end of the insulator string. The insulating gripper 51 limits the horizontal direction of the robot. The two support plates 130 extend the support contact area between the insulating gripper 51 and the insulator string, thereby reducing the shaking during the inspection.

[0062] When the insulating gripper 51 opens, it moves to the position where the outer wall of the guide block 131 and the outer wall of the guide plate 132 are in contact, replacing the locking block 133 in limiting the support plate 130. The insulating gripper 51 continues to move but does not release the support limiting the support plate 130. At this time, when the magnetic force of the magnetic block can attract the locking block 133, the locking block 133 overcomes the elastic potential energy of the spring 134 and smoothly retracts into the clamping housing 50. As the insulating gripper 51 continues to move back to its original position, it always attracts the locking block 133, while the support plate 130 rotates back to its original position under the action of the torsion spring, thereby realizing the automatic reset of the support assembly 13.

[0063] Example 5, please refer to the appendix. Figure 10- Appendix Figure 12 Based on the above embodiments, the support component 13 can also be used for stable support when the robot climbs towers, crosses obstacles, and turns. When measuring, the insulating gripper 51 needs to adjust its opening and closing angle so that the detection probe on it can adapt to the spacing between the detection points. However, the open support plate 130 has the problem of interference with the insulator. This embodiment proposes the following solution to solve the above problem: an electromagnet 136 is fixed on the inner wall of the clamping housing 50. A locking rod 135 is attached to one end of the electromagnet 136. One end of the locking rod 135 is slidably connected to the inner wall of the guide plate 132. The guide plate 132 is rotatably connected to the outer wall of the support plate 130 through a bidirectional spring hinge.

[0064] Specifically, the locking rod 135 is made of a metal rod and a magnetic rod bonded together. The end of the metal rod is used to slide into the guide plate 132 for limiting its position, while the magnetic rod is used to attract and repel the electromagnet 136. Through the setting of the bidirectional spring hinge, the guide plate 132 and the support plate 130 can rotate bidirectionally and automatically return to the initial position. When testing, the control system controls the electromagnet 136 to be energized, pulling the locking rod 135 out of the guide plate 132 and releasing the fixation of the guide plate 132. At this time, the compression of the guide block 131 causes the guide plate 132 and the support plate 130 to rotate relative to each other, without causing the support plate 130 to open. When supporting, the guide plate 132 returns to the initial position, and the electromagnet 136 is energized, causing the locking rod 135 to slide into the support plate 130 for limiting its position. At this time, the compression of the guide block 131 causes the guide plate 132 and the support plate 130 to rotate synchronously, achieving support, thereby solving the problem of interference between the support plate 130 and the insulator during testing.

[0065] Please see the appendix Figure 1 Appendix Figure 4 and attached Figure 5 The control system includes a vision recognition module 9 and a distance measurement and obstacle avoidance module 10 fixed to the outer wall of the clamping housing 50, as well as a control module 17. The control module 17 integrates a motion control unit, a data processing unit, a wireless communication unit, an attitude and inertial measurement module, an electromagnetic compatibility circuit, and a fault protection circuit, and is electrically connected to each electronic control module.

[0066] Specifically, after the robot is powered on, the power management module supplies power to each module. The vision recognition module 9 on the base 1 works in conjunction with the ranging and obstacle avoidance module 10 to enable the gripping component 5 to perform precise and detect movements. The attitude and inertial measurement module collects attitude information and feeds it back to the motion control core module, driving the through-screw motor 2 to alternately grip the base 1 and the gripping component 5 to achieve continuous tower climbing. During climbing, if an obstacle is detected, the motion control unit controls the electric push rod 8 to rise, adjusting the gripping angle to form a downward-high and upward-low posture to cross the obstacle, and then resumes normal climbing. After reaching the insulator string position, one gripping component 5... The robot is adjusted to a horizontal detection posture by the attitude and inertial measurement module and the adjustment component 4, which clamps the end of the insulator, making the base 1 horizontal. While maintaining the horizontal posture, one clamping component 5 is fixed, and the base 1 drives the detection probe to move horizontally and contact the insulator. The zero-value detection device 6 collects parameters and transmits them to the data processing unit to identify zero-value / low-value insulators. The results are uploaded through the wireless communication unit. The robot alternately clamps both ends of the insulator to complete the detection of the entire string. The status is monitored by the fault protection circuit throughout the process. If an abnormality occurs, the mechanism is locked and an alarm is triggered. After the detection is completed, the robot reverses its movement to resume the climbing posture and moves down to return to the ground.

[0067] Workflow: During use, the visual recognition module 9 and the distance measurement and obstacle avoidance module 10 identify the tower wall, and the control system drives the adjustment component 4 to adjust the angle of the bracket 40 and the clamping component 5 to turn, so that the insulating claw 51 on one side clamps the tower wall; the single-sided through screw motor 2 drives the base 1 to move upward, and the insulating claws 51 on both sides alternately clamp and the through screw motor 2 alternately extends and retracts to achieve continuous tower climbing.

[0068] When the distance measurement and obstacle avoidance module 10 detects an obstacle on the tower wall, the insulating claw 51 between the two bases 1 firmly grips the tower wall, and the other insulating claws 51 are close to the base 1; the electric push rod 8 extends to increase the distance between the base 1 and the tower, the through screw motor 2 drives the insulating claws 51 to move upward to overcome the obstacle, the adjustment component 4 adjusts the angle of the base 1 so that the insulating claws 51 can grip the tower again, the electric push rod 8 resets, and the tower climbing resumes.

[0069] After the robot arrives at the work location, it switches the detection mode according to the insulator string layout, without contacting the insulator discs or steel caps throughout the process.

[0070] When performing vertical insulator string testing, the adjusting component 4 causes one side of the insulating gripper 51 to clamp the upper end of the insulator string, and the through screw motor 2 drives the base 1 to move from top to bottom. At the same time, the posture of the insulating gripper 51 between the two bases 1 is adjusted, and the detection probe of the zero-value detection device 6 tests each insulator string one by one.

[0071] When performing horizontal insulator string testing, the insulating jaws 51 on both sides clamp the ends of the two insulator strings respectively, and the insulating jaw 51 in the middle is located between the two strings. The adjusting component 4 adjusts the position of the testing probe so that it can alternately and synchronously test both sides. The through screw motor 2 drives the base 1 to move along the end of the insulator string to the other end to complete the testing.

[0072] When the length of the insulator string is between 1 and 2 lead screw distances, one side insulating gripper 51 clamps the end of one string of insulators, and motor 3 73 drives the two bases 1 to rotate 180° relative to each other. The through lead screw motor 2 first completes the detection of one lead screw distance. The adjustment component 4 adjusts the robot's horizontal deflection adaptation spacing so that the other side insulating gripper 51 clamps the other end of another string of insulators. The front insulating gripper 51 is released, and the other side through lead screw motor 2 drives the robot to move horizontally to complete the detection of the remaining distance. This process is repeated until the entire string is detected. If the distance exceeds two lead screw distances, the insulating gripper 51 can clamp the steel cap to solve the detection problem, and the state of the steel cap is recorded by the vision recognition module 9.

[0073] During the testing process, when the electromagnet 15 is de-energized, the testing probe extends outward under the action of the spring 16, and the cable reel 14 releases the wire harness as the probe moves; when the testing is paused / completed, the electromagnet 15 is energized to attract the probe and retracts, and the cable reel 14 promptly winds up the wire harness.

[0074] During horizontal extension distance testing, the insulating gripper 51 clamps the end of the insulator tightly, the guide block 131 presses the guide plate 132 to unfold the support plate 130 and fit against the lower side of the end of the insulator, and the locking block 133 limits the support plate 130 under the action of the spring 134; during testing, the electromagnet 136 is energized to pull out the locking rod 135, releasing the fixation of the guide plate 132 and avoiding interference between the support plate 130 and the insulator.

[0075] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tower-climbing robot based on zero-value detection, comprising two rotatably connected bases (1), a control system for detection and control, and a zero-value detection device (6), wherein the zero-value detection device (6) comprises a device body disposed inside the bases (1) and a detection probe electrically connected to the device body, characterized in that, A through-screw motor (2) is fixed inside the base (1). A connecting block (3) is provided at one end of each of the two through-screw motors (2) and between the two bases (1). An adjustment component (4) is provided on the outer wall of the connecting block (3). The adjustment component (4) includes a bracket (40) rotatably connected to both sides of the connecting block (3). A clamping component (5) is provided on the upper side of the bracket (40). The clamping component (5) includes a clamping housing (50) rotatably connected to the upper side of the bracket (40) and an insulating claw (51) rotatably connected to the inner wall of the clamping housing (50). The detection probe of the zero-value detection device (6) is set on the insulating claw (51) between the two bases (1). The detection probe of the zero-value detection device (6) slides through the outer wall of the insulating gripper (51). An electromagnet (15) is provided inside the insulating gripper (51) and magnetically attracted to the detection head of the zero-value detection device (6). A spring (16) is fixed between the outer wall of the electromagnet (15) and the outer wall of the detection probe. A winding device (14) is installed on the inner wall of the insulating gripper (51) for winding up the wire harness between the body of the zero-value detection device (6) and its detection probe. Both sides of the clamping housing (50) are provided with support components (13). The support components (13) include a support plate (130) rotatably connected to the outer wall of the clamping housing (50). The outer wall of the insulating gripper (51) is fixed with a guide block (131). The outer wall of the support plate (130) is provided with a guide plate (132) slidably connected to the guide block (131).

2. The tower-climbing robot based on zero-value detection according to claim 1, characterized in that, A rotating rod (12) is provided between the outer walls of the two bases (1). An electric push rod (8) is fixed to the outer wall of the rotating rod (12). A steering assembly (7) is provided at the output end of the electric push rod (8). The steering assembly (7) includes a steering seat (70). One side of the steering seat (70) is provided on the outer wall of the output end of the electric push rod (8). The other side of the steering seat (70) is rotatably connected to the outer wall of the connecting block (3) between the two bases (1).

3. The tower-climbing robot based on zero-value detection according to claim 2, characterized in that, Both ends of the rotating rod (12) are fixed with worm gears (71), and the inner wall of the base (1) is fixed with a motor three (73). The output end of the motor three (73) is fixed with a worm (72) that meshes with the tooth end of the worm gear (71).

4. The tower-climbing robot based on zero-value detection according to claim 1, characterized in that, The zero-value detection device (6) has a pressure sensor (11) slidably connected to the outer wall of the detection probe, and the pressure sensor (11) is installed on the outer wall of the insulating gripper (51).

5. A tower-climbing robot based on zero-value detection according to claim 1, characterized in that, An electric push rod (52) is fixed to the inner wall of the clamping housing (50), and a slide rod (53) is fixed to the output end of the electric push rod (52). The outer wall of the slide rod (53) is slidably connected to the inner wall of the insulating gripper (51).

6. A tower-climbing robot based on zero-value detection according to claim 1, characterized in that, The inner wall of the clamping housing (50) is slidably connected to a locking block (133) made of iron material. A spring (134) is fixed between the outer wall of the locking block (133) and the inner wall of the clamping housing (50). The outer wall of the support plate (130) is provided with a slot for engaging the locking block (133). The outer wall of the insulating claw (51) is fixed with a magnetic block that is magnetically attracted to the locking block (133).

7. A tower-climbing robot based on zero-value detection according to claim 1, characterized in that, An electromagnet (136) is fixed to the inner wall of the clamping housing (50). A locking rod (135) is attached to one end of the electromagnet (136). One end of the locking rod (135) is slidably connected to the inner wall of the guide plate (132). The guide plate (132) is rotatably connected to the outer wall of the support plate (130) through a bidirectional spring hinge.

8. A tower-climbing robot based on zero-value detection according to claim 1, characterized in that, The control system includes a visual recognition module (9) and a distance measurement and obstacle avoidance module (10) fixed to the outer wall of the clamping housing (50), as well as a control module (17). The control module (17) integrates a motion control unit, a data processing unit, a wireless communication unit, an attitude and inertial measurement module, an electromagnetic compatibility circuit and a fault protection circuit, and is electrically connected to each electronic control module.

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