An adaptive multi-voltage grade insulator automatic detection robot and a use method thereof

Abstract

An automatic insulator inspection robot adaptable to multiple voltage levels and its usage method are disclosed. The robot includes a motion component and two telescopic adjustment components. Each telescopic adjustment component is equipped with a guide support rod. One end of the motion component is equipped with an anti-fall component. The motion component includes a mounting frame and two double-ended screws rotatably connected to the mounting frame. Each telescopic adjustment component includes two telescopic cylinders screwed to the ends of the double-ended screws. The anti-fall component includes two clamping rods for holding insulator end caps and an electromagnetic base for adsorbing insulator end caps. This invention achieves adaptive adjustment of the distance between the guide support rods on both sides by rotating the double-ended screws, enabling it to be applied to insulators of different diameters and to perform inspections on insulators of multiple voltage levels.

Description

Technical Field

[0001] This invention relates to the field of smart grid technology, specifically to an automatic insulator inspection robot adaptable to multiple voltage levels and its usage method. Background Technology

[0002] The smart grid industry can better improve the existing power transmission capacity and the utilization rate of power equipment at all levels, and enhance the safety and reliability of the power grid. Among them, insulators, as key components in transmission lines, are subject to adverse factors such as lightning, dust and natural aging in the field for a long time, which can lead to a decrease in insulation resistance. Their performance directly affects the operational safety of the power grid.

[0003] In insulator inspection, existing inspection robots typically move on top of insulator strings using tracks and are guided by guide rods on either side of the insulators. As they pass each insulator, a servo motor drives the inspection probe to rotate at a certain angle, bringing it into contact with the fittings on either side of the insulator to connect to the inspection circuit. An algorithm then calculates and measures the insulator's resistance, determining if it falls within the normal range and thus identifying any insulation failures. However, insulator diameters vary across different voltage levels, and existing inspection robots often cannot adaptively adjust their width to suit the insulator diameter. When the insulator diameter is large, while the guide rods can contact the insulator, the tracks may not effectively conform to the top of the insulator, causing the robot's movement to fail. Conversely, when the insulator diameter is small, the guide rods may not make contact, making the robot prone to deviation or even falling during movement. This affects inspection efficiency, prevents the timely detection of potential defects, and increases the risk of smart grid failures. When a detection robot falls, it not only increases the operation and maintenance costs of the smart grid, but also easily causes impacts and collisions to other electrical equipment in the grid (such as conductors and insulator strings), resulting in further additional damage or power outages to the smart grid and affecting its normal operation. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic insulator inspection robot and its usage method that can adapt to multiple voltage levels, so as to solve the problems mentioned above.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An automatic insulator inspection robot adaptable to multiple voltage levels includes a motion component and two telescopic adjustment components disposed on both sides of the motion component. Each of the two telescopic adjustment components is equipped with a guide support rod, and each guide support rod is equipped with a pressure sensor. One of the telescopic adjustment components has a rotating frame, on one side of which two probes are fixedly mounted. The rotating frame is fixed in a groove by a fixed slider, used to control the back-and-forth movement of the probes, facilitating the measurement of the first and last insulator pieces. A fall protection component is provided at one end of the motion component. The motion component includes a mounting frame and two double-ended screws rotatably connected to the mounting frame; Each telescopic adjustment assembly includes two telescopic cylinders screwed onto the ends of a double-ended screw. The fall arrestor assembly includes two clamping rods for holding the insulator end cap, an electromagnetic base for adsorbing the insulator end cap, and a pull rope for driving the two clamping rods to rotate. The mounting frame has a slide that is slidably connected to a pull rope at one end, and the mounting frame is rotatably provided with a shaft for driving the double-headed screw to rotate and the slide to move.

[0006] A laser sensor is fixedly installed inside the mounting frame. The laser sensor can scan the insulator string in real time during the journey through the gap between the two tracks and transmit the scan data to the control box.

[0007] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, the telescopic adjustment assembly further includes a horizontal support rod and two vertical support rods fixed to both ends of the horizontal support rod. The two telescopic cylinders are fixedly installed on one side of the horizontal support rod, and the guide support rod is disposed on one side of the vertical support rod.

[0008] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, wherein: worm gears are coaxially fixed on the outer sides of the two double-headed screws, and the rotating shaft is provided with two worm segments that mesh with the two worm gears respectively.

[0009] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, the motion component further includes a drive wheel, a driven wheel, and multiple support wheels rotatably connected within the mounting frame. Tracks are fitted around the outer sides of the drive wheel, driven wheel, and multiple support wheels, and a hoisting bracket is fixedly installed on the top of the mounting frame.

[0010] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, the anti-fall component further includes a clamping seat and a slide block slidably connected to the bottom of the clamping seat. The two clamping rods are rotatably connected to both ends of the clamping seat. The electromagnetic seat is fixedly connected to the bottom of the slide block. The two ends of the slide block are rotatably connected to the middle parts of the two clamping rods, and a spring is fixedly connected between the top of the slide block and the clamping seat.

[0011] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, the following features are provided: a fixed shaft is fixedly installed inside the mounting frame; pulleys are rotatably connected to both the slide and the fixed shaft; a threaded cylinder is fixed to one end of the slide; a threaded section is provided on the rotating shaft to engage with the threaded cylinder; a drum is coaxially fixed to the outside of the driven wheel; a pull rope is wound around the outside of the drum; and one end of the pull rope passes around two pulleys in sequence and is fixedly connected to the top of the clamping seat.

[0012] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, wherein: fixed seats are slidably sleeved on the outer sides of the two vertical support rods of the telescopic adjustment assembly; two slide rods are fixedly installed on one side of the guide support rod, each sliding through the two fixed seats; a first wing screw with an end that can abut against the fixed slide rod is screwed onto each of the two fixed seats; and a second wing screw for locking the fixed seat and the vertical support rod is screwed onto each of the two fixed seats.

[0013] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, each of the vertical support rods is provided with a leg support rod at its bottom. Both the bottom of the vertical support rod and the end of the leg support rod are provided with a rotating seat, and the two sets of rotating seats are rotatably connected. There is a height difference between the hinge axes of the two sets of rotating seats, and the height difference is greater than the thickness of a single rotating seat at the hinge.

[0014] As a preferred embodiment of the automatic insulator inspection robot adaptable to multiple voltage levels described in this invention, a fixed connecting rod is fixedly connected between the bottoms of two leg support rods located on the same side, and a control box is fixed between a set of two leg support rods located on the same side.

[0015] A method for using an automatic insulator inspection robot adaptable to multiple voltage levels includes the following steps: Step 1: Lift the inspection robot into the air and place it directly above the insulator string to be inspected. Then place the inspection robot at one end of the top of the insulator string. Step 2: When the inspection robot is placed at one end of the insulator string to be inspected, the electromagnetic base is energized to initially attract the insulator end cap. Then the rotating shaft is rotated. The rotation of the shaft drives the slide to move to tension the pull rope, so that the two clamping rods rotate inward to mechanically clamp the insulator end cap. On the other hand, it drives the two double-headed screws to rotate synchronously. Step 3: The two double-headed screws rotate synchronously, causing the two sets of telescopic cylinders connected on both sides to move synchronously towards the center, thereby driving the two guide support rods set on the two telescopic adjustment components to move towards the center until both guide support rods are in contact with both sides of the insulator, and when the monitoring data of the pressure sensors on both guide support rods reach the set value, the rotating shaft stops rotating. Step 4: The inspection robot is moved intermittently at the top of the insulator string by the motion component. The target distance of each movement is the distance between adjacent insulators on the insulator string. During this process, the pull rope is released synchronously. After each movement, the rotating frame is driven to rotate, so that the two probes rotate at a set angle, so that the two probes contact the metal connectors at both ends of the insulator, thereby inspecting each insulator on the insulator string. Step 5: During the detection process, the main control module in the control box controls the detection and identification of the insulator string assembly.

[0016] Step Six: After the test is completed, the electromagnetic base is de-energized and the pull rope is loosened. Then, the testing robot is lifted from the top of the insulator and transported to the ground, and then folded and stored.

[0017] The beneficial effects of this invention are that, compared with the prior art, 1. This invention uses a double-headed screw to drive the telescopic cylinders of two telescopic adjustment components to move relative to each other, thereby causing the guide support rods on both sides to move synchronously towards the center. The movement stops when the guide support rods on both sides contact the insulator and the pressure sensors reach their set values. This achieves adaptive adjustment of the distance between the guide support rods on both sides, making it applicable to insulators of different diameters. It ensures that the bottom of the motion component always remains in close contact with the top of the insulator, allowing the insulator inspection robot to move stably on top of the insulator, enabling inspection on insulators of various voltage levels.

[0018] 2. When the inspection robot is placed on an insulator string using an external drone, with the robot positioned at one end of the string, the electromagnetic base of the fall arrestor will adhere to the steel cap at the end of the insulator string, achieving initial fixation. Subsequently, as the rotating shaft drives the two telescopic adjustment components to move towards the center, the shaft simultaneously drives the slide to move away from the moving component. The pulleys on the slide push the pull rope, causing the clamping seat to move upward away from the slide. The connecting rods on both sides of the slide pull the two clamping rods to rotate inward, ultimately clamping both sides of the steel cap at the end of the insulator. Furthermore, as the moving component moves, the driven wheel simultaneously drives the drum to release the pull rope, ensuring that the pull rope does not interfere with the movement of the inspection robot. This fall arrestor effectively prevents the inspection robot from accidentally falling directly to the ground during operation, significantly improving safety.

[0019] 3. The rotating frame of this invention adopts a sliding block and groove matching installation structure, combined with a remote control system to drive the probe to complete the forward and backward displacement adjustment, which can accurately realize the measurement of the first and last insulators of the string. Addressing the technical pain point that existing insulator inspection robots cannot cover the measurement of the first and last ends of the string, this design breaks through the application limitations of traditional equipment. Without additional adjustments to the overall robot structure, it can flexibly move the probe to complete the measurement of the entire sequence of insulators, effectively solving the technical blind spot of current robots in measuring the first and last insulators, significantly improving the adaptability of the equipment in different specification insulator string inspection scenarios, and greatly enhancing the robot's versatility and practical value.

[0020] 4. When the insulator diameter is small, the moving distance of the telescopic cylinder increases accordingly. Therefore, the rotating shaft needs to rotate more times, so that the carriage can move a longer distance. With the initial extension length of the pull rope being the same, this structure can reliably clamp the insulator end cap while adjusting the width of the guide support rod, thereby ensuring the robot's adaptability to insulators of different sizes.

[0021] 5. In this invention, when the moving component moves, the track rolls on top of the insulator, driving the inspection robot to move on top of the insulator. Because some insulator strings are installed at a certain angle, relative slippage may occur between the track and the insulator, affecting the contact between the probe and the hardware on both sides of the insulator, resulting in missed detections or zero-point measurement failures. In this invention, the pull rope is wound on a drum outside the driven wheel, ensuring that the length of the pull rope released by the drum when the moving component moves is basically consistent with the distance the track moves. This connection between the pull rope and the moving component effectively prevents the track from slipping on the inclined insulator, ensuring accurate probe positioning and improving the reliability and completeness of the inspection.

[0022] 6. By rotating the first and second butterfly screws, the initial lateral width and vertical height of the guide support rod can be adjusted respectively, thereby assisting in adjusting its initial position and further expanding the applicability of the inspection robot.

[0023] 7. The present invention achieves the folding function of the two sets of rotating seats on both sides by means of the rotating structure of the two sets of rotating seats on both sides, and the height difference at the rotating connection is greater than the diameter of the rotating seat, which facilitates the storage and transportation of the inspection robot and improves its portability. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the first cross-sectional structure of the present invention; Figure 3 This is a schematic diagram of the second cross-sectional structure of the present invention; Figure 4 This is a schematic diagram of the first three-dimensional structure for assembling the motion component of the present invention; Figure 5 This is a schematic diagram of the second three-dimensional structure assembled with the motion component of the present invention; Figure 6 This is a schematic cross-sectional view of the motion component assembly of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the rotating shaft assembly of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the telescopic adjustment component assembly of the present invention; Figure 9 This is a three-dimensional structural diagram of the assembly of the guide support rod of the present invention; Figure 10 This is a schematic diagram of the three-dimensional assembly structure of the leg support rod of the present invention when folded; Figure 11 This is a schematic diagram of the robot and insulator combination structure of the present invention; Figure 12 This is a flowchart of the automatic detection process of the present invention; Figure 13 This is a diagram illustrating the distance sequence of the double-layer shed insulator string of the present invention (automatic detection part).

[0025] In the diagram: 1. Horizontal support rod; 11. Vertical support rod; 12. Telescopic cylinder; 13. Double-ended screw; 14. Worm gear; 2. Lifting bracket; 3. Mounting frame; 31. Drive wheel; 32. Track; 33. Driven wheel; 34. Support wheel; 35. Rotating shaft; 36. Fixed shaft; 4. Guide support rod; 41. Fixed seat; 42. First butterfly screw; 43. Second butterfly screw; 5. Leg support rod; 51. Fixed connecting rod; 52. Rotating seat; 6. Control box; 7. Probe; 71. Rotating frame; 72. Slide groove; 8. Clamping seat; 81. Slide carriage; 82. Drum; 83. Clamping rod; 84. Slide seat; 85. Electromagnetic seat; 86. Connecting rod; 87. Pulley; 88. Pull rope; 89. Spring; 9. Laser sensor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0027] Example 1 Reference Figure 1-7 This is the first embodiment of the present invention, which provides an automatic insulator inspection robot adaptable to multiple voltage levels. This robot includes a motion component and two telescopic adjustment components disposed on both sides of the motion component. Each of the two telescopic adjustment components is provided with a guide support rod 4, and each of the two guide support rods 4 is provided with a pressure sensor. A rotating frame 71 is rotatably mounted on one of the telescopic adjustment components. Two probes 7 are fixedly mounted on one side of the rotating frame 71. The rotating frame 71 is slidably disposed in a slide groove 72 horizontally fixed on one side of the telescopic adjustment component via a fixed slider 73, which is used to control the probes to move along the slide groove 72, so as to facilitate the measurement of the first and last insulators. A fall protection component is provided at one end of the motion component. The motion component includes a mounting bracket 3 and two double-ended screws 13 rotatably connected to the mounting bracket 3; Each telescopic adjustment assembly includes two telescopic cylinders 12 that are screwed onto the end of the double-ended screw 13; The fall arrestor assembly includes two clamping rods 83 for holding the insulator end cap, an electromagnetic base 85 for adsorbing the insulator end cap, and a pull rope 88 for driving the two clamping rods 83 to rotate. The mounting frame 3 has a sliding carriage 81 with one end in contact with the pull rope 88. The mounting frame 3 is provided with a rotating shaft 35 for driving the double-headed screw 13 to rotate and the carriage 81 to move. The mounting frame 3 is also provided with a fixed shaft 36 for rotatably connecting the pulley 87. The telescopic adjustment assembly also includes a horizontal support rod 1 and two vertical support rods 11 fixed at both ends of the horizontal support rod 1. Two telescopic cylinders 12 are fixedly installed on one side of the horizontal support rod 1, and a guide support rod 4 is set on one side of the vertical support rod 11.

[0028] Two double-ended screws 13 are coaxially fixed with worm gears 14 on their outer sides, and two worm sections are provided on the rotating shaft 35 to mesh with the two worm gears 14 respectively.

[0029] The motion assembly also includes a drive wheel 31, a driven wheel 33 and a plurality of support wheels 34 rotatably connected within the mounting frame 3. Tracks 32 are fitted on the outer sides of the drive wheel 31, the driven wheel 33 and the plurality of support wheels 34. A hoisting bracket 2 is fixedly installed on the top of the mounting frame 3.

[0030] The fall arrestor also includes a clamping seat 8 and a slide 84 slidably connected to the bottom of the clamping seat 8. Two clamping rods 83 are rotatably connected to both ends of the clamping seat 8. An electromagnetic seat 85 is fixedly connected to the bottom of the slide 84. Connecting rods 86 are rotatably connected to both ends of the slide 84 and the middle part of the two clamping rods 83 respectively. A spring 89 is fixedly connected between the top of the slide 84 and the clamping seat 8.

[0031] During use, an external drone is first used to lift the inspection robot to a position directly above the insulator string to be inspected via the hoisting bracket 2. This positions the insulator string directly below the movement component of the inspection robot. Two telescopic adjustment components are located on either side of the movement component, causing the external drone to move downwards and gradually bring the bottom of the movement component closer to the insulator string to be inspected until the two tracks 32 of the movement component touch the top of the insulator string. The inspection robot is then placed at one end of the insulator string. The external drone is then actively detached from the hoisting bracket 2, thus initially setting up the inspection robot on the insulator string to be inspected. When the inspection robot moves down onto the insulator string, the two clamping rods 83 first move to the outside of the steel cap at the end of the insulator string to be inspected. Then, the operator remotely controls the electromagnetic base 85 to contact the steel cap and attach it to the steel cap at the end of the insulator string, thus achieving initial fixation of the anti-fall component. Next, the operator remotely controls the motor to drive the rotating shaft 35 to rotate. When the rotating shaft 35 rotates, the threaded section on the rotating shaft 35 engages with the threaded cylinder on the slide 81, causing the threaded cylinder to move the slide 81 away from the moving component. At this time, the moving component does not move, so the driven wheel 33 and the drum 82 do not rotate. Therefore, when the slide 81 moves, the pulley 87 on the slide 81 pushes the middle of the pull rope 88 away from the moving component. The selection of an insulating rope allows the end of the pull rope 88 to pull the clamping seat 8 upward. Due to the magnetic attraction and fixation between the electromagnetic seat 85 and the steel cap at the end of the insulator, the clamping seat 8 moves away from the slide 84, simultaneously stretching the spring 89. The two connecting rods 86 on both sides of the slide 84 rotate upward around the two ends of the slide 84, thereby causing the ends of the two connecting rods 86 to pull the two clamping rods 83 to rotate around the two ends of the clamping seat 8 towards the center. This causes the two clamping rods 83 to clamp onto both sides of the steel cap, connecting the anti-fall component with the insulator string. This prevents the inspection robot from accidentally falling directly to the ground during operation, significantly improving safety. Furthermore, when the moving component moves, the driven wheel 33 simultaneously drives the drum 82 to rotate and release the pull rope 88, ensuring that the pull rope 88 does not affect the movement of the inspection robot. While the rotating shaft 35 rotates, the two worm gear segments on the rotating shaft 35 mesh with the worm wheel 14, causing the two worm wheels 14 to drive the two double-headed screws 13 to rotate synchronously. This causes the two sets of telescopic cylinders 12 connected on both sides to move synchronously towards the center, thereby driving the two horizontal support rods 1 and the two vertical support rods 11 of the two telescopic adjustment components to move towards the center, thereby driving the two guide support rods 4 on both sides to move towards the center until both guide support rods 4 are in contact with both sides of the insulator. When the pressure sensor monitoring data on both guide support rods 4 reaches the set value, the rotation of the rotating shaft 35 is stopped. At this time, the track 32 at the bottom of the motion component is still in contact with the top of the insulator. This allows the inspection robot to adapt to insulators of different diameters and move on insulator strings of different diameters, realizing inspection operations on insulators of various voltage levels. Then, the operator remotely controls the motor to drive the motion component's drive wheel 31 to rotate, thereby causing the track 32 to roll outside the drive wheel 31, driven wheel 33, and multiple support wheels 34 via transmission. The friction between the track 32 and the insulators allows the inspection robot to move on top of the insulator string. Simultaneously, the guide support rod 4 remains in contact with both sides of the insulator string, guiding the inspection robot along the extension direction of the insulator string. Furthermore, the inspection robot moves intermittently, with each movement targeting the distance between adjacent insulators on the insulator string. After each movement, the inspection robot is activated by the drive device. The servo motor drives the rotating frame 71 to rotate, which in turn causes the two probes 7 to rotate at a set angle. This causes the two probes 7 to contact the metal connectors at both ends of the insulator and connect to the circuit. The algorithm then calculates and records the resistance value of the insulator. Next, the servo motor drives the rotating frame 71 to reverse, causing the two probes 7 to move out of the diameter range of the insulator. Then, the motion component drives the detection robot to move a set distance, and the rotating frame 71 and probes 7 repeat the above steps. This process is used to perform zero-measurement operation on each insulator in the insulator string, and the measurement results are recorded to facilitate the replacement or maintenance of deteriorated insulators.

[0032] Furthermore, assuming the inspection robot detaches from the insulator string and falls, the robot's gravity will cause the pull rope to pull the clamping seat 8 downwards, while still causing the two clamping rods 83 to abut against both sides of the steel cap. This allows the two clamping rods 83 and the electromagnetic seat 85 to share part of the downward pulling force, thereby preventing the electromagnetic seat 85 from separating from the steel cap and thus preventing the inspection robot from falling to the ground and causing damage.

[0033] After all insulator zeroing operations on the insulator string are completed, the operator remotely controls the electromagnetic base 85 to de-energize. After the electromagnetic base 85 is de-energized, the inspection robot can be lifted by an external drone using the hoisting bracket 2 to separate it from the top of the insulator string and move it toward the anti-fall component, causing the pull rope 88 to loosen. Then, the spring 89 causes the clamping seat 8 to approach the slide seat 84, causing the connecting rods 86 on both sides of the slide seat 84 to push the clamping rod 83 to both sides, causing the anti-fall component to separate from the insulator string. The inspection robot can then be lifted back to the ground by an external drone using the hoisting bracket 2. In the air, the reverse rotation of the active wheel 31 of the motion component can cause the driven wheel 33 to drive the drum 82 to retrieve the pull rope for future use.

[0034] In addition, when the insulator diameter is small, the rotation of the shaft 35 causes the telescopic cylinder 12 to move a greater distance toward the center. Therefore, the shaft 35 needs to rotate more times to adjust the spacing of the guide support rods 4. As a result, the threaded section on the shaft 35 causes the slide 81 to move a longer distance, and the pulley 87 of the slide 81 to push the pull rope 88 a longer distance. Therefore, when the initial extension length of the pull rope 88 is the same, this structure can reliably clamp the end cap of the insulator by both clamping rods 83 while adjusting the width of the guide support rods 4, thereby ensuring the robot's adaptability to insulators of different sizes.

[0035] Furthermore, the drum 82 around which the pull rope 88 is wound is fixed to the outside of the driven wheel 33, and the average radius of the winding of the pull rope 88 is equal to the bending radius of the track 32 outside the driven wheel 33. This ensures that the length of the pull rope 88 released by the drum 82 when the driven wheel 33 of the motion component rotates is basically consistent with the distance the track 32 moves. When the inspection robot moves on the inclined insulator string, the length of the pull rope 88 can limit the movement of the motion component and prevent the inspection robot from slipping relative to the top of the insulator due to its own weight. The steel cap at the end of the insulator is connected to the driven wheel 33 of the motion component through the pull rope 88, which effectively prevents the track 32 from slipping on the top of the inclined insulator string, ensuring the accuracy of the moving position of the rotating frame 71 and the probe 7, ensuring the contact between the probe 7 and the hardware on both sides of the insulator, and improving the reliability and integrity of the inspection.

[0036] Preferably, a laser sensor 9 is fixedly installed inside the mounting frame 3. The laser sensor 9 can scan the insulator string and steel cap in real time during the journey through the gap between the two tracks 32, and transmit the scanned data to the main control module in the control box 6. The main control module in the control box 6 accurately identifies and judges the steel cap, umbrella skirt and hardware based on the real-time scan data, and uses it to determine whether the zero-test of the entire insulator string has been completed. Then, the control box 6 sends a signal to start the retrieval operation of the detection robot.

[0037] Example 2 Reference Figure 8-9This is the second embodiment of the present invention, which differs from the first embodiment in that: The two vertical support rods 11 of the telescopic adjustment assembly are slidably fitted with fixed seats 41 on their outer sides. Two slide rods are fixedly installed on one side of the guide support rod 4, which slide through the two fixed seats 41 respectively. The two fixed seats 41 are screwed with a first butterfly screw 42 whose end can abut against the fixed slide rod. The two fixed seats 41 are screwed with a second butterfly screw 43 for locking the fixed seat 41 and the vertical support rod 11.

[0038] During use, when adjusting the vertical height of the guide support rod 4, multiple second butterfly screws 43 are rotated to create a certain gap between the fixed seat 41 and the vertical support rod 11, allowing the fixed seat 41 to slide on the outside of the support rod 11. After the fixed seat 41 moves the guide support rod 4 to the set position, the second butterfly screws 43 are rotated in the opposite direction, causing a slight deformation on one side of the fixed seat 41 and pressing the vertical support rod 11, thus fixing the fixed seat 41 at the set height of the vertical support rod 11, thereby completing the adjustment of the vertical height of the guide support rod 4. When adjusting the lateral position of the guide support rod 4, the first butterfly screw 42 is rotated to separate from the slide rod on one side of the guide support rod 4, so that the slide rod can slide in the fixed seat 41. When it moves to the set position, the first butterfly screw 42 is rotated in the opposite direction, so that the end of the first butterfly screw 42 presses against the slide rod again, thereby completing the adjustment of the lateral position of the guide support rod 4. In summary, the adjustment of the fixed base 41, the first butterfly screw 42, and the second butterfly screw 43 assists in the adjustment of the aforementioned telescopic adjustment mechanism, thereby further expanding the applicability of the inspection robot.

[0039] The remaining structure is the same as that in Example 1.

[0040] Example 3 Reference Figure 1-3 and Figure 8-11 This is the third embodiment of the present invention, which differs from the second embodiment in that: Each vertical support rod 11 has a leg support rod 5 at its bottom. Both the bottom of the vertical support rod 11 and the end of the leg support rod 5 are provided with a rotating seat 52. The two sets of rotating seats 52 are rotatably connected. There is a height difference between the hinge axes of the two sets of rotating seats 52, and the height difference is greater than the thickness of a single rotating seat 52 at the hinge.

[0041] A fixed connecting rod 51 is fixedly connected between the bottom of two leg support rods 5 located on the same side, and a control box 6 is fixed between one of the two leg support rods 5 located on the same side.

[0042] During use, the bottom of the vertical support rod 11 is rotatably connected to the leg support rod 5, thereby lowering the center of gravity of the inspection robot through the leg support rod 5. When the center of gravity of the inspection robot is lower than the insulator, the risk of the inspection robot falling can be reduced. The leg support rod 5 and the vertical support rod 11 are rotatably connected by two rotating seats 52. When the robot is not working, the rotation of the two rotating seats 52 causes one side of the positioning protrusion to be slightly squeezed and deformed against one side of the groove, causing the positioning protrusion to disengage from the groove. This allows the leg support rod 5 to rotate to a position perpendicular to the vertical support rod 11. Furthermore, the height difference at the connection point of the two sets of rotating seats 52 is greater than the diameter of the rotating seats 52, ensuring that both leg support rods 5 on both sides rotate towards the center and retract without interfering with each other. Figure 10 As shown, this facilitates the storage and transportation of the inspection robot, improving its portability. In addition, when the inspection robot is working, the positioning protrusions and grooves on the two rotating seats 52 keep the leg support rod 5 and the vertical support rod 11 on the same axis, preventing the leg support rod 5 from obstructing the installation of the inspection robot on the insulator.

[0043] The remaining structure is the same as that in Example 2.

[0044] Example 4 In one embodiment, a method for using an automatic insulator inspection robot adaptable to multiple voltage levels is disclosed, comprising the following steps: Step 1: First, use an external drone to lift the inspection robot directly above the insulator string to be inspected via the hoisting bracket 2. The two telescopic adjustment components are located on both sides of the motion component, causing the external drone to move down and thus drive the bottom of the motion component to gradually approach the insulator string to be inspected, until the two tracks 32 of the motion component touch the top of the insulator string to be inspected, and the inspection robot is placed at one end of the insulator string to be inspected. Then, the external drone actively detaches from the hoisting bracket 2, thus initially setting up the inspection robot at one end of the top of the insulator string to be inspected. Step Two: When the inspection robot moves down onto the insulator string, the two clamping rods 83 first move to the outside of the steel cap at the end of the insulator string to be inspected. Then, the operator remotely controls the electromagnetic base 85 to contact the steel cap and attach it to the steel cap at the end of the insulator string, thus achieving the initial fixation of the anti-fall component. Then, the operator remotely controls the motor to drive the rotating shaft 35 to rotate. When the rotating shaft 35 rotates, the threaded section on the rotating shaft 35 engages with the threaded cylinder on the slide 81, causing the threaded cylinder to drive the slide 81 to move away from the moving component. At this time, the moving component does not move, so the driven wheel 33 and the drum 82 do not rotate. Therefore, when the slide 81 moves, the pulley 87 on the slide 81 pushes... The middle part of the pull rope 88 moves away from the moving component. The pull rope 88 is preferably an insulated rope, so that the end of the pull rope 88 pulls the clamping seat 8 upward. Since the electromagnetic seat 85 is attracted and fixed to the steel cap at the end of the insulator, the clamping seat 8 moves away from the slide 84. At the same time, the spring 89 is stretched. The two connecting rods 86 on both sides of the slide 84 rotate upward around the two ends of the slide 84, so that the ends of the two connecting rods 86 pull the two clamping rods 83 around the two ends of the clamping seat 8 towards the middle. Thus, the two clamping rods 83 are clamped on both sides of the steel cap respectively. At the same time as the rotating shaft 35 rotates, the two worm gear segments on the rotating shaft 35 mesh with the worm wheel 14, so that the two worm wheels 14 drive the two double-headed screws 13 to rotate synchronously. Step 3: The two double-headed screws 13 rotate synchronously, causing the two sets of telescopic cylinders 12 connected on both sides to move synchronously towards the center, thereby driving the two horizontal support rods 1 and the two vertical support rods 11 of the two telescopic adjustment components to move towards the center, thereby driving the two guide support rods 4 on both sides to move towards the center, until the two guide support rods 4 are in contact with both sides of the insulator. When the pressure sensor monitoring data on the two guide support rods 4 reaches the set value, the drive shaft 35 is stopped from rotating. Step 4: The operator remotely controls the motor to drive the drive wheel 31 of the motion component to rotate, which in turn causes the track 32 to roll outside the drive wheel 31, driven wheel 33, and multiple support wheels 34 via transmission. The friction between the track 32 and the insulators allows the inspection robot to move on top of the insulator string. As the motion component moves, the driven wheel 33 simultaneously drives the drum 82 to rotate, releasing the pull rope 88. This ensures that the pull rope 88 does not affect the movement of the inspection robot. Meanwhile, the guide support rod 4 remains in contact with both sides of the insulator string, and its guiding effect allows the inspection robot to move along the extension direction of the insulator string. Furthermore, the inspection robot moves intermittently, with each movement targeting a specific distance. To measure the spacing between adjacent insulators on the insulator string, after each movement, the inspection robot drives the rotating frame 71 to rotate via a drive device servo motor. This causes the rotating frame 71 to rotate the two probes 7 by a set angle, so that the two probes 7 contact the metal connectors at both ends of the insulator and connect to the circuit. The algorithm then calculates and records the resistance value of the insulator. Next, the drive device servo motor drives the rotating frame 71 to reverse, so that the two probes 7 move out of the diameter range of the insulator. Then, the motion component drives the inspection robot to move a set distance, and the rotating frame 71 and probes 7 repeat the above steps. In this way, zero-measurement operation is performed on each insulator on the insulator string, and the measurement results are recorded. Step 5: During the detection process, the main control module in the control box 6 controls the detection and identification of the insulator string assembly; Step Six: After all insulators on the insulator string have been zeroed, the operator remotely controls the electromagnetic base 85 to de-energize. After the electromagnetic base 85 is de-energized, the inspection robot is lifted by an external drone using the hoisting bracket 2, separating it from the top of the insulator string and moving it toward the anti-fall component to loosen the pull rope 88. Then, the spring 89 causes the clamping seat 8 to approach the slide seat 84, causing the connecting rods 86 on both sides of the slide seat 84 to push the clamping rod 83 to both sides, thus separating the anti-fall component from the insulator string. The inspection robot can then be re-lifted to the ground by an external drone using the hoisting bracket 2. In the air, the reverse rotation of the active wheel 31 of the motion component causes the driven wheel 33 to drive the drum 82 to retract the pull rope. After the inspection robot lands, the rotation of the two rotating seats 52 causes one side of the positioning protrusion to be slightly squeezed and deformed against one side of the groove, causing the positioning protrusion to come out of the groove. This causes the leg support rod 5 to rotate to a position perpendicular to the vertical support rod 11, thereby folding and storing the inspection robot.

[0045] Example 5 Reference Figure 12-13 In one embodiment, for step five of embodiment four, an automatic detection and identification method for insulator string assemblies is further disclosed, which uses the aforementioned insulator detection robot to perform the insulator string detection and identification task.

[0046] In step five, the main control module inside control box 6 performs the detection and identification of the insulator string assembly in the following manner: The insulator string assembly includes multiple steel caps and skirts connected in sequence, as well as fittings at both ends; a laser sensor 9 is fixedly installed in the mounting frame 3 and connected to the main control module; the laser sensor 9 can scan the insulator string assembly below in real time through the gap between the two tracks 32 during the journey, and record the distance between the insulator string assembly and the laser sensor 9, and upload it to the main control module; the main control module constructs a distance sequence from the positive real distance values ​​measured by multiple sampling points.

[0047] The main control module sets corresponding comprehensive judgment conditions based on the geometric and wave characteristics of different insulator string assemblies in the working environment; the insulator string assembly includes fittings, steel caps, and shed skirts; The main control module performs calculations based on the distance sequence. When the calculation results meet the comprehensive judgment conditions corresponding to each insulator string component, the judgment result is output.

[0048] Based on this, the automatic inspection process of the insulator inspection robot is as follows: The laser sensor 9 scans the insulator string in real time during operation, acquires real-time scan data, and transmits it to the main control module located in the control box 6. The main control module then detects and identifies the insulator assembly based on the real-time scan results and corresponding preset criteria.

[0049] Furthermore, in the main control module, the detection and identification of insulator assemblies are achieved based on real-time scanning data and preset criteria. Specifically: The laser sensor 9 continuously acquires the distance between itself and the insulator string assembly below to form a distance sequence. Different detection conditions are designed based on the geometric and fluctuation characteristics of each insulator assembly in actual operation. For fittings, the fitting identification conditions are designed using the mean and standard deviation of the distance sequence, and these conditions are adjusted in conjunction with the manufacturing tolerances and measurement errors of the fittings. For steel caps, the steel cap identification conditions are designed using the mean, standard deviation, and periodic characteristics of the distance sequence, and these conditions are adjusted in conjunction with the manufacturing tolerances and measurement errors of the steel caps. For umbrella skirts, the umbrella skirt identification conditions are designed based on the local fluctuation extremes of the distance sequence.

[0050] The main control module outputs the identification and detection results based on the distance sequence and the identification conditions of different insulator components. Based on the identification and detection results, the control box 6 sends a signal to the insulator inspection robot to execute the corresponding subsequent operations.

[0051] In a further embodiment, the automatic detection and identification method for insulator string components based on laser ranging in the main control module includes the following steps: Step 1: Start the automatic detection task; The operator starts the automatic detection task through the ground terminal, drives the insulator detection robot to start moving, and controls the drive motor to maintain a constant speed so that the robot can continuously scan and collect signals. Step 2: Laser scanning distance sequence modeling; Laser sensor 9 scans the lower insulator string assembly (insulator, steel cap, hardware) at a fixed frequency. Simultaneously, the distance between the insulator string assembly and laser sensor 9 is recorded, resulting in a distance sequence. ;in, Indicates the first The sampling point (i.e. the th sampling point) The positive real distance measured in each scan. It represents the set of positive real numbers.

[0052] Step 3: Determine the type of insulator string assembly based on its characteristics. Further explanation: insulators, steel caps, and fittings exhibit different geometric and wave characteristics in actual working environments. Therefore, in actual testing, different testing conditions must be designed based on these different characteristics. Specifically: (1) When the insulator string assembly is a hardware component, the corresponding comprehensive judgment condition executed by the main control module is: The mean of the positive real distance values ​​in the distance sequence is within the hardware limit distance range, and the hardware distance fluctuation is less than the corresponding maximum allowable fluctuation threshold; The lower and upper thresholds of the distance range for hardware are calculated based on the geometric characteristics, manufacturing tolerances, and measurement errors of the hardware; the distance fluctuation of the hardware is calculated using the standard deviation of the positive real distance values ​​within the sliding window.

[0053] Fittings are fixed components located at both ends of the insulator string. Their relative positions are fixed, their shapes are relatively regular, and their surfaces are relatively smooth, resulting in minimal fluctuations in laser ranging. Therefore, fittings can be characterized by "relatively large distance + low fluctuations." For fittings, the average distance measurement value of the distance sequence is checked. Whether it is within the restricted distance range of the hardware, and at the same time, whether the distance fluctuation is less than the maximum allowable fluctuation threshold.

[0054] Furthermore, the restricted distance range for hardware is expressed as follows: ; In the formula, and These are the lower and upper threshold values ​​for the positive real distance between the fitting and the laser sensor 9, respectively. For the lower and upper threshold values, manufacturing tolerances (production deviations of insulator disc diameter and fitting diameter) and measurement errors (inherent errors of the laser sensor 9 and attitude fluctuations caused by robot movement) need to be considered comprehensively.

[0055] In the main control module, the calculation of the lower and upper threshold values ​​includes the radius of the insulator and fittings, the installation height of the laser sensor 9 relative to the track 32, and the overall error. The lower threshold is calculated as the radius difference between the insulator and the fitting, plus the installation height, minus the overall error; the upper threshold is calculated as the radius difference between the insulator and the fitting, plus the installation height, plus the aforementioned overall error. Specifically: The lower threshold is: ; The upper limit threshold is: ; In the above calculation formula, and Indicates the diameter of insulators and fittings. To indicate the mounting height of the laser sensor 9 relative to the track 32; The comprehensive error is represented by a weighted average of manufacturing tolerances and measurement errors. The manufacturing tolerance term is represented by a nonlinear exponent of the manufacturing tolerance, and the measurement error term is represented by a nonlinear function of the laser ranging error, as follows: ; In the above error calculation formula, and These are manufacturing tolerances and laser ranging errors, respectively. This is a power coefficient describing the nonlinear effect of manufacturing tolerances on the distance error of hardware, used to adjust for the amplification effect of manufacturing tolerances on the final error; This is a power coefficient describing the nonlinear effect of laser ranging error as the sensor's own error increases, used to adjust the amplification effect of the measurement error on the final error; and These are the propagation coefficients of manufacturing tolerances and laser ranging errors, respectively, which determine their respective impact on the final distance. By designing a nonlinear error formula, errors in actual measurements can be modeled more accurately, and the upper and lower limits of the distance range can be adaptively adjusted according to different environments and tasks, thereby improving the accuracy and robustness of hardware identification in actual judgment tasks.

[0056] Furthermore, for distance fluctuations, the conventional approach is to calculate the standard deviation for the entire sequence. However, due to differences in the shape characteristics of different components and vibration variations caused by robot movement, calculating the standard deviation for the entire distance sequence may introduce errors or misjudgments in the identification of different types of objects. Therefore, this embodiment employs a segmented fluctuation analysis approach. Specifically: For distance sequences The standard deviation is calculated using a sliding window method and is expressed as: ; in, For time window The standard deviation of the interior distance data This is the time window. The number of sampling points in the sample. For time window The first in Distance measurements at each sampling point; For time window All The mean of the distance measurements.

[0057] The comprehensive judgment criteria for hardware identification are as follows: ; This is the maximum permissible fluctuation threshold for hardware.

[0058] (2) Steel caps are usually regularly distributed in the insulator string, with a certain diameter and a relatively flat surface; their shape regularity is slightly lower than that of hardware, and their light-measuring and distance-measuring fluctuations are also relatively small. Therefore, the characteristics of "relatively close distance + small fluctuations + periodicity" can be used for steel caps. For steel caps, check the average distance measurement value of the distance sequence. Whether it is within the restricted distance range of the steel cap, whether the fluctuation of the detection distance is less than the maximum allowable fluctuation threshold, and whether the fluctuation period meets the steel cap spacing rule.

[0059] When the insulator string assembly has a steel cap, the corresponding comprehensive judgment condition executed by the main control module is: The mean of the positive real distance values ​​in the distance sequence is within the steel cap distance limit range, and the steel cap distance fluctuation is less than the corresponding maximum allowable fluctuation threshold, and the fluctuation period satisfies the steel cap spacing rule.

[0060] Furthermore, the restricted distance range of the steel cap is expressed as follows: ; In the formula, and These are the lower and upper threshold values ​​for the positive real distance between the steel cap and the laser sensor 9, respectively. Similar to fittings, manufacturing tolerances and measurement errors need to be comprehensively considered for both the lower and upper threshold values. To reduce the real-time computational load of the device in actual working environments, the same method as fitting identification is used here, simply replacing the fitting parameters with the steel cap parameters. Those skilled in the art can refer to this implementation; further details are omitted here.

[0061] Furthermore, using sliding windows Standard deviation of interior distance data Determine whether the distance fluctuation of the steel cap is within the set range; expressed as: ; This is the maximum permissible fluctuation threshold for the steel cap.

[0062] Furthermore, check whether the fluctuation period conforms to the steel cap spacing pattern; use periodic extraction methods such as Fourier transform to convert the distance sequence to the frequency domain. If the steel cap is identified, it usually exhibits one or more dominant frequency components, which will show obvious peaks in the frequency domain.

[0063] The method for determining whether the fluctuation period meets the steel cap spacing rule is as follows: extract the periodic features in the distance sequence and represent them as peak spacing; convert the peak spacing into the actual periodic spacing based on the insulator inspection robot's travel speed and the sampling frequency of the laser sensor 9. Calculate the absolute value of the difference between the actual periodic spacing and the average steel cap spacing. If the absolute value of the difference is less than or equal to the spacing error range, it is determined that the fluctuation period conforms to the steel cap spacing law. Specifically: Extracting peak spacing As a periodic feature, Based on the robot's speed and the sampling frequency of laser sensor 9, the actual periodic interval is converted.

[0064] Furthermore, the periodic interval is compared with the average steel cap interval: ; The average spacing between steel caps can be obtained by measuring the spacing between steel caps in the past. To determine the permissible range of spacing error, the standard deviation of the measured spacing between steel caps in the past can be used as a reference.

[0065] The comprehensive judgment criteria for steel cap recognition are:

[0066] If all three conditions are met, it is identified as a steel cap.

[0067] (3) The umbrella skirt has an alternating undulating shape, and the laser rangefinder will exhibit obvious fluctuations during the scanning process. In addition, the distance between the edge of the umbrella skirt and the laser sensor 9 is closer than that between the steel cap and the hardware. Therefore, the umbrella skirt can be characterized by "close relative distance + significant fluctuations".

[0068] When the insulator string assembly is a skirt, the corresponding comprehensive judgment condition executed by the main control module is that the peak point distance value is less than or equal to the preset skirt distance threshold. For the distance sequence, signal processing methods are used to extract the peak value of the waveform within each sliding window, or the local minimum value of each window is directly calculated. The distance value corresponding to the peak point / local minimum point is then checked to see if it is less than or equal to a preset umbrella skirt distance threshold. The positive real-valued distance corresponding to the peak point is the peak point distance value. The comprehensive judgment criteria for umbrella skirt recognition are: ; This represents the distance value corresponding to the peak point / local minimum point. A preset umbrella skirt distance threshold is set. The preset umbrella skirt distance threshold is the preset distance value between the edge of the umbrella skirt and the laser sensor 9. If the above condition is met, it is determined that the edge of the umbrella skirt has been detected.

[0069] Step 4: Perform different follow-up operations based on the type of the identified insulator string component; If a fitting is detected, it means the robot has reached the last insulator in the string, and the automatic inspection task stops. If the current target is identified as a steel cap, a rotating probe inspection is performed, and the inspection data is recorded. If it is not a steel cap, the robot continues to move forward at a constant speed. If the edge of the umbrella skirt is detected, it is treated as a non-steel cap, and the robot continues to move forward at a constant speed.

[0070] In this application, a laser sensor 9 is designed as a data acquisition device. It is small in size and lightweight, enabling efficient and accurate acquisition of distance data. Based on this, this embodiment proposes a detection and recognition method using distance sequences. Different recognition conditions are designed according to the different characteristics of different components, enabling rapid data analysis and real-time judgment, improving computational efficiency, and ensuring that the robot can respond quickly and complete detection tasks safely and reliably.

[0071] This invention proposes an automatic detection and identification method for insulator string assemblies. It utilizes signals acquired by a single laser sensor and employs intelligent algorithms to efficiently and accurately identify and detect different types of insulator string assemblies. Considering that the inspection robot needs to move along the power lines, this invention uses only one laser sensor for data acquisition and processes the data based on the laser ranging signal, minimizing equipment weight and complexity. By combining the geometric and wave characteristics of the components and adjusting the judgment conditions accordingly, this method can adapt to various working environments, improving detection efficiency and reducing manual intervention, thereby enhancing the safety and maintenance efficiency of power equipment.

[0072] Example 6 As an embodiment of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded onto the processor, it employs a specific implementation of the detection and identification method described in Embodiment 5 above.

[0073] Example 7 As an embodiment of this application, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, it employs a specific implementation of the detection and identification method described in Embodiment 5 above.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. An adaptable multi-voltage class insulator automatic detection robot, characterized in that: The device includes a motion component and two telescopic adjustment components located on both sides of the motion component. Each of the two telescopic adjustment components is equipped with a guide support rod (4), and each of the two guide support rods (4) is equipped with a pressure sensor. One of the telescopic adjustment components is equipped with a rotating frame (71). Two probes (7) are fixedly installed on one side of the rotating frame (71). The rotating frame (71) is slidably mounted in a groove (72) that is horizontally fixed on one side of the telescopic adjustment component via a fixed slider (73) to control the probes to move along the groove (72) for easy measurement of the first and last insulator pieces. One end of the motion component is equipped with an anti-fall component. The motion component includes a mounting bracket (3) and two double-ended screws (13) rotatably connected to the mounting bracket (3). Each telescopic adjustment assembly includes two telescopic cylinders (12) screwed to the end of the double-headed screw (13). The fall arrestor assembly includes two clamping rods (83) for holding the insulator end cap, an electromagnetic base (85) for adsorbing the insulator end cap, and a pull rope (88) for driving the two clamping rods (83) to rotate. The mounting bracket (3) has a slide (81) with one end in contact with the pull rope (88) and a rotating shaft (35) is provided inside the mounting bracket (3) for driving the double-headed screw (13) to rotate and the slide (81) to move. A laser sensor (9) is fixedly installed inside the mounting frame (3). The laser sensor (9) can scan the insulator string in real time through the gap between the two tracks (32) during the journey and transmit the real-time scan data to the main control module set in the control box (6). The main control module detects and identifies the insulator assembly based on the real-time scan data and the corresponding preset criteria. Both of the two double-headed screws (13) are coaxially fixed with worm gears (14) on their outer sides, and the rotating shaft (35) is provided with two worm sections that mesh with the two worm gears (14) respectively; The motion assembly also includes a drive wheel (31), a driven wheel (33) and a plurality of support wheels (34) rotatably connected within the mounting frame (3). Tracks (32) are fitted on the outer sides of the drive wheel (31), the driven wheel (33) and the plurality of support wheels (34). A hoisting bracket (2) is fixedly installed on the top of the mounting frame (3). A fixed shaft (36) is fixedly installed inside the mounting bracket (3). Pulleys (87) are rotatably connected to both the slide (81) and the fixed shaft (36). A threaded cylinder is fixed to one end of the slide (81). A threaded section that engages with the threaded cylinder is provided on the rotating shaft (35). A drum (82) is coaxially fixed to the outside of the driven wheel (33). The pull rope (88) is wound around the outside of the drum (82). One end of the pull rope (88) passes around the two pulleys (87) in sequence and is fixedly connected to the top of the clamping seat (8).

2. The automatic detection robot for insulators adaptable to multiple voltage classes according to claim 1, characterized in that: The telescopic adjustment assembly also includes a horizontal support rod (1) and two vertical support rods (11) fixed at both ends of the horizontal support rod (1). The two telescopic cylinders (12) are fixedly installed on one side of the horizontal support rod (1), and the guide support rod (4) is set on one side of the vertical support rod (11).

3. The machine according to claim 1, wherein the machine is capable of detecting insulators of different voltage classes. The fall arrestor assembly also includes a clamping seat (8) and a slide (84) slidably connected to the bottom of the clamping seat (8). The two clamping rods (83) are rotatably connected to both ends of the clamping seat (8). The electromagnetic seat (85) is fixedly connected to the bottom of the slide (84). The two ends of the slide (84) are respectively rotatably connected to the middle parts of the two clamping rods (83) with connecting rods (86). A spring (89) is fixedly connected between the top of the slide (84) and the clamping seat (8).

4. The automatic insulator inspection robot adaptable to multiple voltage levels according to claim 2, characterized in that: The two vertical support rods (11) of the telescopic adjustment assembly are slidably fitted with fixed seats (41) on their outer sides. Two slide rods are fixedly installed on one side of the guide support rod (4), which slide through the two fixed seats (41) respectively. The two fixed seats (41) are each screwed with a first butterfly screw (42) whose end can abut against the fixed slide rod. The two fixed seats (41) are each screwed with a second butterfly screw (43) for locking the fixed seat (41) and the vertical support rod (11).

5. The automatic insulator inspection robot adaptable to multiple voltage levels according to claim 2, characterized in that: Each of the vertical support rods (11) is provided with a leg support rod (5) at the bottom. Both the bottom of the vertical support rod (11) and the end of the leg support rod (5) are provided with a rotating seat (52). The two sets of rotating seats (52) are rotatably connected. There is a height difference between the hinge axes of the two sets of rotating seats (52), and the height difference is greater than the thickness of a single rotating seat (52) at the hinge.

6. The automatic insulator inspection robot adaptable to multiple voltage levels according to claim 5, characterized in that: A fixed connecting rod (51) is fixedly connected between the bottom of two leg support rods (5) located on the same side, and a control box (6) is fixed between two leg support rods (5) located on the same side.

7. A method of using the automatic insulator inspection robot adaptable to multiple voltage levels as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Lift the inspection robot into the air and place it directly above the insulator string to be inspected. Then place the inspection robot at one end of the top of the insulator string. Step 2: When the testing robot is placed at one end of the insulator string to be tested, the electromagnetic base (85) is energized to initially attract the insulator end cap, and then the rotating shaft (35) is rotated. The rotation of the rotating shaft (35) drives the slide (81) to move to tension the pull rope (88), so that the two clamping rods (83) rotate inward to clamp the insulator end cap. On the other hand, it drives the two double-headed screws (13) to rotate synchronously. Step 3: The two double-headed screws (13) rotate synchronously, causing the two sets of telescopic cylinders (12) connected on both sides to move synchronously towards the center, thereby driving the two guide support rods (4) set on the two telescopic adjustment components to move towards the center until both guide support rods (4) are in contact with both sides of the insulator, and when the monitoring data of the pressure sensor on both guide support rods (4) reaches the set value, the rotating shaft (35) stops rotating. Step 4: The detection robot is moved intermittently at the top of the insulator string by the motion component. The target distance of each movement is the distance between adjacent insulators on the insulator string. During this process, the pull rope (88) is released synchronously. After each movement, the rotating frame (71) is driven to rotate, so that the two probes (7) rotate at a set angle, so that the two probes (7) respectively contact the metal connectors at both ends of the insulator, thereby detecting each insulator on the insulator string. Step 5: During the detection process, the main control module in the control box (6) controls the detection and identification of the insulator string assembly; Step 6: After the test is completed, the electromagnetic base (85) is de-energized and the pull rope (88) is loosened. Then the test robot is lifted from the top of the insulator and transported to the ground, and then folded and stored.

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