Self-locking anti-falling tripping device for insulator detection robot

Abstract

This invention relates to the field of power line inspection technology, and more particularly to a self-locking anti-fall release device for an insulator inspection robot. The device includes a mounting base, a first gripping manipulator, a second gripping manipulator, a power-off self-locking brake mechanism, and a drone-powered release and hoisting mechanism. The first and second gripping manipulators are positioned forward and backward along the robot's travel direction to encircle the insulator string and form a fall-prevention limit. The power-off self-locking brake mechanism releases when energized, and in the event of a power outage or fault, an elastic reset component pushes the brake clamping assembly to press against the traveling wheels and locking components, thereby limiting the rotation of the traveling wheels and keeping the manipulators closed. The drone-powered release and hoisting mechanism is linked to the manual pull rod of the electromagnetic attraction component via a fixed lifting lug and a pull rope, allowing it to release under drone traction, facilitating hoisting, release, and retrieval. This invention improves the fall safety of insulator inspection robots operating at heights and enhances the convenience of unmanned retrieval.

Description

Technical Field

[0001] This invention relates to the field of power line inspection technology, specifically to a self-locking anti-fall release device for an insulator inspection robot. Background Technology

[0002] Insulators are crucial insulating support components in overhead transmission lines, typically installed in strings between the transmission tower and the conductor. With long-term operation, insulators are susceptible to performance degradation, damage, or low / zero values ​​due to factors such as pollution, lightning strikes, mechanical vibration, temperature variations, and external impacts. Therefore, regular inspection and testing of insulator strings are necessary. To reduce the risks of manual tower climbing for inspection, existing technologies increasingly employ insulator inspection robots that move along the insulator strings for inspection, improving inspection efficiency and reducing the risks of manual high-altitude work.

[0003] However, existing insulator inspection robots still have insufficient safety protection during actual high-altitude operations. Since the robot needs to move along the insulator string, it typically needs to contact and cooperate with the insulator string through wheels, clamping structures, or guiding structures. When the robot experiences a power outage, control failure, communication interruption, or drive malfunction during movement, the wheels may lose braking ability, and the robot is prone to slipping along the insulator string. Simultaneously, the robotic arm or clamping mechanism may loosen or open in a faulty state, causing the robot to detach from the insulator string, posing a risk of falling, colliding with power lines, and damaging equipment.

[0004] Furthermore, existing insulator inspection robots typically still require manual assistance for installation or retrieval during the loading and unloading processes, especially in high-voltage transmission line scenarios. Manual tower climbing is highly dangerous, inefficient, and significantly limited by terrain, weather, and line operating conditions. While drones can be used for lifting robots, existing lifting structures are mostly simple hook or ring structures, unable to integrate with the robot's own locking and unlocking mechanisms. This results in operational inconvenience, insufficient reliability of release mechanisms, and difficulty in releasing locks during lifting, release, and retrieval.

[0005] Therefore, a self-locking anti-fall release device for an insulator inspection robot is proposed to address the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a self-locking anti-fall release device for an insulator inspection robot, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A self-locking anti-fall release device for an insulator inspection robot includes a mounting base, a first gripping manipulator, a second gripping manipulator, a power-off self-locking braking mechanism, an electric release hoisting mechanism for a drone, and a control module.

[0009] The mounting base is used to be mounted on the main body of the insulator inspection robot;

[0010] The first gripping manipulator and the second gripping manipulator are arranged at intervals on the mounting base along the traveling direction of the insulator inspection robot. Both the first gripping manipulator and the second gripping manipulator are used to surround the outer periphery of the insulator string to form a fall prevention limit during the movement of the insulator inspection robot along the insulator string.

[0011] The control module is connected to the first gripping manipulator and the second gripping manipulator respectively, and is used to control the opening and closing of the first gripping manipulator and the second gripping manipulator.

[0012] The power-off self-locking brake mechanism is mounted on the mounting base and is respectively configured with the walking wheels of the insulator inspection robot and the first gripping manipulator and the second gripping manipulator; the power-off self-locking brake mechanism is in the unlocked state when powered on, and switches to the locked state when powered off or in a fault state, so as to restrict the rotation of the walking wheels and keep the first gripping manipulator and the second gripping manipulator in the closed state.

[0013] The electric release hoisting mechanism for the UAV is mounted on the mounting base and is used to connect with the UAV hoisting rope. It can also drive the power-off self-locking brake mechanism to release its locking state under the action of electromagnetic attraction or rope traction, so as to cooperate with the UAV to complete the hoisting or release operation.

[0014] Preferably, the mounting base is integrally formed with the main body of the insulator inspection robot. The mounting base includes a main body connecting frame, a first mounting seat, and a second mounting seat. The first mounting seat and the second mounting seat are spaced back and forth along the traveling direction of the insulator inspection robot. The first gripping manipulator is mounted on the first mounting seat, and the second gripping manipulator is mounted on the second mounting seat.

[0015] Preferably, the first gripping manipulator includes a first arc-shaped circumferential arm, a first rotating shaft seat, and a first control motor. The first arc-shaped circumferential arm is rotatably connected to the mounting base via the first rotating shaft seat, and the first control motor is drively connected to the first arc-shaped circumferential arm to drive the first arc-shaped circumferential arm to open or close.

[0016] The second gripping manipulator includes a second arc-shaped circumferential arm, a second rotating shaft seat, and a second control motor. The second arc-shaped circumferential arm is rotatably connected to the mounting base via the second rotating shaft seat, and the second control motor is drively connected to the second arc-shaped circumferential arm to drive the second arc-shaped circumferential arm to open or close.

[0017] Preferably, the first arc-shaped circumferential arm and the second arc-shaped circumferential arm are both semi-circular, arc-shaped or open-ring structures. After the first arc-shaped circumferential arm and the second arc-shaped circumferential arm are closed, they respectively form a circumferential space for the insulator string to pass through. The inner side of the circumferential space is used to surround the outer edge of the insulator skirt.

[0018] Preferably, the control module controls the opening and closing of the first and second gripping manipulators according to a preset action sequence, so that at least one of the first and second gripping manipulators remains closed during the insulator inspection robot's movement, stopping, or standby.

[0019] Preferably, the power-off self-locking brake mechanism includes a brake seat, an electromagnetic attraction component, an elastic reset component, and a brake clamping assembly. Locking components are respectively provided on the first gripping manipulator and the second gripping manipulator. One end of the brake clamping assembly is rotatably mounted on the brake seat. The elastic reset component is connected to the brake clamping assembly, and the electromagnetic attraction component is connected to the brake clamping assembly.

[0020] When powered on, the electromagnetic attractor pulls the brake clamping assembly to rotate, causing the brake clamping assembly to move away from the traveling wheel, the locking member on the first gripping robot, and the locking member on the second gripping robot; when powered off or in a fault-triggered locking state, the elastic reset member pushes the brake clamping assembly to press the traveling wheel, the locking member on the first gripping robot, and the locking member on the second gripping robot.

[0021] Preferably, the brake clamping assembly is provided with a first limiting block, and the locking member is provided with a second limiting block, with the first limiting block and the second limiting block being provided correspondingly; in the power failure or fault-triggered locking state, the first limiting block and the second limiting block abut against each other to restrict the first gripping manipulator and the second gripping manipulator from rotating from the closed state to the open state.

[0022] Preferably, the UAV electric release hoisting mechanism includes a fixed lifting lug, a guide post, and a pull rope. The fixed lifting lug is disposed on the mounting base and is used to connect with the UAV hoisting rope. The guide post is disposed on the other side of the mounting base. One end of the pull rope forms a traction end for cooperating with the UAV hoisting rope, and the other end of the pull rope passes around the guide post and is connected to the manual pull rod of the electromagnetic attraction component.

[0023] When the pull rope is pulled by the drone hoisting rope, the pull rope drives the manual lever of the electromagnetic attraction component to move, and the manual lever drives the brake clamping component away from the traveling wheel and the locking component.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. In this invention, by setting a first gripping manipulator and a second gripping manipulator on the mounting base along the traveling direction of the insulator inspection robot, the two gripping manipulators can encircle the outer periphery of the insulator string, forming a fall-prevention limit during robot movement, stopping, or standby. Compared with positioning methods relying solely on wheels or a single clamping structure, this device can improve the reliability of the robot's hold on the insulator string and reduce the risk of the robot detaching from the insulator string during high-altitude operations.

[0026] 2. In this invention, by setting a power-off self-locking brake mechanism, the electromagnetic attracting component pulls the brake clamping assembly to rotate and release the lock when the power is on, ensuring normal robot movement and normal opening and closing of the manipulator. In the power-off or fault-triggered locking state, the elastic reset component can push the brake clamping assembly to reset, so that the brake clamping assembly presses the walking wheel and the locking components on the first and second gripping manipulators, thereby simultaneously restricting the rotation of the walking wheel and keeping the manipulator in a closed state, improving the safety protection capability under power failure, fault or abnormal working conditions.

[0027] 3. In this invention, by setting corresponding limit blocks on the brake clamping assembly and the locking component respectively, in the power failure or fault-triggered locking state, the brake clamping assembly and the locking component can not only be locked by clamping force, but also the first gripping manipulator and the second gripping manipulator can be restricted from rotating from the closed state to the open state by the limit blocks, thereby structurally enhancing the closing retention effect of the manipulator and improving the stability of the anti-fall locking.

[0028] 4. In this invention, by setting up an electric release and lifting mechanism for the drone, the fixed lifting lug can be connected to the drone lifting rope, and a linkage is formed between the pull rope, guide column, and manual pull rod of the electromagnetic attraction component. When the drone lifting rope pulls the pull rope, the pull rope can drive the manual pull rod to move, causing the brake clamping component to move away from the traveling wheel and locking component, thereby realizing drone-assisted unlocking, lifting, or release operations, reducing manual tower climbing intervention, and improving the convenience of the insulator inspection robot's online, offline, and retrieval processes. Attached Figure Description

[0029] Figure 1 This is a front view of the present invention;

[0030] Figure 2 For the present invention Figure 1 A schematic diagram of the structure at point A;

[0031] Figure 3 This is a right view of the present invention;

[0032] Figure 4 This is the left view of the present invention;

[0033] Figure 5 This is a rear view of the present invention;

[0034] Figure 6 This is a physical image of the present invention.

[0035] In the diagram: 1. Mounting base; 11. Main connecting frame; 12. First mounting seat; 13. Second mounting seat; 2. First gripping manipulator; 21. First arc-shaped encircling arm; 22. First rotating shaft seat; 23. First control motor; 3. Second gripping manipulator; 31. Second arc-shaped encircling arm; 32. Second rotating shaft seat; 33. Second control motor; 4. Control module; 5. Power-off self-locking brake mechanism; 51. Brake seat; 52. Electromagnetic attraction component; 53. Elastic reset component; 54. Brake clamping assembly; 55. Locking component; 6. UAV electric release and hoisting mechanism; 61. Fixed lifting lug; 62. Guide column; 63. Pull rope. Detailed Implementation

[0036] Example 1: Please refer to Figure 1-6 The present invention provides a technical solution:

[0037] A self-locking anti-fall release device for an insulator inspection robot is disclosed. This device is primarily installed or integrated into the main body of the insulator inspection robot and is used to prevent fall, limit power-off self-locking, and assist in drone-based lifting release when the robot moves along the insulator string for inspection. The device mainly includes a mounting base 1, a first gripping manipulator 2, a second gripping manipulator 3, a control module 4, a power-off self-locking brake mechanism 5, and a drone-based electric release lifting mechanism 6.

[0038] The mounting base 1 serves as the supporting foundation for this device. It can be integrally set with the main body of the insulator inspection robot, or it can be fixed to the main body of the insulator inspection robot by bolts, snap-fit ​​components, or connecting plates. In this embodiment, the mounting base 1 includes a main body connecting frame 11, a first mounting seat 12, and a second mounting seat 13. The first mounting seat 12 and the second mounting seat 13 are spaced back and forth along the traveling direction of the insulator inspection robot. The first gripping manipulator 2 is mounted on the first mounting seat 12, and the second gripping manipulator 3 is mounted on the second mounting seat 13, thereby forming a front-to-back gripping structure in the robot's traveling direction.

[0039] The first gripping manipulator 2 includes a first arc-shaped circumferential arm 21, a first rotating shaft seat 22, and a first control motor 23. The first arc-shaped circumferential arm 21 is rotatably connected to the mounting base 1 via the first rotating shaft seat 22. The first control motor 23 is drive-connected to the first arc-shaped circumferential arm 21 and is used to drive the first arc-shaped circumferential arm 21 to open or close relative to the insulator string. The second gripping manipulator 3 includes a second arc-shaped circumferential arm 31, a second rotating shaft seat 32, and a second control motor 33. The second arc-shaped circumferential arm 31 is rotatably connected to the mounting base 1 via the second rotating shaft seat 32. The second control motor 33 is drive-connected to the second arc-shaped circumferential arm 31 and is used to drive the second arc-shaped circumferential arm 31 to open or close.

[0040] Both the first arc-shaped encircling arm 21 and the second arc-shaped encircling arm 31 can be configured as semi-circular, arc-shaped, or open-ring structures. When the first arc-shaped encircling arm 21 and the second arc-shaped encircling arm 31 are in the closed state, they respectively form an encircling space for the insulator string to pass through, and this encircling space surrounds the outer periphery of the insulator skirt. It should be noted that the first gripping manipulator 2 and the second gripping manipulator 3 are mainly used to form a fall-prevention limit and are not used as the main source of crawling power for the insulator inspection robot. The main body of the insulator inspection robot can still move along the insulator string through its own wheels, while the first gripping manipulator 2 and the second gripping manipulator 3 encircle the outer periphery of the insulator string during robot movement, stopping, or standby, preventing the robot from accidentally detaching from the insulator string.

[0041] The control module 4 is located within the mounting base 1 or the main body of the insulator inspection robot, and is connected to the first control motor 23 and the second control motor 33. During operation, the control module 4 controls the opening and closing of the first gripping manipulator 2 and the second gripping manipulator 3 according to a preset action sequence, ensuring that at least one of the first gripping manipulator 2 and the second gripping manipulator 3 remains closed during the insulator inspection robot's movement, stopping, or standby. Therefore, even if one gripping manipulator is in an open adjustment state, the other gripping manipulator can still form a circumferential restraint on the insulator string, reducing the risk of the robot detaching from the insulator string.

[0042] A power-off self-locking brake mechanism 5 is mounted on the mounting base 1, and is correspondingly positioned with the walking wheels of the insulator inspection robot body and the first gripping manipulator 2 and the second gripping manipulator 3. The power-off self-locking brake mechanism 5 includes a brake seat 51, an electromagnetic attraction component 52, an elastic reset component 53, and a brake clamping assembly 54. The first gripping manipulator 2 and the second gripping manipulator 3 are each equipped with a locking component 55, which cooperates with the brake clamping assembly 54 to restrict the rotation of the first gripping manipulator 2 and the second gripping manipulator 3 from a closed state to an open state.

[0043] Specifically, one end of the brake clamping assembly 54 is rotatably mounted on the brake seat 51, the elastic reset member 53 is connected to the brake clamping assembly 54, and the electromagnetic attracting member 52 is connected to the brake clamping assembly 54. The elastic reset member 53 can be a tension spring, compression spring, torsion spring, or other elastic element capable of providing a reset force. The electromagnetic attracting member 52 can be an electromagnet, an electromagnetic chuck, or an electromagnetic actuator with a manual pull rod.

[0044] When the insulator inspection robot is operating normally with power on, the electromagnetic attraction component 52 is energized. The electromagnetic attraction component 52 pulls the brake clamping assembly 54 to rotate, causing the brake clamping assembly 54 to move away from the traveling wheels, the locking components 55 on the first gripping manipulator 2, and the second gripping manipulator 3. At this time, the power-off self-locking brake mechanism 5 is in the unlocked state, the traveling wheels can rotate normally, and the first gripping manipulator 2 and the second gripping manipulator 3 can also open or close normally under the control of the control module 4.

[0045] When the insulator inspection robot experiences a power outage, communication interruption, control failure, or other abnormal situation requiring locking, the electromagnetic attraction component 52 loses its attraction force. The elastic reset component 53 pushes the brake clamping assembly 54 to rotate in the opposite direction and reset, causing the brake clamping assembly 54 to press against the walking wheels, the locking components 55 on the first gripping manipulator 2, and the second gripping manipulator 3. At this time, the walking wheels are restricted by the clamping and cannot continue to rotate. At the same time, the first gripping manipulator 2 and the second gripping manipulator 3 are restricted by the cooperation of the locking components 55 and the brake clamping assembly 54, thus maintaining a closed state and preventing the robot from slipping or falling off due to power outage or malfunction.

[0046] Furthermore, a first limiting block is provided on the brake clamping assembly 54, and a second limiting block is provided on the locking member 55, with the first and second limiting blocks corresponding to each other. In the power-off or fault-triggered locking state, the first and second limiting blocks abut against each other, preventing the locking member 55 from moving in the opening direction of the manipulator, thereby restricting the rotation of the first gripping manipulator 2 and the second gripping manipulator 3 from the closed state to the open state. Through the combined action of the clamping engagement and the abutting engagement of the limiting blocks, the reliability of the gripping manipulator's closed holding is improved.

[0047] The UAV electric tripping and hoisting mechanism 6 is mounted on the mounting base 1. The UAV electric tripping and hoisting mechanism 6 includes a fixed lifting lug 61, a guide post 62, and a pull rope 63. The fixed lifting lug 61, mounted on the mounting base 1, is used to connect with the UAV hoisting rope, enabling the UAV to hoist the insulator inspection robot to the vicinity of the insulator string to be inspected via the hoisting rope. The guide post 62 is located on the other side of the mounting base 1. One end of the pull rope 63 forms a traction end for cooperation with the UAV hoisting rope, and the other end of the pull rope 63 passes around the guide post 62 and connects to the manual pull rod of the electromagnetic engagement component 52.

[0048] During the robot deployment process, the drone connects to the fixed lifting lug 61 via a hoisting rope, lifting the insulator inspection robot to the vicinity of the insulator string. Once the robot reaches the installation position, the control module 4 controls the first gripping manipulator 2 and the second gripping manipulator 3 to close, causing the first arc-shaped encircling arm 21 and the second arc-shaped encircling arm 31 to encircle the outer periphery of the insulator string. Subsequently, under energized conditions, the electromagnetic attraction component 52 keeps the brake clamping assembly 54 in an unlocked state, allowing the robot's wheels to move and inspect along the insulator string.

[0049] When it is necessary to use a drone for release, assisted retrieval, or unlocking, the drone's lifting rope can pull the traction end of the pull rope 63. Under traction, the pull rope 63 transmits force around the guide post 62, driving the manual lever of the electromagnetic attraction component 52. The manual lever further moves the brake clamping assembly 54 away from the traveling wheel and the locking component 55, thus releasing the power-off self-locking brake mechanism 5 from its locked state. Therefore, even in the event of a power outage or malfunction, external assisted unlocking can be achieved by using a drone to pull the pull rope 63, facilitating the drone's lifting, release, or retrieval operations on the insulator inspection robot.

[0050] In this embodiment, the fixed lifting lug 61, guide post 62, and pull rope 63 together form the drone's traction and unlocking path. The fixed lifting lug 61 is used for hoisting connection, the guide post 62 is used to change the force direction of the pull rope 63, and the pull rope 63 is used to transmit the external traction force of the drone's hoisting rope to the manual pull rod of the electromagnetic attraction component 52. With this structure, the drone can not only hoist the robot, but also, when needed, pull the pull rope 63 to drive the power-off self-locking brake mechanism 5 to release the lock, thereby improving the convenience of high-altitude recovery and abnormal handling.

[0051] In practical use, the insulator inspection robot moves along the insulator string via its own wheels. The first gripping manipulator 2 and the second gripping manipulator 3 are controlled by the control module 4, with at least one remaining in a closed state. When the robot is powered on normally, the electromagnetic attraction component 52 pulls the brake clamping assembly 54 away from the wheels and locking component 55, allowing the robot to move normally. When the robot loses power or malfunctions, the elastic reset component 53 pushes the brake clamping assembly 54 to reset and clamp the wheels and locking component 55, stopping the robot and maintaining the closed state of both gripping manipulators. When drone retrieval or release is required, the drone pulls the pull rope 63 via the hoisting rope. The pull rope 63 actuates the manual lever of the electromagnetic attraction component 52, releasing the brake clamping assembly 54, thus enabling the drone to complete the hoisting or retrieval operation.

[0052] With the above structure, this device can integrate the functions of gripping and anti-fall, power failure self-locking and drone towing and unlocking on the same mounting base 1 without changing the basic detection function of the insulator inspection robot, thereby improving the safety and unmanned operation capability of the insulator inspection robot on insulator strings of high-altitude transmission lines.

[0053] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A self-locking anti-fall release device for an insulator inspection robot, characterized in that: It includes a mounting base (1), a first gripping manipulator (2), a second gripping manipulator (3), a power-off self-locking brake mechanism (5), an electric release hoisting mechanism for UAVs (6), and a control module (4); The mounting base (1) is used to be mounted on the body of the insulator inspection robot; The first gripping manipulator (2) and the second gripping manipulator (3) are arranged at intervals on the mounting base (1) along the travel direction of the insulator inspection robot. The first gripping manipulator (2) and the second gripping manipulator (3) are both used to surround the outer periphery of the insulator string to form a fall prevention limit during the movement of the insulator inspection robot along the insulator string. The control module (4) is connected to the first gripping manipulator (2) and the second gripping manipulator (3) respectively, and is used to control the opening and closing of the first gripping manipulator (2) and the second gripping manipulator (3); The power-off self-locking brake mechanism (5) is mounted on the mounting base (1) and is respectively configured with the walking wheel of the insulator inspection robot and the first gripping manipulator (2) and the second gripping manipulator (3); the power-off self-locking brake mechanism (5) is in the unlocked state when powered on, and switches to the locked state when powered off or in fault state, so as to restrict the rotation of the walking wheel and keep the first gripping manipulator (2) and the second gripping manipulator (3) in the closed state; The electric release hoisting mechanism (6) of the UAV is set on the mounting base (1) and is used to connect with the UAV hoisting rope. It can drive the power-off self-locking brake mechanism (5) to release the locking state under the electromagnetic attraction or the pull rope traction, so as to cooperate with the UAV to complete the hoisting or release operation.

2. The self-locking anti-fall release device for an insulator inspection robot according to claim 1, characterized in that, The mounting base (1) is integrally set with the main body of the insulator inspection robot. The mounting base (1) includes a main body connecting frame (11), a first mounting seat (12) and a second mounting seat (13). The first mounting seat (12) and the second mounting seat (13) are arranged at intervals along the travel direction of the insulator inspection robot. The first gripping manipulator (2) is mounted on the first mounting seat (12) and the second gripping manipulator (3) is mounted on the second mounting seat (13).

3. The self-locking anti-fall release device for an insulator inspection robot according to claim 1, characterized in that, The first gripping manipulator (2) includes a first arc-shaped circumferential arm (21), a first rotating shaft seat (22), and a first control motor (23). The first arc-shaped circumferential arm (21) is rotatably connected to the mounting base (1) through the first rotating shaft seat (22). The first control motor (23) is drively connected to the first arc-shaped circumferential arm (21) and is used to drive the first arc-shaped circumferential arm (21) to open or close. The second gripping manipulator (3) includes a second arc-shaped circumferential arm (31), a second rotating shaft seat (32), and a second control motor (33). The second arc-shaped circumferential arm (31) is rotatably connected to the mounting base (1) through the second rotating shaft seat (32). The second control motor (33) is drively connected to the second arc-shaped circumferential arm (31) and is used to drive the second arc-shaped circumferential arm (31) to open or close.

4. A self-locking anti-fall release device for an insulator inspection robot according to claim 3, characterized in that, The first arc-shaped circumferential arm (21) and the second arc-shaped circumferential arm (31) are both semi-circular, arc-shaped or open-ring structures. After the first arc-shaped circumferential arm (21) and the second arc-shaped circumferential arm (31) are closed, they respectively form a circumferential space for the insulator string to pass through. The inner side of the circumferential space is used to surround the outer edge of the insulator skirt.

5. A self-locking anti-fall release device for an insulator inspection robot according to claim 1, characterized in that, The control module (4) controls the opening and closing of the first gripping manipulator (2) and the second gripping manipulator (3) according to the preset action sequence, so that at least one of the first gripping manipulator (2) and the second gripping manipulator (3) remains closed during the movement, stopping or standby process of the insulator inspection robot.

6. A self-locking anti-fall release device for an insulator inspection robot according to claim 1, characterized in that, The power-off self-locking brake mechanism (5) includes a brake seat (51), an electromagnetic attractor (52), an elastic resetter (53), and a brake clamping assembly (54). Locking members (55) are respectively provided on the first gripping manipulator (2) and the second gripping manipulator (3). One end of the brake clamping assembly (54) is rotatably mounted on the brake seat (51). The elastic resetter (53) is connected to the brake clamping assembly (54). The electromagnetic attractor (52) is connected to the brake clamping assembly (54). When powered on, the electromagnetic attraction member (52) pulls the brake clamping assembly (54) to rotate, causing the brake clamping assembly (54) to move away from the walking wheel, the locking member (55) on the first gripping manipulator (2), and the locking member (55) on the second gripping manipulator (3); when powered off or in a fault-triggered locking state, the elastic reset member (53) pushes the brake clamping assembly (54) to press the walking wheel, the locking member (55) on the first gripping manipulator (2), and the locking member (55) on the second gripping manipulator (3).

7. A self-locking anti-fall release device for an insulator inspection robot according to claim 6, characterized in that, The brake clamping assembly (54) is provided with a first limiting block, and the locking member (55) is provided with a second limiting block. The first limiting block and the second limiting block are provided in a corresponding manner. In the power failure or fault-triggered locking state, the first limiting block and the second limiting block abut against each other to restrict the first gripping manipulator (2) and the second gripping manipulator (3) from rotating from the closed state to the open state.

8. A self-locking anti-fall release device for an insulator inspection robot according to claim 6, characterized in that, The electric release hoisting mechanism (6) for the UAV includes a fixed lifting lug (61), a guide post (62) and a pull rope (63). The fixed lifting lug (61) is set on the mounting base (1) and is used to connect with the UAV hoisting rope. The guide post (62) is set on the other side of the mounting base (1). One end of the pull rope (63) forms a traction end for cooperating with the UAV hoisting rope. The other end of the pull rope (63) passes around the guide post (62) and is connected to the manual pull rod of the electromagnetic attraction component (52). When the pull rope (63) is pulled by the drone hoisting rope, the pull rope (63) drives the manual pull rod of the electromagnetic attraction component (52) to move, and through the manual pull rod, drives the brake clamping component (54) away from the walking wheel and the locking component (55).

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