CN116684736A - Self-adaptive clamping type insulator image acquisition device - Google Patents

Abstract

An adaptive clamping insulator image acquisition device, including an adjustable camera device and a clamping position adjustment device arranged in a box, the clamping position adjustment device is provided with two self-adaptive clamping devices for clamping insulators The self-adaptive clamping device can adjust the height of the jaw assembly by manually controlling the adjustment shaft and the positioning block to move in the adjustment groove, and then install it in the positioning groove of different heights, so that the jaw assembly can adjust to different heights. The insulator is clamped; the half-jaw rod group imitates the human hand joint and adopts multi-section clamping rods to surround and clamp the insulator. The stability and reliability of the clamping are guaranteed through the cooperation of multiple springs, and the claw assembly can be It clamps insulators of different diameters, automatically adapts to the type and size of the insulator, and is easy to operate; the adjustable camera device can comprehensively obtain images of various positions and angles of the insulator, realizing stable and reliable collection of insulator images.

Description

An Adaptive Clamping Insulator Image Acquisition Device

technical field

The invention relates to the field of insulator image acquisition, in particular to an adaptive clamping insulator image acquisition device.

Background technique

Insulators are an important part of power transmission and are widely used in the power field. Their performance is directly related to the stable operation of the power system. Due to long-term exposure to nature, insulators are prone to damage and heat, which can cause power system failures. With the development of machine learning technology, image-based insulator defect detection technology continues to develop. Since machine learning requires a large number of normal and abnormal insulator image sets for training, reliable and comprehensive collection of insulator images is essential to ensure the safe and stable operation of insulators and power systems. is of great significance. However, in practical applications, insulators are located at high altitudes and connected to high-voltage cables, and it is difficult to collect images of insulators on site. Therefore, it is necessary to collect insulator images for machine learning.

Traditional insulator image acquisition devices are usually designed based on a single type of insulator, which cannot meet the image acquisition of different types and sizes of insulators, and have the disadvantages of poor adaptability and narrow application range; moreover, traditional insulator image acquisition devices often fix the camera at a certain position The image acquisition at a specific angle cannot fully obtain the images of all positions and angles of the insulator, which affects the acquisition and subsequent use of the insulator image.

Contents of the invention

In order to solve the problem that the existing insulator image acquisition device cannot meet the image acquisition of different types and sizes of insulators, has poor adaptability, narrow application area, and cannot comprehensively obtain images of various positions and angles of insulators, the present invention provides an adaptive clip The holding insulator image acquisition device.

The technical solution adopted by the present invention to solve the above technical problems is: an adaptive clamping insulator image acquisition device, including an adjustable camera device and a clamping position adjustment device arranged in the box, and the clamping position adjustment device is equipped with There are two self-adaptive clamping devices for clamping insulators. The clamping position adjustment device includes a ring bracket. The ring bracket includes four semi-ring guide discs and two transition brackets. The two transition brackets are respectively located along the ring bracket. At both ends of the vertical direction, a space for accommodating vertically arranged insulators is formed between the two transition brackets. The two ends of the half-ring guide plate along the circumferential direction are respectively connected with the two transition brackets. There are two groups located on both radial sides of the insulator, and the two half-ring guide discs of the same group are parallel and opposite to each other;

The two self-adaptive clamping devices are respectively located between the insulator and two sets of semi-ring guide discs. The self-adaptive clamping device includes an adjustment plate and an adjustment slider. The adjustment slider can slide along the length direction of the adjustment plate. There is a claw assembly for clamping the insulator; the end of the adjustment plate close to the half-ring guide plate is connected with an adjustment shaft, and the two ends of the adjustment shaft are respectively provided with positioning blocks, and the half-ring guide plate is provided with adjustment grooves and multiple adjustments. The positioning grooves connected by the grooves, the adjustment grooves extend along the circumferential direction of the half-ring guide discs, and the two positioning blocks at both ends of the adjustment shaft can move synchronously in the two opposite adjustment slots on the two half-ring guide discs, and enter the two respectively. In the two opposite positioning grooves on the half-ring guide plate, the shape of the positioning groove matches the positioning block, so that the two positioning grooves can respectively clamp the two positioning blocks at both ends of the adjustment shaft, and the two positioning blocks on the same half-ring guide plate. A plurality of positioning grooves are respectively located at different height positions of the half-ring guide plate, so as to adjust the height of the clamping position of the claw assembly on the insulator; when the positioning groove is engaged with the positioning block, the movement direction of the adjustment slider on the adjustment plate is Along the radial direction of the insulator, it is convenient to adjust the distance between the claw assembly and the insulator;

A rack is installed on the adjustment plate, and the inside of the adjustment slider is provided with a gear shaft meshing with the rack. A paddle is arranged on one side of the gear shaft along the radial direction, and the paddle extends to the outside of the adjustment slider. One end in the direction is rotationally connected with the adjustment slider, and the other end of the gear shaft along the axial direction is provided with a limit block. The gear shaft moves axially and moves the limit block into the limit slot, and the limit slot can limit the rotation of the limit block and the gear shaft, so that the adjustment slider and the claw assembly are positioned relative to the adjustment plate ;

The claw assembly includes a claw support installed on the adjustment slider. A manual shaft and a passive shaft are rotated on the claw support. The manual shaft and the passive shaft are vertically arranged. The top of the manual shaft extends to the claw support. On the manual operation end above the seat, the manual shaft and the passive shaft are respectively provided with a half claw lever group, and a claw gear set is also installed on the manual shaft and the passive shaft, and the manual shaft and the passive shaft can be synchronized through the claw gear set Reverse rotation, so that the two half-jaw rod groups can cooperate to open. The half-jaw rod group includes the front rod of the claw, the middle rod of the claw, the rear rod of the claw and the tail rod of the claw, which are connected in sequence. The jaw tail rods of the half jaw rod group are respectively connected with the manual shaft and the passive shaft, between the front rod of the jaw and the middle rod of the jaw, between the middle rod of the jaw and the rear rod of the jaw, and between the rear rod of the jaw and the jaw Springs are respectively connected between the claw tail rods. When the two half claw rod groups are opened and respectively located on both sides of the insulator along the radial direction, the elastic force of multiple springs can cooperate to make the half claw rod groups rotate toward the insulator. , so that the two half-jaw rod groups can cooperate to clamp the insulator;

The adjustable camera device includes an annular slide rail, which is horizontally arranged and sleeved on the outside of the clamping position adjustment device. The ring gear, the inner ring chute is also provided with a camera slider, the camera and the motor are installed on the camera slider, the output shaft of the motor is connected with a driving gear meshed with the inner ring gear, the camera slider can be driven by the rotation of the driving gear Drive the camera to move around the insulator along the inner ring chute, so as to adjust the shooting angle of the camera to the insulator. There are multiple vertical guide rails on the ring slide rail. There are multiple electric push rods on the bottom of the ring slide rail. The electric push rod can cooperate to drive the circular slide rail to move up and down along multiple vertical guide rails, so as to adjust the shooting height of the camera to the insulator.

Preferably, the positioning groove is a square through groove matching the positioning block, and the positioning groove is located on the side of the adjusting groove facing the inside of the ring support.

Preferably, the plectrum extends above the adjustment slider and is located on the side of the claw support, and the limiting slot is a square slot.

Preferably, the spring between the front rod of the claw and the middle rod of the claw is located on the side of the half claw rod group facing the insulator, and the elastic tension of the spring can make the front rod of the claw rotate around the middle rod of the claw toward the insulator; The spring between the middle rod of the claw and the rear rod of the claw is located on the side of the half claw rod group facing the insulator, and the elastic tension of the spring can make the middle rod of the claw rotate around the rear rod of the claw toward the insulator; The spring between the rod and the claw tail rod is located on the side of the half claw rod group away from the insulator, and the elastic thrust of the spring can make the claw rear rod rotate around the claw tail rod towards the insulator.

Preferably, the half jaw lever sets of the manual shaft and the passive shaft are respectively located on the upper and lower sides of the jaw gear set.

Preferably, the lower transition bracket is placed on the ground, and the two sides of the upper transition bracket are connected with a plurality of auxiliary struts, and the bottom ends of the auxiliary struts are also placed on the ground.

Preferably, four vertical guide rails are pierced on the annular slide rail, electric push rods are respectively provided on the sides of the four vertical guide rails, and the four electric push rods are evenly spaced along the circumferential direction of the annular slide rail.

According to above-mentioned technical scheme, the beneficial effect of the present invention is:

In the present invention, two self-adaptive clamping devices on the clamping position adjusting device cooperate with the clamping insulator. When the self-adapting clamping device is in use, the adjusting shaft and the positioning block are manually controlled to move in the adjusting groove, and then the positioning block is installed. The height of the claw assembly can be adjusted by entering the positioning groove of different heights, so that the claw assembly can clamp insulators of different heights; the half claw rod group imitates the human hand joint and adopts multi-section clamping rods to surround and clamp the insulator Tight, through the cooperation of multiple springs to ensure the stability and reliability of the clamping, and through the springs, the jaw assembly can clamp insulators of different diameters, automatically adapt to the type and size of the matching insulator, and only need to manually rotate the shaft when using Just make the claw assembly open, and the operation is simple; by changing the position of the gear shaft inside the adjustment slider, the rotation of the limit block and the gear shaft can be restricted through the limit card slot, so that the adjustment slider is relatively The positioning of the adjustment plate prevents the claw assembly from loosening during the clamping process, and realizes stable and reliable clamping of the insulator.

The adjustable camera device of the present invention can adjust the shooting height of the camera through the electric push rod, can comprehensively obtain images of various positions and angles of the insulator in combination with the drive motor, drive gear and ring gear, and realize stable and reliable collection of insulator images, which overcomes the existing problems Some insulator image acquisition devices cannot meet the image acquisition requirements of different types and sizes of insulators, resulting in poor adaptability and narrow application areas, providing a rich image data set for insulator defect detection.

Description of drawings

Fig. 1 is a schematic diagram of the present invention;

Figure 2 is a partially enlarged view of Figure 1;

Figure 3 is a schematic diagram after removing the box;

Figure 4 is a schematic front view after removing the box;

Fig. 5 is a schematic diagram of a clamping position adjusting device and an adaptive clamping device;

Fig. 6 is a partially enlarged view of the lower left part of Fig. 5;

Figure 7 is a partial enlarged view of the upper right part of Figure 4;

Fig. 8 is a schematic diagram of clamping an insulator by an adaptive clamping device;

Fig. 9 is a schematic diagram of an adaptive clamping device.

Marks in the figure: 1. Box body, 2. Insulator, 3. Adjustable camera device, 4. Clamping position adjustment device, 5. Adaptive clamping device, 6. Ring slide rail, 7. Vertical guide rail, 8. Electric push rod, 9, ring gear, 10, camera slider, 11, camera, 12, motor, 13, driving gear, 14, semi-ring guide disc, 15, transition bracket, 16, adjustment slot, 17, positioning slot , 18, adjusting shaft, 19, positioning block, 20, adjusting plate, 21, adjusting slider, 22, rack, 23, gear shaft, 24, paddle, 25, limit block, 26, claw support , 27, manual rotating shaft, 28, passive rotating shaft, 29, pawl gear set, 30, pawl tail rod, 31, pawl rear rod, 32, pawl middle rod, 33, pawl front rod, 34, spring.

Detailed ways

Referring to the accompanying drawings, the specific implementation is as follows:

As shown in Figures 1 and 3, an adaptive clamping insulator image acquisition device includes an adjustable camera device 3 and a clamping position adjustment device 4 arranged in the box body 1, and the clamping position adjustment device 4 is equipped with Two adaptive clamping devices 5 for cooperating with the clamping insulator 2, as shown in Figures 3, 4 and 5, the clamping position adjustment device 4 includes a ring bracket, and the ring bracket includes four semi-ring guide discs 14 and two Two transition brackets 15, two transition brackets 15 are respectively located at the two ends of the ring bracket along the vertical direction, a space for accommodating the vertically arranged insulator 2 is formed between the two transition brackets 15, and the half-ring guide plate 14 is along the circumferential direction The two ends of the insulator are respectively connected with two transition brackets 15, and the four half-ring guide discs 14 are divided into two groups located on the radial sides of the insulator 2, and the two half-ring guide discs 14 of the same group are parallel and opposite to each other. As shown in the figure, the lower transition bracket 15 is placed on the ground, and the two sides of the upper transition bracket 15 are connected with a plurality of auxiliary struts, and the bottom ends of the auxiliary struts are also placed on the ground to form a stable ring structure. .

As shown in Figures 3, 4, and 5, two adaptive clamping devices 5 are respectively located between the insulator 2 and two groups of semi-ring guide discs 14. The adaptive clamping device 5 includes an adjustment plate 20 and an adjustment slider 21, and the adjustment The slider 21 can slide along the length direction of the adjustment plate 20 , and the adjustment slider 21 is provided with a claw assembly for clamping the insulator 2 . As shown in Figures 6, 7 and 9, an adjustment shaft 18 is connected to the end of the adjustment plate 20 close to the half-ring guide plate 14, positioning blocks 19 are respectively provided at both ends of the adjustment shaft 18, and an adjustment groove is opened on the half-ring guide plate 14 16 and a plurality of positioning grooves 17 communicated with the adjustment groove 16 respectively, the adjustment groove 16 extends along the circumferential direction of the half-ring guide disc 14, and the two positioning blocks 19 at the two ends of the adjustment shaft 18 can be positioned on the two half-ring guide discs 14 respectively. The two opposite adjustment grooves 16 move synchronously, and respectively enter the two relative positioning grooves 17 on the two half-ring guide discs 14 .

As shown in Figures 6, 7, and 9, in this embodiment, the positioning block 19 is a square block, and the positioning groove 17 is a square through groove that matches the positioning block 19. On the other hand, the two positioning grooves 17 can respectively clamp the two positioning blocks 19 at the two ends of the adjustment shaft 18, and the multiple positioning grooves 17 on the same half-ring guide plate 14 are respectively located at different height positions of the half-ring guide plate 14, so when When the positioning block 19 is installed in different positioning grooves 17, the height of the clamping position of the clamping claw assembly on the insulator 2 can be adjusted, so that the clamping claw assembly can clamp insulators 2 of different heights. When the positioning groove 17 engages the positioning block 19 , the moving direction of the adjusting slider 21 on the adjusting plate 20 is along the radial direction of the insulator 2 , so that the distance between the claw assembly and the insulator 2 can be adjusted.

As shown in Figures 6, 7, 8, and 9, a rack 22 is installed on the adjustment plate 20, and a gear shaft 23 meshing with the rack 22 is provided inside the adjustment slider 21, and the gear shaft 23 is provided on one side along the radial direction. There is a paddle 24, the paddle 24 extends to the top of the adjustment slider 21 and is located on the side of the claw support 26, one end of the gear shaft 23 in the axial direction is rotationally connected with the adjustment slider 21, and the other end of the gear shaft 23 in the axial direction One end is provided with a limit block 25, and the side wall of the adjustment slider 21 is provided with a limit card slot that matches the limit block 25. The limit card slot is a square through groove, and the gear shaft 23 can be driven along the side by the plectrum 24. Axially move and make the limit card block 25 move into the limit card slot, the limit card slot is a square through groove, which can limit the rotation of the limit card block 25 and the gear shaft 23, and now the gear shaft 23 cannot move along the When the rack 22 moves, the adjustment slider 21 cannot move along the adjustment plate 20, so that the adjustment slider 21 and the jaw assembly are positioned relative to the adjustment plate 20, preventing the jaw assembly from loosening during the clamping process, and realizing the insulator 2. Stable and reliable clamping.

As shown in Figures 6, 7, and 9, the claw assembly includes a claw support 26 installed on the adjustment slider 21, and a manual shaft 27 and a passive shaft 28 are rotated on the jaw support 26, and the manual shaft 27 and passive The rotating shafts 28 are all arranged vertically, and the top of the manual rotating shaft 27 is a manual operation end extending to the top of the claw support 26. The manual rotating shaft 27 and the passive rotating shaft 28 are respectively provided with a half claw lever group, the manual rotating shaft 27 and the passive rotating shaft 28 It is also equipped with a pawl gear set 29, through which the manual shaft 27 and the passive shaft 28 can be rotated synchronously and reversely, so only the manual operation end of the manual shaft 27 needs to be manually rotated during operation. The manual rotating shaft 27 and the passive rotating shaft 28 drive the two half-claw lever groups to cooperate and open.

As shown in Figures 6, 8, and 9, the half-jaw lever group includes a front jaw lever 33, a jaw middle lever 32, a jaw rear lever 31, and a jaw tail lever 30 that are sequentially connected in rotation. The jaw tail rod 30 of the group is connected with the manual rotating shaft 27 and the passive rotating shaft 28 respectively, between the front rod 33 of the jaw and the middle rod 32 of the jaw, between the middle rod 32 of the jaw and the rear rod 31 of the jaw, and after the jaw Springs 34 are respectively connected between the rod 31 and the claw tail rod 30. When the two half claw rod groups are opened and respectively positioned on both sides of the insulator 2 along the radial direction, the elastic force of a plurality of springs 34 can be used to cooperate. The set of half jaw levers is turned towards the insulator 2 so that the two half sets of jaw levers can cooperate to clamp the insulator 2 . In this embodiment, the half claw lever groups of the manual rotating shaft 27 and the passive rotating shaft 28 are respectively located on the upper and lower sides of the claw gear set 29, so that the two half claw lever groups can respectively engage ring grooves of different heights on the insulator 2 , to prevent the collision and interference of the two half-claw rod groups when the diameter of the insulator 2 is small.

As shown in Fig. 9, in this embodiment, the spring 34 between the front rod 33 of the claw and the middle rod 32 of the claw is located on the side of the half claw rod group facing the insulator 2, and the elastic tension of the spring 34 can make the claw The front bar 33 of the claw rotates towards the insulator 2 around the middle bar 32 of the claw; The elastic tension can make the middle rod 32 of the claw rotate towards the insulator 2 around the rear rod 31 of the claw; The elastic thrust of the spring 34 can make the claw rear rod 31 rotate around the claw tail rod 30 toward the insulator 2 . The half claw rod group imitates the joints of the human hand and adopts multi-section clamping rods to surround and clamp the insulator 2. Multiple springs 34 cooperate to ensure the stability and reliability of the clamping, and the springs 34 enable the claw components to be able to adjust different diameters. The insulator 2 is clamped and automatically adapted to match the type and size of the insulator 2.

As shown in Figures 2 and 3, the adjustable camera device 3 includes an annular slide rail 6, which is horizontally arranged and sleeved on the outside of the clamping position adjustment device 4, and the inner ring surface of the annular slide rail 6 is provided with an inner ring The chute, the inner ring chute is provided with an inner ring gear 9, the inner ring chute is also provided with a camera slider 10, the camera slider 10 is equipped with a camera 11 and a motor 12, and the output shaft of the motor 12 is connected with the inner ring chute. The driving gear 13 meshed with the ring gear 9, through the rotation of the driving gear 13, the camera slider 10 can drive the camera 11 to move around the insulator 2 along the inner ring chute, and the shooting angle of the camera 11 to the insulator 2 can be adjusted. Four vertical guide rails 7 are pierced on the annular slide rail 6, four electric push rods 8 are arranged on the bottom of the annular slide rail 6, electric push rods 8 are respectively provided on the sides of the four vertical guide rails 7, and four electric push rods 8 are respectively provided on the sides of the four vertical guide rails 7. The rods 8 are evenly spaced along the circumferential direction of the annular slide rail 6, and the four electric push rods 8 can cooperate to drive the annular slide rail 6 to move up and down along a plurality of vertical guide rails 7, so that the shooting height of the camera 11 to the insulator 2 can be adjusted. The images of all positions and angles of the insulator 2 are obtained in an all-round way to realize the stable and reliable acquisition of insulator images, which overcomes the shortcomings of the existing insulator image acquisition devices that cannot meet the image acquisition of different types and sizes of insulators, resulting in poor adaptability and narrow application areas. Insulator defect detection provides a rich image dataset.

Claims (7)

1. An insulating sub-image acquisition device of self-adaptation centre gripping, its characterized in that: the device comprises an adjustable camera device (3) and a clamping position adjusting device (4) which are arranged in a box body (1), wherein two self-adaptive clamping devices (5) for matching and clamping insulators (2) are arranged on the clamping position adjusting device (4), the clamping position adjusting device (4) comprises an annular bracket, the annular bracket comprises four semi-annular guide plates (14) and two transition brackets (15), the two transition brackets (15) are respectively positioned at two ends of the annular bracket along the vertical direction, a space for accommodating the vertically arranged insulators (2) is formed between the two transition brackets (15), two ends of the semi-annular guide plates (14) along the circumferential direction are respectively connected with the two transition brackets (15), the four semi-annular guide plates (14) are divided into two groups positioned at two radial sides of the insulators (2), and the two semi-annular guide plates (14) of the same group are mutually parallel and oppositely arranged;

the two self-adaptive clamping devices (5) are respectively positioned between the insulator (2) and the two groups of semi-ring guide plates (14), the self-adaptive clamping devices (5) comprise an adjusting plate (20) and an adjusting slide block (21), the adjusting slide block (21) can slide along the length direction of the adjusting plate (20), and a claw assembly for clamping the insulator (2) is arranged on the adjusting slide block (21); one end of the adjusting plate (20) close to the semi-ring guide disc (14) is connected with an adjusting shaft (18), two ends of the adjusting shaft (18) are respectively provided with a positioning block (19), the semi-ring guide disc (14) is provided with an adjusting groove (16) and a plurality of positioning blocks (17) which are respectively communicated with the adjusting groove (16), the adjusting groove (16) extends along the circumferential direction of the semi-ring guide disc (14), the two positioning blocks (19) at two ends of the adjusting shaft (18) can respectively synchronously move in the two opposite adjusting grooves (16) on the two semi-ring guide discs (14) and respectively enter the two positioning blocks (17) opposite on the two semi-ring guide discs (14), the shape of the positioning blocks (17) is matched with that of the positioning blocks (19), the two positioning blocks (17) can respectively clamp the two positioning blocks (19) at two ends of the adjusting shaft (18), and the plurality of positioning blocks (17) on the same semi-ring guide disc (14) are respectively positioned at different height positions of the semi-ring guide disc (14), so that the height of the insulator (2) is clamped by the adjusting assembly; when the positioning groove (17) is used for clamping the positioning block (19), the movement direction of the adjusting slide block (21) on the adjusting plate (20) is along the radial direction of the insulator (2), so that the distance between the claw assembly and the insulator (2) can be adjusted conveniently;

the adjusting plate (20) is provided with a rack (22), the inside of the adjusting slide block (21) is provided with a gear shaft (23) meshed with the rack (22), one radial side of the gear shaft (23) is provided with a shifting piece (24), the shifting piece (24) extends to the outer side of the adjusting slide block (21), one axial end of the gear shaft (23) is rotationally connected with the adjusting slide block (21), the other axial end of the gear shaft (23) is provided with a limiting clamping block (25), the side wall of the adjusting slide block (21) is provided with a limiting clamping groove matched with the limiting clamping block (25), the shifting piece (24) can drive the gear shaft (23) to axially move and enable the limiting clamping block (25) to move into the limiting clamping groove, and the limiting clamping groove can limit the rotation of the limiting clamping block (25) and the gear shaft (23), so that the adjusting slide block (21) and the clamping jaw assembly are positioned relative to the adjusting plate (20);

the claw assembly comprises a claw support (26) arranged on an adjusting slide block (21), a manual rotating shaft (27) and a driven rotating shaft (28) are rotatably arranged on the claw support (26), the manual rotating shaft (27) and the driven rotating shaft (28) are vertically arranged, the top end of the manual rotating shaft (27) is a manual operation end extending to the upper part of the claw support (26), a half claw rod group is respectively arranged on the manual rotating shaft (27) and the driven rotating shaft (28), a claw gear group (29) is also cooperatively arranged on the manual rotating shaft (27) and the driven rotating shaft (28), the manual rotating shaft (27) and the driven rotating shaft (28) can synchronously and reversely rotate through the claw gear group (29), so that the two half claw rod groups can cooperatively open, the half claw rod group comprises a claw front rod (33), a claw middle rod (32), a claw rear rod (31) and a claw tail rod (30) which are sequentially connected, the tail rods (30) of the two half claw rod groups are respectively connected with the manual rotating shaft (27) and the driven rotating shaft (28), the front rod (33) and the tail rods (32) are respectively connected with the tail rods (30) along the radial direction between the two half claw rods (31) and the two half claw rods (30) in the radial direction when the two half claw rod groups are respectively connected with the two tail rods (31 and the two half claw rods (30) respectively, the elastic force of the springs (34) can be matched to enable the half-claw rod groups to rotate towards the insulator (2), so that the two half-claw rod groups can be matched to clamp the insulator (2);

the adjustable camera device (3) comprises an annular sliding rail (6), the annular sliding rail (6) is horizontally arranged and sleeved on the outer side of the clamping position adjusting device (4), an inner annular sliding groove is formed in the inner annular surface of the annular sliding rail (6), an inner annular groove (9) is formed in the inner annular sliding groove, a camera sliding block (10) is further arranged on the inner annular sliding groove, a camera (11) and a motor (12) are mounted on the camera sliding block (10), a driving gear (13) meshed with the inner annular groove is connected with an output shaft of the motor (12), the camera sliding block (10) can be driven to move around the insulator (2) along the inner annular sliding groove through rotation of the driving gear (13) so as to adjust shooting angles of the camera (11) to the insulator (2), a plurality of vertical guide rails (7) are arranged on the annular sliding rail (6) in a penetrating mode, and a plurality of electric push rods (8) can be matched to drive the annular sliding rail (6) to move up and down along the plurality of vertical guide rails (7) so as to adjust shooting heights of the camera (11) to the insulator (2).

2. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: the positioning groove (17) is a square through groove matched with the positioning block (19), and the positioning groove (17) is positioned at one side of the adjusting groove (16) facing the inside of the annular bracket.

3. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: the poking piece (24) extends to the upper part of the adjusting slide block (21) and is positioned on the side face of the claw support (26), and the limiting clamping groove is a square through groove.

4. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: a spring (34) between the jaw front rod (33) and the jaw middle rod (32) is positioned on one side of the half jaw rod group, which faces the insulator (2), and the jaw front rod (33) can rotate around the jaw middle rod (32) towards the insulator (2) through elastic tension of the spring (34); a spring (34) between the claw middle rod (32) and the claw rear rod (31) is positioned on one side of the half claw rod group facing the insulator (2), and the claw middle rod (32) can rotate around the claw rear rod (31) towards the insulator (2) through elastic tension of the spring (34); a spring (34) between the claw rear rod (31) and the claw tail rod (30) is positioned on one side of the half claw rod group away from the insulator (2), and the claw rear rod (31) can rotate around the claw tail rod (30) towards the insulator (2) through elastic thrust of the spring (34).

5. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: the half claw rod groups of the manual rotating shaft (27) and the driven rotating shaft (28) are respectively positioned on the upper side and the lower side of the claw gear set (29).

6. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: the transition support (15) located below is placed on the ground, a plurality of auxiliary supporting rods are connected to two sides of the transition support (15) located above, and the bottom ends of the auxiliary supporting rods are also placed on the ground.

7. An adaptively clamped sub-image acquisition device of an insulator, according to claim 1, wherein: four vertical guide rails (7) are arranged on the annular slide rail (6) in a penetrating mode, electric push rods (8) are respectively arranged on the side faces of the four vertical guide rails (7), and the four electric push rods (8) are evenly distributed at intervals along the circumferential direction of the annular slide rail (6).