An automatic registration type X-ray detection mechanical arm suitable for GIS / GIL and a registration method thereof

Abstract

The utility model provides an automatic registration formula X -ray detection mechanical arm suitable for GIS / GIL, including base, emission body, first connecting piece, first joint, third joint, fourth connecting piece, receiving plate, there are multiple groups of joints and connecting pieces between first joint and third joint, and joint can complete arbitrary angle rotation, be equipped with laser emission unit on first connecting piece, be equipped with two -dimensional laser reference target on fourth connecting piece, when the laser path that emits from the laser emission window on laser emission unit irradiates to two -dimensional laser reference target positive center, and emission body and receiving plate are registration state, through above -mentioned way, the utility model provides a kind of mechanical arm that can adapt to different diameter GIS / GIL detection, and mechanical arm is configured laser registration unit, ensure that emission unit and receiving plate are completely configured and clear imaging. The detection arm can greatly reduce field detection personnel configuration, shorten detection time, improve detection efficiency in GIS / GIL field X -ray detection, and the operability is wider in working situation.

Description

Technical Field

[0001] This invention relates to the field of intelligent operation and maintenance technology for power transmission and transformation equipment, and more specifically, to an automatic registration X-ray inspection robotic arm suitable for GIS / GIL. Background Technology

[0002] With the development of power grid construction, the use of SF6 power equipment such as gas-insulated switchgear (GIS), gas-insulated metal-enclosed transmission lines (GIL), and tank-type circuit breakers in substation construction is becoming increasingly common. Any defects or faults within the GIS can affect the overall performance of the equipment, potentially impacting the normal operation of adjacent equipment and the normal power supply within its service area. Due to the large size and complex on-site environments of large power equipment such as GIS and tank-type circuit breakers, significant manpower, material resources, financial resources, and time are required for power outage repairs after an accident. GIS fault types include SF6 gas leakage, insulation defects, circuit breaker defects, disconnector defects, operating structure defects, and grounding switch defects. Most serious accidents are not detected in the early stages of defect development using existing detection methods, leading to severe accidents such as breakdown and burn-out. In addition, some combined electrical equipment with a long operating time, such as old GIS power equipment that is more than 10 years old, has entered a period of high failure rate and is prone to structural defects such as incomplete opening and closing of isolating switches, structural displacement, component detachment, foreign objects, and component cracks.

[0003] GIS X-ray digital imaging on-site testing is a new technology for detecting potential mechanical and insulation defects within GIS systems. It enables accurate and timely assessment of the internal mechanical structure and identification of defects without power interruption or disassembly. By performing multi-directional X-ray imaging on power equipment, combined with specialized image processing and recognition technologies, it achieves "visualization" of the internal structure and rapid diagnosis of operational status, significantly improving the accuracy of fault location and identification. GIS X-ray digital imaging not only places high demands on the performance of the X-ray equipment but also on the comprehensive skills and safe operating awareness of the testing personnel.

[0004] The patent with publication number (CN205175929U) proposes a combined X-ray intelligent non-destructive testing mobile platform, which includes two main parts: an X-ray emitter mobile platform and a flat panel detector mobile platform. Both mobile platforms have intelligent trolleys at their bottoms, which improves the efficiency and success rate of on-site non-destructive testing and can significantly save time and manpower. However, it cannot automatically complete the rapid alignment from the X-ray emitter port to the center of the flat panel detector between the two platforms.

[0005] The patent with publication number (CN107024491A) proposes an X-ray non-destructive testing system and its testing method, including a testing terminal, an X-ray machine, an X-ray vehicle, a digital imaging plate and an imaging plate vehicle. The testing terminal includes a central controller, a position adjustment device, a display device and a communication device.

[0006] The X-ray non-destructive testing platforms for power equipment, represented by the aforementioned patents, all consist of two trolleys, but they cannot automatically complete the registration from the X-ray emitting end to the receiving end. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides an automatically registered X-ray inspection robotic arm suitable for GIS / GIL (Gas Injection System). This arm can be remotely controlled to adjust joint angles, achieving precise registration between the laser emitting and receiving units, eliminating errors associated with manual methods. Simultaneously, automatic laser registration ensures complete alignment and clear imaging of the emitting and receiving plates. Furthermore, the arm's connectors and joints are adaptable to inspecting GIS / GILs of varying diameters. This inspection arm significantly reduces on-site personnel requirements, shortens inspection time, and improves efficiency in GIS / GIL X-ray inspection, making it more versatile for various applications.

[0008] The present invention adopts the following technical solution.

[0009] This invention provides an automatic registration X-ray inspection robotic arm suitable for GIS / GIL, comprising a base, a transmitting body, a first connector, a first joint, a third joint, a fourth connector, and a receiving plate;

[0010] There are multiple sets of joints and connectors between the first joint and the third joint, and the connectors are equipped with a first camera; the first connector is connected to the first joint; the fourth connector is connected to the third joint; the fourth connector is equipped with a second camera and a laser receiving unit, the laser receiving unit is equipped with a two-dimensional laser reference target and a laser irradiation point, and a receiving plate is set below the fourth connector; the first connector is equipped with a laser emission window, and below it are the emission body and the base in sequence; the base can be fixedly connected to the support platform of GIS / GIL.

[0011] Furthermore, the multiple sets of joints and connectors include a second joint, a second connector, and a third connector; the first connector is provided with a laser emitting unit, and when the laser path emitted from the laser emitting window on the laser emitting unit illuminates the center of the two-dimensional laser reference target on the fourth connector, the emitting body and the receiving plate are in a registration state.

[0012] Furthermore, the launching body includes a launching source window;

[0013] The base and the first connector are fixed directly below and above the transmitter body, respectively, and are rigidly connected to the transmitter body to ensure that the emission source window and the laser emission window face the same direction.

[0014] Furthermore, the first, second, third, and fourth connectors on the robotic arm, as well as the first and third joints, are arranged in a symmetrical structure with the second joint as the center. The first and fourth connectors are of the same length, and the second and third connectors are of the same length. The first, second, and third joints can all rotate at any angle. The rotation angle of the first joint (4), the second joint (6), and the third joint (8) allows the robotic arm to have an unfolded state and a folded state.

[0015] Furthermore, both the first and second cameras are full-view PTZ cameras.

[0016] Furthermore, the transmitting body, receiving board, laser transmitting unit, laser receiving unit, first connector, second connector, third connector, fourth connector, first joint, second joint, and third joint all adopt an integrated power supply design, and are powered by a special lithium battery and power management system.

[0017] The present invention also provides an X-ray DR imaging system including a digital image processing system and the aforementioned automatic registration X-ray inspection robotic arm suitable for GIS / GIL;

[0018] The receiver board is located below the fourth connector and is kept vertical. The transmitter is a portable pulse X-ray machine. The digital image processing system can be connected to the receiver board via wired or wireless means.

[0019] Furthermore, the steps in the robotic arm registration process are as follows:

[0020] The first joint, the third joint, and the joint between the first and third joints are roughly adjusted. During the rough adjustment, the spatial position of the robotic arm is viewed through the first and second cameras to avoid accidental contact with the GIS / GIL equipment.

[0021] The second camera is used to observe whether there are any obstructions on the laser path. If there are obstructions, the posture of the robotic arm needs to be readjusted.

[0022] Based on the XY position deviation of the laser irradiation point on the two-dimensional laser reference target, the first joint, the third joint, and the joint between the first and third joints are finely adjusted so that the laser irradiation point corresponding to the laser path emitted from the laser emission window is located at the exact center of the two-dimensional laser reference target, thus completing the registration.

[0023] Furthermore, the laser emitting unit and the laser receiving unit adopt an aligned laser system, which can dynamically measure the XY deviation at any point on the visible laser path in real time.

[0024] The laser receiving unit is connected to the central processing unit, which can read the XY deviation in real time.

[0025] Furthermore, the robotic arm adjusts its joint angles via remote control from the backend.

[0026] The two-dimensional laser reference target can wirelessly transmit the laser position on the target disk to the background for monitoring, and monitor the changes in the laser path in real time as the joint angle is adjusted.

[0027] X-ray imaging uses a wireless digital image processing system, which allows for remote control of the imaging process and rapid digital imaging on a background analysis system.

[0028] The beneficial effects of this invention are compared with those of the prior art:

[0029] 1. This invention adjusts the three joints of the robotic arm according to the XY position deviation of the laser irradiation point on the two-dimensional laser reference target, so that the laser irradiation point corresponding to the laser path emitted from the laser emission window is located at the exact center of the two-dimensional laser reference target, thereby completing automatic registration and eliminating the error margin related to subjective manual methods.

[0030] 2. During on-site X-ray inspection, the alignment and spacing adjustment of the transmitter and receiver are very inconvenient due to the thickness of the equipment and the angle of the tooling, resulting in low efficiency for large-scale inspection. The laser registration method, which uses multiple joints on the robotic arm to adjust together, can adjust and determine the angle between the transmitter and receiver and the distance between them. After registration, X-ray inspection can be performed directly to ensure clear imaging of the receiver.

[0031] 3. X-ray inspection instruments are bulky, and GIS gas chambers are complex to set up. Conventional methods of carrying them by personnel are not suitable for large-scale inspections, and using tooling for fixation is not suitable for movement and adjustment. Therefore, in this invention, the transmitter and receiver of the X-ray DR imaging system are carried by a robotic arm, eliminating the need for manual carrying. Different robotic arm postures can be flexibly adopted for high-position, low-position, and vertical gas chambers, which can greatly reduce the number of on-site inspection personnel, shorten inspection time, improve inspection efficiency, and make the application more versatile.

[0032] 4. Since on-site X-ray inspection of GIS / GIL is prone to radiation leakage and is not safe, this invention adopts a remote control method to control the robotic arm to adjust the joint angle, control the DR imaging system to take pictures, and monitor the laser registration path. The inspection personnel only need to operate the back-end host or analysis system remotely to ensure the safety of on-site inspection personnel.

[0033] 5. During on-site X-ray inspection, the DR imaging system usually requires a 220V power supply to drive it. After the power is disconnected, the training machine needs to be warmed up again, which causes great inconvenience to the movement and adjustment of the on-site inspection position. Therefore, in this invention, the DR imaging, laser registration, and robotic arm rotation connection components are all designed with an integrated power supply. The power is provided by a special lithium battery and a power management system, and the power supply is continuous to ensure its efficiency during on-site inspection. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of an automatic registration X-ray inspection robotic arm suitable for GIS / GIL in one embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of a two-dimensional laser reference target structure for an automated registration X-ray inspection robotic arm suitable for GIS / GIL, according to one embodiment of the present invention.

[0036] Figures 1 to 2 The annotations in the attached figures are explained as follows:

[0037] 1-Base; 2-Transmitter body; 3-First connector; 4-First joint; 5-Second connector; 6-Second joint; 7-Third connector; 8-Third joint; 9-Fourth connector; 10-Receiver plate;

[0038] 21 - Source window; 31 - Laser emitting unit; 71 - First camera; 91 - Laser receiving unit; 92 - Second camera;

[0039] 311 - Laser emission window; 911 - Two-dimensional laser reference target; 912 - Laser irradiation point. Detailed Implementation

[0040] 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, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0041] In the description of this patent, it should be understood that the terms “center,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0042] like Figure 1 The diagram shows a structural schematic of an automatic registration X-ray inspection robotic arm suitable for GIS / GIL, including a base 1, a transmitting body 2, a first connector 3, a first joint 4, a second connector 5, a second joint 6, a third connector 7, a third joint 8, a fourth connector 9, and a receiving plate 10. The transmitting body 2 includes a transmitting source window 21, the first connector 3 includes a laser emitting unit 31, the laser emitting unit 31 includes a laser emitting window 311, the third connector 7 includes a first camera 71, and the fourth connector 9 includes a laser receiving unit 91 and a second camera 92.

[0043] like Figure 2 As shown, a schematic diagram of a two-dimensional laser reference target structure for an automated registration X-ray inspection robotic arm suitable for GIS / GIL is provided. The laser receiving unit 91 includes a two-dimensional laser reference target 911 and a laser irradiation point 912.

[0044] The base 1 is located at the bottom of the robotic arm, and bolt connection holes are provided on the lower part of the outer surface of the base 1;

[0045] The base 1 is provided with a launching body 2 above it. The launching body 2 is a cylindrical structure and is provided with a launching source window 21.

[0046] The upper part of the transmitting body 2 is provided with a first connector 3, and the first connector 3 is provided with a laser emitting unit 31, and a laser emitting window 311 is opened in the middle of the emitting unit 31;

[0047] Above the first connector 3 is the second connector 5. The second connector 5 has a first joint 4 inside, and the two ends of the first joint 4 are fixed through bolt connection holes on the second connector 5.

[0048] The bolt connection hole at one end of the second connector 5 is aligned with the bolt connection hole at the opposite end of the third connector 7 and fixed by bolt connection. A second joint 6 is provided inside the fixing point.

[0049] The other end of the third connector 7 is provided with a third joint 8, and the top of the third connector 7 is provided with a first camera 71;

[0050] Below the third joint 8 is a fourth connector 9. On one side of the fourth connector 9 is a two-dimensional laser reference target 91, on which are a two-dimensional laser reference target 911 and a laser irradiation point 912; on the other side is a second camera 92.

[0051] A receiving plate 10 is provided below the fourth connector 9, and the height of the receiving plate 10 is equal to the superimposed height of the base 1 and the transmitting body 2.

[0052] When the laser path emitted from the laser emission window 311 on the laser emission unit 31 illuminates the center of the two-dimensional laser reference target 911 on the laser receiving unit (e.g.) Figure 2 As shown, the transmitter 2 and receiver 10 are in a registration state.

[0053] The base 1 has bolt connection holes near the bottom, which are the connection points for the robotic arm, and can be fixed to the support platform by bolt connection;

[0054] Typically, the support platform also has a mobility function, enabling the robotic arm to perform horizontal rotation, vertical rotation, and lifting movements. For high-level GIS air chambers, the robotic arm can be rotated vertically 180° and then moved from bottom to top to the sides of the air chamber for inspection; for low-level GIS air chambers, the robotic arm can be moved from top to bottom to the sides of the air chamber for inspection; for vertical GIS air chambers, the robotic arm can be rotated vertically 90° and then moved from the side to the sides of the air chamber for inspection. The support platform can be a fixed base, or it is increasingly using mobile chassis of various types, such as wheeled, tracked, wheel-legged, and legged. Different robotic arm postures can be flexibly adopted for high-level, low-level, and vertical air chambers, which can greatly reduce the number of on-site inspection personnel, shorten inspection time, improve inspection efficiency, broaden the applicability of the work environment, and solve the problem of time-consuming and labor-intensive manual registration.

[0055] The base 1 and the first connector 3 are fixed directly below and above the transmitter body 2, respectively, and are rigidly connected to the transmitter body 2 to ensure that the emission source window 21 and the laser emission window 311 face the same direction.

[0056] The robotic arm has four connectors and three joints arranged symmetrically around the second joint 6. The first connector 3 and the fourth connector 9 are the same length, the second connector 5 and the third connector 7 are the same length, and the first joint 4, the second joint 6 and the third joint 8 are exactly the same size and model and can all rotate at any angle.

[0057] The rotation angle changes of the first joint 4, the second joint 6, and the third joint 8 enable the robotic arm to complete the unfolded and folded states.

[0058] This robotic arm is designed for GIS / GIL inspection. Considering the cylindrical structure of the inspected equipment, with a diameter typically ranging from 500 to 1000 mm, several connectors and joints on the robotic arm address the issue of adjustable X-ray transmission distance.

[0059] The third connector 7 and the fourth connector 9 are respectively equipped with a first camera 71 and a second camera 91, both of which are full-view gimbal cameras that can remotely view the environment around the robotic arm and prevent the robotic arm from accidentally hitting surrounding equipment during its movement.

[0060] An X-ray DR imaging system includes a digital image processing system and an automated registration X-ray inspection robotic arm suitable for GIS / GIL. A receiving plate 10 is located below a fourth connecting member 9, rigidly connected to and perpendicular to the fourth connecting member 9. The receiving plate 10 is a digital flat-panel amorphous silicon detector with an effective imaging range of 35×43cm and a pixel pitch of 140μm. The transmitting body 2 is a portable pulsed X-ray machine with a maximum energy of 320kV, an X-ray source size of 3mm, a tube current of 5mA, a radiation angle of 40°, and an X-ray pulse width of 50ns.

[0061] The digital image processing system and the receiving board 10 can be connected via wired or wireless means. According to the internal detection application scenario of GIS equipment, the functions include geometric dimension measurement, image storage, image query, image magnification, reduction, brightness / contrast adjustment, image enhancement, image sharpening, edge enhancement and negative image, etc. The software environment is Windows 7.

[0062] The steps in the robotic arm registration process are as follows:

[0063] The first joint 4, the second joint 6, and the third joint 8 are coarsely adjusted to make them form an isosceles triangle. During the coarse adjustment, the first camera 71 and the second camera 92 are used to check the spatial position of the robotic arm to avoid accidental contact with the GIS / GIL equipment.

[0064] The second camera 92 is used to observe whether there are any obstructions on the laser path. If there are obstructions, the posture of the robotic arm needs to be readjusted.

[0065] Based on the XY position deviation of the laser irradiation point 912 on the two-dimensional laser reference target 911, the first joint 52, the second joint 54, and the third joint 56 are finely adjusted so that the laser irradiation point 912 corresponding to the laser path emitted from the laser emission window 311 is located at the exact center of the two-dimensional laser reference target 911, thus completing the registration.

[0066] The laser emitting unit 31 and the laser receiving unit 91 employ the OT-4040 alignment laser system, capable of real-time dynamic measurement of XY deviation at any point along the visible laser path. The laser receiving unit 91 is connected to a central processing unit, which provides real-time readings of the XY deviation. The OT-4040 offers a resolution of 0.001 inches at a distance of up to 300 feet, and the fiber-coupled laser diode transmission system exhibits excellent beam coherence.

[0067] More specifically, the laser emitting unit 31 uses an OT-4040LL ​​type alignment laser, and the laser receiving unit 91 uses an OT-4040TTS4 type transparent target and is connected to an OT-4040 type central processing unit (typically each target is equipped with one central processing unit).

[0068] The laser pulse frequency is 10Hz, and the target is completely unaffected by ambient light. The laser beam diameter is 8mm, and the effective sensing area diameter of the two-dimensional laser reference target 911 is 25mm. The large effective area allows the target to be easily placed within the laser reference path.

[0069] The advantage of using laser registration is that it enables ultra-precise registration between the laser emitting unit and the laser receiving unit, and between the X-ray emitting unit and the receiving plate, eliminating the error margin associated with subjective manual methods.

[0070] Meanwhile, the measurement speed is faster, reducing the time spent on installation tools and manual adjustments, and improving testing efficiency;

[0071] Since the laser registration range is nearly 100 meters, it can achieve good registration results within the diameter range of commonly used GIS equipment (generally no more than 1m in diameter), which fully meets the requirements of field applications.

[0072] Using the principle of laser registration, it can meet the needs of multi-point, dynamic, synchronous, and intuitive measurement; the XY position data of the laser path can be monitored, stored and analyzed by the back-end computer, which facilitates remote control operation and ensures the safety of on-site inspection personnel.

[0073] The robotic arm includes a transmitter body 2, a receiver plate 10, a laser emitting unit 31, a laser receiving unit 91, a first connector 3, a second connector 5, a third connector 7, a fourth connector 9, a first joint 4, a second joint 6, and a third joint 8, all of which adopt an integrated power supply design and are powered by a special lithium battery and a power management system.

[0074] The robotic arm adjusts its joint angles via remote control from the backend. A 2D laser reference target 911 wirelessly transmits the laser position on the target plate to the backend for monitoring, tracking changes in the laser path in real time as the joint angles are adjusted. X-ray imaging utilizes a wireless digital image processing system, enabling remote-controlled shooting and rapid digital imaging on the backend analysis system. Furthermore, the lifting, rotating, and moving operations of the support platform can all be achieved remotely.

[0075] The beneficial effects of this invention are compared with those of the prior art:

[0076] 1. This invention adjusts the three joints of the robotic arm according to the XY position deviation of the laser irradiation point on the two-dimensional laser reference target, so that the laser irradiation point corresponding to the laser path emitted from the laser emission window is located at the exact center of the two-dimensional laser reference target, thereby completing automatic registration and eliminating the error margin related to subjective manual methods.

[0077] 2. During on-site X-ray inspection, the alignment and spacing adjustment of the transmitter and receiver are very inconvenient due to the thickness of the equipment and the angle of the tooling, resulting in low efficiency for large-scale inspection. The laser registration method, which uses multiple joints on the robotic arm to adjust together, can adjust and determine the angle between the transmitter and receiver and the distance between them. After registration, X-ray inspection can be performed directly to ensure clear imaging of the receiver.

[0078] 3. X-ray inspection instruments are bulky, and GIS gas chambers are complex to set up. Conventional methods of carrying them by personnel are not suitable for large-scale inspections, and using tooling for fixation is not suitable for movement and adjustment. Therefore, in this invention, the transmitter and receiver of the X-ray DR imaging system are carried by a robotic arm, eliminating the need for manual carrying. Different robotic arm postures can be flexibly adopted for high-position, low-position, and vertical gas chambers, which can greatly reduce the number of on-site inspection personnel, shorten inspection time, improve inspection efficiency, and make the application more versatile.

[0079] 4. Since on-site X-ray inspection of GIS / GIL is prone to radiation leakage and is not safe, this invention adopts a remote control method to control the robotic arm to adjust the joint angle, control the DR imaging system to take pictures, and monitor the laser registration path. The inspection personnel only need to operate the back-end host or analysis system remotely to ensure the safety of on-site inspection personnel.

[0080] 5. During on-site X-ray inspection, the DR imaging system usually requires a 220V power supply to drive it. After the power is disconnected, the training machine needs to be warmed up again, which causes great inconvenience to the movement and adjustment of the on-site inspection position. Therefore, in this invention, the DR imaging, laser registration, and robotic arm rotation connection components are all designed with an integrated power supply. The power is provided by a special lithium battery and a power management system, and the power supply is continuous to ensure its efficiency during on-site inspection.

[0081] 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. A registration method for an automated registration X-ray inspection robotic arm suitable for GIS / GIL, characterized in that, The robotic arm includes a base (1), a launching body (2), a first connector (3), a first joint (4), a third joint (8), a fourth connector (9), and a receiving plate (10); there are multiple joints and connectors between the first joint (4) and the third joint (8), and a first camera (71) is provided on the connector; the first connector (3) is connected to the first joint (4); the fourth connector (9) is connected to the third joint (8); a second camera (92) and a laser receiving unit (91) are provided on the fourth connector (9), and a two-dimensional laser reference target (911) and a laser irradiation point (912) are provided on the laser receiving unit (91), and a receiving plate (10) is provided below the fourth connector (9); a laser emission window (311) is provided on the first connector (3), and the launching body (2) and the base (1) are arranged below it in sequence; the base (1) can be fixedly connected to the support platform of GIS / GIL; The first joint (4), the second joint (6), and the third joint (8) can all rotate at any angle; the rotation angle of the first joint (4), the second joint (6), and the third joint (8) allows the robotic arm to have an unfolded state and a folded state. The launch body (2) includes a launch source window (21); The base (1) and the first connector (3) are fixed directly below and above the transmitter body (2) respectively, and are both rigidly connected to the transmitter body (2) to ensure that the emission source window (21) and the laser emission window (311) face the same direction; the receiver plate (10) is located below the fourth connector (9), is rigidly connected to the fourth connector (9) and keeps the receiver plate (10) vertical; The registration method, Includes the following steps; The first joint (4), the third joint (8), and the joint between the first joint (4) and the third joint (8) are roughly adjusted. During the rough adjustment, the first camera (71) and the second camera (92) are used to check the spatial position of the robotic arm to avoid accidentally touching the GIS / GIL equipment. The second camera (92) is used to observe whether there is any obstruction on the laser path. If there is any obstruction, the posture of the robotic arm needs to be readjusted. Based on the XY position deviation of the laser irradiation point (912) on the two-dimensional laser reference target (911), the first joint (4), the third joint (8), and the joint between the first joint (4) and the third joint (8) are finely adjusted so that the laser irradiation point (912) corresponding to the laser path emitted by the laser emission window (311) is located at the center of the two-dimensional laser reference target (911), thus completing the registration.

2. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 1, characterized in that: The multiple sets of joints and connectors include a second joint (6), a second connector (5), and a third connector (7); The first connector (3) is provided with a laser emitting unit (31). When the laser path emitted from the laser emitting window (311) on the laser emitting unit (31) illuminates the center of the two-dimensional laser reference target (911) on the fourth connector (9), the emitting body (2) and the receiving plate (10) are in a registration state.

3. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 2, characterized in that: The first connector (3), second connector (5), third connector (7), fourth connector (9), first joint (4), and third joint (8) on the robotic arm are arranged in a symmetrical structure with the second joint (6) as the center. The first connector (3) and fourth connector (9) have the same length, and the second connector (5) and third connector (7) have the same length.

4. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 1, characterized in that: The first camera (71) and the second camera (92) are both full-view PTZ cameras.

5. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 2, characterized in that: The transmitter (2), receiver (10), laser transmitter (31), laser receiver (91), first connector (3), second connector (5), third connector (7), fourth connector (9), first joint (4), second joint (6), and third joint (8) all adopt an integrated power supply design and are powered by a special lithium battery and power management system.

6. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 5, characterized in that: The laser emitting unit (31) and the laser receiving unit (91) adopt an aligned laser system, which can dynamically measure the XY deviation at any point on the visible laser path in real time; the laser receiving unit (91) is connected to the central processing unit, and the XY deviation can be read in real time through the central processing unit.

7. The registration method for an automatic registration X-ray inspection robotic arm suitable for GIS / GIL according to claim 1, characterized in that: The robotic arm adjusts its joint angles via remote control from the backend; the two-dimensional laser reference target (911) can wirelessly transmit the laser position on the target plate to the backend for monitoring, and monitor the laser path changes in real time as the joint angles are adjusted; the X-ray imaging adopts a wireless digital image processing system, which can remotely control the shooting and perform digital imaging on the backend analysis system.

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