Suspension insulator replacement robot with multi-dimensional adaptability

Abstract

The invention provides a suspension insulator replacement robot with multi-dimensional adaptability, which is integrally of a front-back symmetrical structure, is composed of the same main body structure and is divided into a front end and a rear end, each of the front end and the rear end comprises a quasi-hexagonal shell, a hydraulic lifting buffer device, a crawler belt moving device, a hydraulic buffer device, a hydraulic telescopic device, a hydraulic mechanical arm, a hydraulic mechanical claw, a mechanical arm moving platform, a six-axis mechanical arm and a quick-change device tool placement table, and the quasi-hexagonal shell comprises a left main body frame, a right main body frame and two bottom frames; the tops of the left main body frame and the right main body frame are connected through a secondary hydraulic telescopic cylinder; a hydraulic lifting buffer device and a crawler belt moving device are arranged on inner side mounting hole positions of the left main body frame, the right main body frame and the two bottom frames respectively; a six-axis mechanical arm is mounted at the front ends of the hydraulic lifting buffer device and the mechanical arm moving platform; and the hydraulic mechanical arm is arranged on a bracket at the front sections of the left main body frame and the right main body frame in a concentric shaft manner. The robot is high in efficiency, good in safety, low in cost and high in applicability.

Description

Technical Field

[0001] The present invention belongs to the field of power transmission line maintenance equipment, and particularly relates to a suspension insulator replacement robot with multi-dimensional adaptability. Background Art

[0002] With the transformation of the global energy structure, the scale of high-voltage transmission lines has expanded rapidly. Although remarkable achievements have been made in the construction of UHV power grids in China, the problem of aging transmission line equipment is prominent, and the failure rate of insulators has increased.

[0003] As a key component of transmission lines, insulators are exposed to harsh environments for a long time, and their insulation performance gradually decays. Traditional manual replacement of suspension insulators faces many difficulties, such as low efficiency, high risk, and high cost. Taking a 500 kV transmission line as an example, the replacement of a single string of insulators takes a long time, is greatly restricted by environmental factors, the average annual effective working days are less than 120 days, and the efficiency gap of manual replacement is as high as 37%; at the same time, 22% of the power high-altitude operation accidents in the past three years occurred in the insulator replacement link, resulting in huge economic losses.

[0004] Therefore, it is extremely urgent to develop an efficient, safe, and intelligent suspension insulator replacement robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a suspension insulator replacement robot with multi-dimensional adaptability, which has high efficiency, good safety, low cost, and strong applicability.

[0006] The technical solution of the present invention is a suspension insulator replacement robot with multi-dimensional adaptability, characterized in that the overall structure of the robot is symmetric front and back, composed of the same main structure, and divided into front and rear ends. The front and rear ends include a quasi-hexagonal outer shell, a hydraulic lifting and buffering device (57), a crawler moving device (59), a hydraulic buffering device (58), a hydraulic telescopic device, a hydraulic manipulator (60), a hydraulic mechanical claw (61), a manipulator moving platform (4), a six-axis manipulator (62), and a quick-change device tool placement table (11). The hexagon-like housing includes a left main frame (1), a right main frame (2) and two bottom frames (3). The left main frame (1) and the right main frame (2) are symmetrically formed to form the upper half of the hexagon-like housing, and the two bottom frames (3) are symmetrically formed to form the lower half of the hexagon-like housing. The lower ends of the left main frame (1) and the right main frame (2) are respectively hinged to the upper ends of a base frame, and an opening and closing device is provided to control the bottom frame. The opening and closing device includes an opening and closing device motor drive (13) and an opening and closing device follower (12) hinged to the opening and closing device motor drive (13). The opening and closing device motor drive (13) is installed at the lower part outside the left main frame (1) and the right main frame (2), and the opening and closing device follower (12) is installed on the upper side outside the bottom frame (3). A control system device bin is provided at the top of the left main frame (1), and the tops of the left main frame (1) and the right main frame (2) are connected by a secondary hydraulic telescopic cylinder; Hydraulic lifting buffer devices (57) are respectively provided at the inner mounting holes of the left main frame (1), the right main frame (2) and the two bottom frames (3). The crawler moving device (59) is installed on the hydraulic lifting buffer device (57), and the above four hydraulic buffer devices (57) are symmetrically arranged in pairs. Hydraulic buffer devices (58) are provided on the bottom surface of the upper inner part of the left main frame (1) and the right main frame (2) and the top surface of the lower inner part of the two bottom frames (3), and the upper and lower hydraulic buffer devices (58) are symmetrically arranged. The outer frames of the left main frame (1) and the right main frame (2) are fixedly connected with a rectangular parallelepiped-like open frame as a hydraulic telescopic device placement bin for installing a hydraulic telescopic device. The front and rear ends are connected by a hydraulic telescopic device. The upper part of the hydraulic telescopic device placement bin is fixedly connected with a square plate as a hydraulic telescopic cylinder fixing plate for the robotic arm moving platform, and the tail of the hydraulic telescopic cylinder (20) of the robotic arm moving platform is connected thereto; Guide rails (19) are installed on the left and right sides of the hydraulic telescopic cylinder fixing plate of the robotic arm moving platform. Sliders (6) are provided on the guide rails (19). The sliders (6) are connected to the robotic arm moving platform connecting member (5). The robotic arm moving platform connecting member (5) is connected to the end of the hydraulic telescopic cylinder (20) of the robotic arm moving platform. The robotic arm moving platform (4) is fixed to the robotic arm moving platform connecting member (5), and a six-axis robotic arm (62) is installed at the front end of the robotic arm moving platform (4); The hydraulic robotic arm (60) is installed on the brackets at the front sections of the left main frame (1) and the right main frame (2) in a concentric axis manner; The quick-change device tool placement table (11) is installed at the side end of the robotic arm moving platform (4).

[0007] The two-axis pan-tilt camera (18) is installed on the installation vacancy at the center above the connection position between the robotic arm mobile platform (4) and the connecting member (5) of the robotic arm mobile platform; the two-axis pan-tilt camera (18) is installed on the upper end of the inner bottom plate of the bottom frame (3) and inside the hydraulic buffer device (58); the two-axis pan-tilt camera (18) is also installed on the installation vacancy on the inner side of the left main frame and in front of the hydraulic lifting buffer device (57); the millimeter-wave radar (14) is installed on the installation bracket at the rear end of the left main frame (1).

[0008] A hydraulic system compartment and a battery compartment are arranged outside the bottom frame. The hydraulic system compartment is provided with a hydraulic system compartment cover (7), and a hydraulic system device (64) is installed inside the hydraulic system compartment. The battery compartment is located on one side of the lower part of the bottom frame, below the hydraulic system compartment. A battery placement platform (10) is installed inside the battery compartment. A battery compartment cover (8) is arranged at the lower part of the battery compartment. The battery placement platform (10) and the battery compartment cover (8) are connected through a battery compartment cover linkage member (9).

[0009] The left main frame (1) and the right main frame (1) have a structure in which a quarter of a hexagonal prism frame is cut and nested with a cuboid frame. Reinforcing ribs are arranged at the corners of the segmented hexagonal prism frame, and reinforcing ribs are arranged inside the cuboid frame. The side is a triangular hollow structure; among them, a horizontal plate structure parallel to its edge is inserted at a position 90 mm from the top of the segmented hexagonal prism frame of the left main frame (1). Right-angled structures protrude from the front and rear ends of the outside of the hexagonal prism frame. Two symmetrical cuboid columns are inserted between the horizontal plate structure and the middle of the segmented hexagonal prism frame from the top; a horizontal plate structure parallel to its edge is inserted at a position 90 mm from the top of the segmented hexagonal prism frame of the right main frame (2). A vertical plate structure is inserted between the horizontal plate structure and the middle of the segmented hexagonal prism frame from the top; the bottom frame (3) is composed of a shape structure at the bottom where a quarter of a hexagonal prism frame is cut and spliced with a cuboid frame to form a complete whole, and reinforcing ribs are arranged at the corners of the segmented hexagonal prism frame.

[0010] The hydraulic manipulator (60) includes a first-stage manipulator arm (21) of the hydraulic manipulator and a first-stage manipulator arm driving hydraulic cylinder (24) of the hydraulic manipulator. The tail end of the first-stage manipulator arm driving hydraulic cylinder (24) is fixed on the bases of the left main frame (1) and the right main frame (2) in a concentric circle connection manner, and the end is fixed in a circular hole below the end of the first-stage manipulator arm (21) of the hydraulic manipulator in a concentric shaft connection manner; the second circular hole at the tail end of the second-stage manipulator arm (22) of the hydraulic manipulator is connected to the upper circular hole at the end of the first-stage manipulator arm (21) in a corresponding concentric shaft connection manner. The tail end of the second-stage manipulator arm driving hydraulic cylinder (25) of the hydraulic manipulator is connected to the upper circular hole at the tail end of the first-stage manipulator arm (21) in a corresponding concentric shaft connection manner, and the end is connected to the third circular hole at the tail end of the second-stage manipulator arm (22) of the hydraulic manipulator in a concentric shaft connection manner; the second circular hole at the tail end of the third-stage manipulator arm (23) of the hydraulic manipulator is connected to the upper circular hole at the end of the second-stage manipulator arm (22) in a corresponding concentric shaft connection manner. The tail end of the third-stage manipulator arm driving hydraulic cylinder (26) of the hydraulic manipulator is connected to the upper circular hole at the tail end of the second-stage manipulator arm (22) in a corresponding concentric shaft connection manner, and the end is connected to the third circular hole at the tail end of the third-stage manipulator arm (23) of the hydraulic manipulator in a concentric shaft connection manner.

[0011] For the said hydraulic mechanical claw (61), the hydraulic mechanical claw hydraulic cylinder (30) is connected to the first circular hole at the tail end of the third-stage manipulator arm (23) of the hydraulic manipulator in a concentric shaft connection manner. The hydraulic mechanical claw hydraulic cylinder fixing frame (27) is fixed on the third-stage manipulator arm (23) of the hydraulic manipulator. The front end of the cylinder body of the hydraulic mechanical claw hydraulic cylinder (30) is fixed to the hydraulic mechanical claw hydraulic cylinder fixing frame (27). The hydraulic mechanical claw tail end fixing frame (28) is fixed on the third-stage manipulator arm (23) of the hydraulic manipulator. One end of the hydraulic mechanical claw linkage member (29) is connected to the hydraulic mechanical claw tail end fixing frame (28) in a concentric shaft manner, and the other end is connected to the first circular hole at the tail end of the hydraulic mechanical claw arm (31) in a concentric shaft manner; the end of the hydraulic mechanical claw hydraulic cylinder (30) is connected to the second circular hole at the tail end of the hydraulic mechanical claw arm (31) in a concentric shaft manner; the hydraulic mechanical claw moving mechanism (32) is installed on the hydraulic mechanical claw arm (31), and the hydraulic mechanical claw jaw (33) is installed on the hydraulic mechanical claw moving mechanism (32). A pressure sensor is installed on the hydraulic mechanical claw jaw (33).

[0012] The said hydraulic lifting and buffering device (57) includes a hydraulic lifting and buffering device base (34), a hydraulic lifting and buffering device linkage member (35), a hydraulic lifting and buffering device hydraulic cylinder (36) and a hydraulic lifting and buffering device lifting platform (37) to form a scissor-type lifting structure. The hydraulic lifting and buffering device base (34) serves as a basic supporting component, and the hydraulic lifting and buffering device linkage member (35) connects the hydraulic lifting and buffering device hydraulic cylinder (36) and the hydraulic lifting and buffering device lifting platform (37).

[0013] The six-axis robotic arm (62) comprises a six-axis robotic arm base (48), a six-axis robotic arm bracket one (49), a six-axis robotic arm bracket two (50), a servo motor (51), a six-axis robotic arm bracket three (52), a six-axis robotic arm bracket four (53), and a six-axis robotic arm bracket five (54). The six-axis robotic arm (62) has six degrees of freedom and is capable of performing complex movements in a three-dimensional space. Each joint is driven by a high-precision servo motor (51) and is controlled by a precise control algorithm. The six-axis robotic arm base (48) is fixed to the front end of the robotic arm mobile platform (4) to provide stable support for the entire six-axis robotic arm (62); the six-axis robotic arm bracket one (49) to the six-axis robotic arm bracket five (54) are interconnected to form a frame structure of the robotic arm, and the servo motors (51) are respectively installed at each joint.

[0014] The crawler moving device (59) comprises a crawler device frame (38), a driving wheel (39), a stepper motor (40), a driven wheel (41), and a track shoe (42). The crawler device frame (38) is a bearing structure of the entire crawler moving device (59); the stepper motor (40) is a driving source and is connected to the driving wheel (39); the driving wheel (39) rotates under the drive of the stepper motor (40); the driven wheel (41) cooperates with the driving wheel (39) so that the track shoe (42) can wrap around the driving wheel (39) and the driven wheel (41).

[0015] The hydraulic buffer device (58) comprises a hydraulic buffer device base (43), a hydraulic buffer device hydraulic cylinder (44), a hydraulic buffer device linkage member (45), a hydraulic buffer device linkage member 2 (46), and a hydraulic buffer device linkage member 3 (47); the hydraulic buffer device base (43) is used to fix the entire hydraulic buffer device (58); the hydraulic buffer device hydraulic cylinder (44) serves as a power component; the hydraulic buffer device linkage member (45), the hydraulic buffer device linkage member 2 (46), and the hydraulic buffer device linkage member 3 (47) cooperate with each other.

[0016] The invention provides a suspension insulator replacement robot with multi-dimensional adaptability. (1) High-precision operation: Traditional manual replacement of insulators relies on human visual observation and manual operation, which has large errors in positioning and operation accuracy, making it difficult to ensure the stability of the insulator connection and the power transmission performance. In contrast, the robot of the present invention uses multimodal perception fusion and precision drive control technology, integrates advanced laser radar, millimeter-wave radar and stereo vision system, and constructs a millimeter-level space-time alignment positioning network; at the same time, the hydraulic mechanical arm adopts a closed dual-pump servo system with a synovial variable structure control algorithm to achieve extremely high positioning and force control accuracy. In actual operation, it can accurately dock the tiny gap between the insulator ball head and the bowl head, and the overall accuracy is greatly improved compared to the traditional manual method, which effectively improves the quality of insulator replacement and the stability of power transmission; (2) Strong environmental adaptability: Traditional manual replacement operations are extremely vulnerable to environmental factors. Under harsh weather conditions such as low temperature and strong wind, the efficiency of manual operations will be significantly reduced, and even unable to work. Moreover, long-term operation in environments such as acid rain, strong ultraviolet rays, and salt fog is also harmful to the health of personnel. The robot of the present invention constructs a global environmental adaptive system, which is optimized in all aspects from material, mechanical design to intelligent control level. It uses special materials and protective coatings, has a buffer articulated track and a seismic-resistant frame, and also realizes precise adjustment of constant tension and dynamic allocation of load priority through intelligent algorithms. This enables the robot to operate stably in harsh environments such as extreme cold, high temperature, strong wind, and strong electric fields, and the range of insulator diameters it can adapt to is also wider, greatly expanding the operation scenarios and ensuring the maintenance needs of transmission lines in different environments; (3) High-efficiency operation: The efficiency of traditional manual replacement of insulators is relatively low. Completing the replacement of a single string of insulators often takes a long time, which not only prolongs the power outage duration and affects the stability of power supply, but also reduces the operation and maintenance efficiency of power enterprises. The robot of the present invention adopts an operation paradigm of "intelligent perception - autonomous decision-making - human-machine co-integration", and based on high-speed communication and advanced algorithms, realizes rapid path planning and precise operation control. Compared with the traditional manual method, the replacement efficiency of a single string of insulators is significantly improved, enabling power enterprises to complete more maintenance tasks in the same time, timely maintain the transmission line, reduce the probability of line faults, improve the reliability of the transmission line, and ensure the stable power supply; (4) Cost reduction: The cost of traditional manual replacement of insulators is relatively high, mainly involving labor costs, equipment rental costs, and economic losses caused by power outages. After using the robot of the present invention, the labor cost is greatly reduced, and only a small number of operators are required to remotely control it; the equipment rental cost is also significantly reduced. The robot integrates multiple functions and does not require renting large professional equipment; at the same time, due to the shortening of the operation time, the power outage time is correspondingly reduced, and the economic losses caused by power outages are also greatly reduced; (5) Safety guarantee: There are many safety hazards in traditional manual replacement of insulators, such as falling from height and electric shock, resulting in frequent related accidents, causing serious economic losses and casualties. The robot of the present invention replaces manual operations for dangerous work, and is equipped with multiple safety protection mechanisms, such as collision detection, overload protection, leakage protection, and grounding protection. It also has a remote monitoring and diagnosis function, which can monitor the operating status in real time, detect and handle potential faults in a timely manner. Using this robot can greatly reduce the accident risk of manual replacement of insulators and effectively guarantee the life safety of power operation and maintenance personnel. Brief Description of the Drawings

[0017] Figure 1 is a perspective structural schematic diagram of the present invention; Figure 2 is a front view structural schematic diagram of the present invention; Figure 3 Side view structure diagram of the present invention; Figure 4 Top view structure diagram of the present invention; Figure 5 Front view structure diagram of the hydraulic manipulator of the present invention; Figure 6 Front view structure diagram of the hydraulic lifting buffer device of the present invention; Figure 7 Front view structure diagram of the hydraulic buffer device of the present invention; Figure 8 Front view structure diagram of the crawler moving device of the present invention; Figure 9 Front view structure diagram of the six-axis manipulator of the present invention; Figure 10 Front view structure diagram of the tool quick-change device of the present invention.

[0018] In the figure: 1. Right main frame; 2. Left main frame; 3. Bottom frame; 4. Manipulator moving platform; 5. Manipulator moving platform connecting piece; 6. Slide block; 7. Hydraulic system hatch; 8. Battery hatch; 9. Battery hatch linkage; 10. Battery placement platform; 11. Quick-change device tool placement table; 12. Opening and closing device follower; 13. Opening and closing device motor drive; 14. Millimeter-wave radar; 15. Secondary hydraulic telescopic cylinder; 16. LiDAR; 17. Lithium-ion battery; 18. Two-axis pan-tilt camera; 19. Guide rail; 20. Manipulator moving platform hydraulic telescopic cylinder; 21. First-stage hydraulic manipulator arm; 22. Second-stage hydraulic manipulator arm; 23. Third-stage hydraulic manipulator arm; 24. First-stage hydraulic manipulator arm drive hydraulic cylinder; 25. Second-stage hydraulic manipulator arm drive hydraulic cylinder; 26. Third-stage hydraulic manipulator arm drive hydraulic cylinder; 27. Hydraulic gripper hydraulic cylinder fixing bracket; 28. Hydraulic gripper end fixing bracket; 29. Hydraulic gripper linkage; 30. Hydraulic gripper hydraulic cylinder; 31. Hydraulic gripper arm; 32. Hydraulic gripper moving mechanism; 33. Hydraulic gripper jaw; 34. Hydraulic lifting buffer device base; 35. Hydraulic lifting buffer device linkage; 36. Hydraulic lifting buffer device hydraulic cylinder; 37. Hydraulic lifting buffer device lifting platform; 38. Crawler device frame; 39. Driving wheel; 40. Stepper motor; 41. Driven wheel; 42. Crawler plate; 43. Hydraulic buffer device base; 44. Hydraulic buffer device hydraulic cylinder; 45. Hydraulic buffer device linkage; 46. Second hydraulic buffer device linkage; 47. Third hydraulic buffer device linkage; 48. Six-axis manipulator base; 49. First six-axis manipulator support; 50. Second six-axis manipulator support; 51. Servo motor; 52. Third six-axis manipulator support; 53. Fourth six-axis manipulator support; 54. Fifth six-axis manipulator support; 55. Tool quick-change device sub-end; 56. Tool quick-change device mother-end; 57. Hydraulic buffer lifting device; 58. Hydraulic buffer device; 59. Crawler moving device; 60. Hydraulic manipulator; 61. Hydraulic gripper; 62. Six-axis manipulator; 63. Control system device; 64. Hydraulic system device. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figure 1-10, the present invention provides a technical solution: a suspension insulator replacement robot with multi-dimensional adaptability. The overall structure of the robot is symmetric front and back, divided into a front end and a rear end. The front end and the rear end have the same structure, including a quasi-hexagonal outer shell, a hydraulic lifting and buffering device 57, a hydraulic buffering device 58, a crawler moving device 59, a hydraulic telescopic device, a hydraulic manipulator 60, a hydraulic mechanical claw 61, a manipulator moving platform 4, a six-axis manipulator 62, a tool quick-change device, a battery compartment, and a hydraulic system compartment.

[0021] Among them, the quasi-hexagonal outer shell is composed of a left main frame 1, a right main frame 2, and a bottom frame 3. The bottom consists of two bottom frames 3; the external structural main bodies of the left main frame 1 and the right main frame 2 are symmetric. A lidar mounting bracket is added to the right main frame 2; a control system device compartment and a connection structure at the end of the hydraulic telescopic device are provided on the upper part of the left main frame 1. The inside of the right main frame 2 is a mounting structure for the hydraulic telescopic device. Part of the structure of the right main frame 2 protrudes in a right-angled shape compared with the left main frame 1.

[0022] The external structures of the left main frame 1 and the right main frame 2 are symmetric. Taking the left main frame 1 as an example, the quasi-rectangular open-frame protruding outside the left main frame is a mounting compartment for the hydraulic telescopic device. The hydraulic telescopic device is placed in the compartment, and its tail is connected to the tail of the frame; the square plate protruding above the quasi-rectangular open-frame is a fixed plate for the hydraulic telescopic cylinder of the manipulator moving platform. The tail of the hydraulic telescopic cylinder (20) of the manipulator moving platform is connected to it; guide rails 19 are installed on both the left and right sides of the fixed plate for the hydraulic telescopic cylinder of the manipulator moving platform. Sliders 6 are arranged on the guide rails 19. The slider 6 is connected to the manipulator moving platform connecting member 5, and the manipulator moving platform 4 is fixed to the manipulator moving platform connecting member 5; the end of the hydraulic telescopic cylinder 20 of the manipulator moving platform is installed on the manipulator moving platform connecting member 5; the six-axis manipulator 6 is installed at the front end of the manipulator moving platform 4. The quick-change device tool placement table 11 is installed at the side end of the manipulator moving platform 4. The two-axis pan-tilt camera 18 is installed at the installation vacancy at the center above the connection position between the manipulator moving platform 4 and the manipulator moving platform connecting member 5; the hydraulic manipulator 60 is installed on the bracket at the front section of the left main frame 1 in a coaxial manner; the hydraulic lifting and buffering device 57 is installed at the mounting hole position inside the left main frame 1, and the crawler moving device 59 is installed on the hydraulic lifting and buffering device 57; the hydraulic buffering device 58 is installed at the lower end of the inner top plate of the left main frame 1; the two-axis pan-tilt camera 18 is also installed at the installation vacancy inside the left main frame and in front of the hydraulic lifting and buffering device 57; the millimeter-wave radar 14 is installed on the mounting bracket at the rear end of the left main frame 1.

[0023] The differential structural features of the left main body frame 1 and the right main body frame 2 are as follows: The control system device 63 is installed in the control system device bin on the upper part of the left main body frame 1. The end of the secondary hydraulic telescopic cylinder 15 is installed at the installation position of the inner baffle of the left main body frame 1, and the tail end is installed at the hydraulic telescopic device placement structure on the inner side of the right main body frame 2; The bottom frame 3 is connected to the left main body frame 1 and the right main body frame 2 respectively through the opening and closing device motor drive member 13, the opening and closing device driven member 12 and the shaft on itself; The hydraulic system device 64 is installed in the hydraulic system bin on the side of the bottom frame 3, and the hydraulic system bin cover 7 covers the hydraulic system bin on the side of the bottom frame 3; The battery placement platform 10 is connected in the battery bin at the bottom of the bottom frame 3. One end of the battery bin cover linkage member 9 is connected to the battery placement platform 10, and the other end is connected to the battery bin cover 8. The battery bin cover 8 is connected to the lower end of the battery bin at the bottom of the bottom frame 3; The hydraulic lifting buffer device 57 is installed at the installation hole position on the inner side of the bottom frame 3, and the crawler moving device 59 is installed on the hydraulic lifting buffer device 57; The hydraulic buffer device 58 is installed at the upper end of the inner bottom plate of the bottom frame 3; The two-axis pan-tilt camera 18 is installed at the upper end of the inner bottom plate of the bottom frame 3 and inside the hydraulic buffer device 58.

[0024] The left main body frame 1 has a structure in which a quarter of a hexagonal prism frame is cut and nested with a rectangular prism frame. Reinforcing ribs are provided at the corners of the segmented hexagonal prism frame, and reinforcing ribs are provided inside the rectangular prism frame. The side is a triangular hollow structure; The semi-oval perforated structure at the front end above the rectangular prism frame is the hydraulic manipulator base, and the square at the rear end is the hydraulic telescopic device mounting bracket. There are four square protrusions on both sides as the guide rail mounting brackets; The rectangular prism frame on the outer side of the segmented hexagonal prism frame and the lower side of the rectangular prism frame is the hydraulic rotary cylinder mounting bracket, and an "L"-shaped card slot is provided on the lower side of the rectangular prism frame; A horizontal plate structure parallel to its edge is inserted at a position 90 mm from the top of the segmented hexagonal prism frame. Right-angled structures protrude from the front and rear ends on the outer side of the hexagonal prism frame. Two symmetric rectangular prism columns are inserted between the horizontal plate structure and the middle of the segmented hexagonal prism frame from the top.

[0025] The right main body frame 2 has a structure in which a quarter of a hexagonal prism frame is cut and nested with a rectangular prism frame. Reinforcing ribs are provided at the corners of the segmented hexagonal prism frame, and reinforcing ribs are provided inside the rectangular prism frame. The side is a triangular hollow structure; The semi-oval perforated structure at the front end above the rectangular prism frame is the hydraulic manipulator base, and the square at the rear end is the hydraulic telescopic device mounting bracket. There are four square protrusions on both sides as the guide rail mounting brackets; The rectangular prism frame on the outer side of the segmented hexagonal prism frame and the lower side of the rectangular prism frame is the hydraulic rotary cylinder mounting bracket, and an "L"-shaped card slot is provided on the lower side of the rectangular prism frame; A horizontal plate structure parallel to its edge is inserted at a position 90 mm from the top of the segmented hexagonal prism frame, and a vertical plate structure is inserted between the horizontal plate structure and the middle of the segmented hexagonal prism frame from the top.

[0026] The bottom frame 3 is composed of a quarter-cut hexagonal prism frame and a rectangular prism frame spliced at the bottom to form a complete whole, and stiffeners are provided at the corners of the segmented hexagonal prism frame. The hexagonal shell mainly plays a role in protecting and supporting the internal components, ensuring the structural integrity of the robot in complex outdoor environments. Its unique structural design helps to disperse stress, enhance the overall strength, and adapt to harsh working conditions such as strong winds and vibrations. At the same time, the layout of the shell facilitates the installation and layout of various sensors and actuators, which is conducive to the robot's all-round perception of the environment and efficient execution of operation tasks. Among them, the symmetrical structural design of the left main frame 1 and the right main frame 2 optimizes the installation space and force distribution of the equipment; the bottom frame 3 is firmly connected to the left and right main frames, bearing the weight of the robot.

[0027] The hydraulic manipulator 60 includes a first-stage hydraulic manipulator arm 21 and a first-stage hydraulic manipulator arm driving hydraulic cylinder 24. The tail end of the first-stage hydraulic manipulator arm driving hydraulic cylinder 24 is fixed to the bases of the left main frame 1 and the right main frame 2 in a concentric circle connection manner, and the end is fixed to the round hole below the end of the first-stage hydraulic manipulator arm 21 in a concentric shaft connection manner; the second round hole at the tail end of the second-stage hydraulic manipulator arm 22 is connected to the upper round hole at the end of the first-stage hydraulic manipulator arm 21 in a corresponding concentric shaft connection manner, and the tail end of the second-stage hydraulic manipulator arm driving hydraulic cylinder 25 is connected to the upper round hole at the tail end of the first-stage hydraulic manipulator arm 21 in a corresponding concentric shaft connection manner, and the end is connected to the third round hole at the tail end of the second-stage hydraulic manipulator arm 22 in a concentric shaft connection manner; the second round hole at the tail end of the third-stage hydraulic manipulator arm 23 is connected to the upper round hole at the end of the second-stage hydraulic manipulator arm 22 in a corresponding concentric shaft connection manner, and the tail end of the third-stage hydraulic manipulator arm driving hydraulic cylinder 26 is connected to the upper round hole at the tail end of the second-stage hydraulic manipulator arm 22 in a corresponding concentric shaft connection manner, and the end is connected to the third round hole at the tail end of the third-stage hydraulic manipulator arm 23 in a concentric shaft connection manner. This hydraulic manipulator has three degrees of freedom, is driven by a high-performance hydraulic system, the angle adjustment accuracy can reach ±0.5°, the telescopic displacement accuracy can reach ±1mm, and the maximum tensile force can reach ten tons. The hydraulic manipulator 60 is mainly used to perform key operations such as grasping, transporting, and installing insulators. It has flexible and precise positioning capabilities and a strong tensile force, and can adapt to insulator replacement tasks in different positions and working conditions. Equipped with an advanced intelligent control system and a variety of sensors, such as laser ranging sensors, visual recognition sensors, etc., it can real-time sense the surrounding environment and the state of the insulators, automatically adjust the movement trajectory and posture, support remote control and programming control, and effectively improve the operation efficiency and safety. It has three active degrees of freedom, the angle adjustment accuracy can reach ±0.5°, the telescopic displacement accuracy can reach ±1mm, and the maximum tensile force can reach several tons. It adopts a double-pump double-circuit closed system, configured with axial piston pumps and electro-hydraulic servo valves, the system pressure is 35MPa, and through the sliding mode variable structure control algorithm, the position control accuracy is ±0.2mm, and the force control accuracy is ±1.5% In the hydraulic manipulator 61, the hydraulic cylinder 30 of the hydraulic manipulator is coaxially connected to the first round hole at the end of the third-stage robotic arm 23 of the hydraulic robotic arm. The fixing bracket 27 of the hydraulic cylinder of the hydraulic manipulator is fixed on the third-stage robotic arm 23 of the hydraulic robotic arm. The front end of the cylinder body of the hydraulic cylinder 30 of the hydraulic manipulator is fixed to the fixing bracket 27 of the hydraulic cylinder of the hydraulic manipulator. The fixing bracket 28 at the end of the hydraulic manipulator is fixed on the third-stage robotic arm 23 of the hydraulic robotic arm. One end of the linkage 29 of the hydraulic manipulator is coaxially connected to the fixing bracket 28 at the end of the hydraulic manipulator, and the other end is coaxially connected to the first round hole at the end of the manipulator arm 31 of the hydraulic manipulator; the end of the hydraulic cylinder 30 of the hydraulic manipulator is coaxially connected to the second round hole at the end of the manipulator arm 31 of the hydraulic manipulator; the movable mechanism 32 of the hydraulic manipulator is installed on the manipulator arm 31 of the hydraulic manipulator, and the gripper 33 of the hydraulic manipulator is installed on the movable mechanism 32 of the hydraulic manipulator. A pressure sensor is installed on the gripper 33 of the hydraulic manipulator. The maximum gripping force is ten tons, and the angle of the manipulator joint can be freely adjusted. The main function of the hydraulic manipulator 61 is to firmly grip the insulator to ensure the stability of the insulator during handling and replacement. By using high-strength materials for manufacturing, the inner surface is covered with special anti-slip and wear-resistant materials, and the adjustable joint angle is designed to be able to closely fit the surfaces of insulators with different shapes and sizes, ensuring that the insulator will not slip during the operation. The contact stress distribution can be monitored in real time, and the flow rate of the hydraulic cylinder is dynamically adjusted through the PID algorithm to achieve a force control accuracy of 0.1 N, ensuring that the insulator can be stably gripped under different working conditions. The maximum gripping force is ten tons, and the angle of the manipulator joint can be freely adjusted.

[0028] The hydraulic lifting and buffering device 57 consists of a base 34 of the hydraulic lifting and buffering device, a linkage 35 of the hydraulic lifting and buffering device, a hydraulic cylinder 36 of the hydraulic lifting and buffering device, and a lifting platform 37 of the hydraulic lifting and buffering device to form a scissor-type lifting structure. Among them, the base 34 of the hydraulic lifting and buffering device serves as the basic support component, and the linkage 35 of the hydraulic lifting and buffering device connects the hydraulic cylinder 36 of the hydraulic lifting and buffering device and the lifting platform 37 of the hydraulic lifting and buffering device. This device is mainly used to accurately adjust the height of the robot operation platform to adapt to insulators with different heights and diameters. During the operation, it can effectively buffer the vibrations generated by height changes, equipment movement, or external impacts, ensuring the stability and operation accuracy of the robot. Using closed-loop servo control technology and paired with high-precision pressure sensors, it can stably carry a rated load of 200 kg, achieve stepless speed regulation of 0.5 - 5 mm / s through an electro-hydraulic proportional valve, with a stroke range of 500 mm and a positioning accuracy of up to ±0.2 mm. The innovatively designed hydraulic buffering module uses a polyurethane buffer pad, which can absorb more than 80% of the impact energy at the end of the stroke, effectively reducing equipment wear and extending the service life.

[0029] The six-axis robotic arm 62 consists of a six-axis robotic arm base 48, a first six-axis robotic arm bracket 49, a second six-axis robotic arm bracket 50, a servo motor 51, a third six-axis robotic arm bracket 52, a fourth six-axis robotic arm bracket 53, and a fifth six-axis robotic arm bracket 54. It has six degrees of freedom and can perform complex movements in three-dimensional space. Each joint is driven by a high-precision servo motor 51 and controlled through precise control algorithms. Specifically, the six-axis robotic arm base 48 is fixed at the front end of the robotic arm moving platform 4, providing stable support for the entire six-axis robotic arm 62. The first to fifth six-axis robotic arm brackets 49 to 54 are interconnected to form the frame structure of the robotic arm, and the servo motors 51 are respectively installed at each joint. The six-axis robotic arm 62 has the ability to perform complex movements in three-dimensional space, can simulate human hand movements, accurately adjust the posture of the end tool, and adapt to various complex insulator replacement tasks, such as the installation and removal operations of insulators at different angles and positions. It is equipped with a variety of advanced sensors, such as encoders, laser displacement sensors, force sensors, etc. Through the collaborative work of the sensors and advanced control algorithms, it achieves high-precision operation performance, and the positioning accuracy reaches the millimeter level or even higher. At the same time, it adopts an adaptive error compensation technology to automatically detect and compensate for errors caused by factors such as mechanical structure deformation and environmental temperature changes, ensuring operation accuracy. In addition, it also has an intelligent task execution ability, is equipped with an intelligent path planning system, can automatically plan a safe and efficient movement path according to the current position, target position, and surrounding environment information, and has the ability to adaptively adjust tasks. It can automatically adjust operation parameters according to the differences in the shape, size, and connection method of insulators.

[0030] The crawler mobile device 59 includes a crawler device frame 38, a drive wheel 39, a stepper motor 40, a driven wheel 41, and crawler shoes 42. Among them, the crawler device frame 38 is the load-bearing structure of the entire crawler mobile device 59; the stepper motor 40 is the driving source, connected to the drive wheel 39, and the drive wheel 39 rotates under the drive of the stepper motor 40; the driven wheel 41 cooperates with the drive wheel 39 to enable the crawler shoes 42 to surround the drive wheel 39 and the driven wheel 41. The crawler mobile device 59 endows the robot with the ability to move stably on the transmission line insulators, has good terrain adaptability, and can cross gaps and obstacles of a certain width. Its high-precision positioning system ensures that the robot can accurately reach the operation position during movement, providing a reliable guarantee for subsequent insulator replacement operations. The crawler shoes are made of rubber-metal composite materials, and the surface is designed with special patterns to enhance the grip and effectively avoid slipping on smooth insulators, ensuring the stable movement of the robot under different working conditions.

[0031] The hydraulic buffer device 58 includes a hydraulic buffer device base 43, a hydraulic buffer device hydraulic cylinder 44, a hydraulic buffer device linkage 45, a hydraulic buffer device linkage part 2 46, and a hydraulic buffer device linkage part 3 47. Among them, the hydraulic buffer device base 43 is used to fix the entire hydraulic buffer device 58; the hydraulic buffer device hydraulic cylinder 44 is used as a power component, and the hydraulic buffer device linkage part 45, the hydraulic buffer device linkage part 2 46, and the hydraulic buffer device linkage part 3 47 cooperate with each other. The hydraulic buffer device 58 is mainly used to buffer the impact force generated by various factors during the operation of the robot, protect the internal precision components of the robot, reduce the damage to the equipment caused by vibration, ensure the stable operation of the equipment, and extend the service life of the equipment. It is installed in a specific fixing method, using the hydraulic principle and the coordinated work of related linkage components to achieve buffering work.

[0032] When the robot starts working, the crawler moving device 59 plays a key role. The stepper motor 40, as a driving source, outputs stable power to drive the driving wheel 39 connected to it to rotate. The rotation of the driving wheel 39 causes the track plate 42 to circulate around the driving wheel 39 and the driven wheel 41, so that the robot can move smoothly on the transmission line insulator. During the movement, the robot relies on a high-precision positioning system to determine its own position. The positioning system integrates data from multiple advanced sensors such as laser radar 16, millimeter wave radar 14, and two-axis pan-tilt camera 18. The laser radar can emit a laser beam and accurately calculate the distance between the robot and the surrounding objects by measuring the time of reflected light, thereby obtaining three-dimensional information of the surrounding environment; the millimeter wave radar uses electromagnetic waves in the millimeter wave frequency band to detect the distance, speed and angle of the target object, and can maintain high accuracy even in complex environments; the two-axis pan-tilt camera can flexibly adjust the shooting angle and capture images around the robot in real time, so that the operator can intuitively observe the working environment of the robot. These sensors work together to provide the robot with accurate position information, enabling it to accurately move to the location of the insulator to be replaced. When encountering gaps and obstacles on the line, the rubber-metal composite material used in the track shoes and the special pattern designed on the surface play an important role. This material and pattern design greatly enhance the grip between the track and the insulator, ensuring that the robot will not slip under complex working conditions, so that it can stably cross obstacles and reach the working point smoothly.

[0033] When the robot reaches the specified working position, the hydraulic lifting buffer device 57 starts to operate. After the hydraulic cylinder 36 of the hydraulic lifting buffer device receives the control instruction, it generates a stable thrust to push the linkage 35 of the hydraulic lifting buffer device to move. Since the linkage 35 of the hydraulic lifting buffer device is respectively connected to the hydraulic cylinder 36 and the lifting platform 37 of the hydraulic lifting buffer device, under the action of the linkage, the lifting platform 37 of the hydraulic lifting buffer device will rise or fall according to actual needs, thereby precisely adjusting the height of the robot working platform so that it can adapt to insulators of different heights and diameters. During the height adjustment process, the hydraulic buffer module of the hydraulic lifting buffer device plays an important buffering role. This module uses a polyurethane buffer pad. When the robot undergoes height changes, equipment movement, or external impacts, the polyurethane buffer pad can absorb more than 80% of the impact energy. This effectively reduces the vibration of the equipment, avoids the decline in operation accuracy caused by vibration, and provides a stable platform for subsequent precise operations. At the same time, the hydraulic buffer device 58 functions throughout the operation of the robot. The base 43 of the hydraulic buffer device firmly fixes the entire device on the robot. The hydraulic cylinder 44 of the hydraulic buffer device serves as a power component. When the robot is impacted, through the coordinated work of the linkage 45, the second linkage 46, and the third linkage 47 of the hydraulic buffer device, the impact force is converted into hydraulic energy and absorbed and buffered, thereby protecting the precision components inside the robot and extending the service life of the equipment.

[0034] After the height adjustment of the robot operation platform is completed, the six-axis robotic arm 62 first switches to the inspection tool. The six-axis robotic arm has six degrees of freedom and can perform complex movements in three-dimensional space. Each joint is driven by a high-precision servo motor 51 and controlled by an accurate control algorithm. During the inspection process, the six-axis robotic arm flexibly adjusts its own posture and accurately moves the inspection tool to each inspection position of the insulator. At the same time, the pan-tilt camera and the camera at the end of the robotic arm work together to observe and photograph the insulator in all directions. The pan-tilt camera can rotate flexibly in the horizontal and vertical directions to expand the observation field of view; the camera at the end of the robotic arm can take close-up and clear pictures of the details of the insulator. Through the image information obtained by these cameras, the operator can intuitively judge the state of the insulator or perform automatic detection through image recognition algorithms. If damage to the insulator is detected, the six-axis robotic arm quickly switches to the replacement device. At this time, the hydraulic robotic arm 60 starts to play a role. The hydraulic robotic arm is driven by a high-performance hydraulic system and adopts a closed-loop double-pump servo system combined with a sliding-mode variable structure control algorithm. After receiving the control command, each driving hydraulic cylinder of the hydraulic robotic arm works according to a predetermined program and accurately adjusts the posture of the hydraulic robotic arm. Its angle adjustment accuracy can reach ±0.5°, and the telescopic displacement accuracy can reach ±1 mm, which can accurately move the hydraulic mechanical claw 61 to the position of the insulator to be replaced. Driven by the hydraulic robotic arm, the hydraulic mechanical claw approaches the insulator. The hydraulic cylinder 30 of the hydraulic mechanical claw dynamically adjusts the flow rate of the hydraulic cylinder through the PID algorithm according to the information fed back by the pressure sensor, achieving a force control accuracy of 0.1 N. The hydraulic mechanical claw is made of high-strength materials, the inner surface is covered with special anti-slip and wear-resistant materials, and the joint angle of the mechanical claw can be freely adjusted. When grasping the insulator, the mechanical claw can closely fit the surface of the insulator to ensure that the insulator will not slip during handling and replacement. At the same time, the hydraulic telescopic device starts to work, pulling both ends of the insulator to prepare for subsequent disassembly operations. After the clamping device firmly clamps the damaged insulator, the replacement tool accurately pulls out the pins connecting the left and right of the damaged insulator, then removes the damaged insulator and places it in the storage area.

[0035] After removing the damaged insulator, the robotic arm takes out a new insulator from the storage location and installs it under the coordinated action of the six-axis robotic arm and the hydraulic robotic arm. With its precise motion ability in three-dimensional space, the six-axis robotic arm simulates the actions of a human hand and finely adjusts the posture of the new insulator; the hydraulic robotic arm provides stable support and precise positioning to ensure that the new insulator can be accurately installed at the designated position. When installing the pin, the tool robotic arm accurately inserts the pin into the corresponding hole under high-precision control to complete the installation of the new insulator. After the installation is completed, the six-axis robotic arm switches to the detection device again to comprehensively detect the replaced insulator. The detection content includes whether the installation position of the insulator is accurate, whether the connection is firm, and whether the electrical performance is normal, etc. If the detection result shows that the insulator can work normally, components such as the six-axis robotic arm, the hydraulic telescopic device, and the hydraulic robotic claw return to their original positions according to the predetermined program. If there are still insulators to be replaced ahead, the robot will repeat a series of operation processes such as moving, detecting, and replacing. When all insulator replacement operations are completed, the hydraulic rotary cylinder opens, waiting for the drone to lift the robot back to the ground to complete the entire work task. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0036] During the operation of the robot, if an unexpected failure occurs, such as a certain sensor malfunctioning or a mechanical component jamming, the multiple safety protection mechanisms and the fault diagnosis system of the robot are immediately activated. When the collision detection system detects an abnormality, the robot stops the current action to prevent collision damage, and the control system quickly diagnoses the fault to determine the type and severity of the fault. If it is a minor fault, such as a brief loss of a certain sensor signal, the robot continues to operate using the data of the backup sensor and records the fault information for repair after the operation is completed. If the fault is relatively serious, such as a hydraulic system leak, the robot starts the emergency program. The hydraulic buffer device (58) quickly comes into play to buffer the equipment shaking caused by the fault. At the same time, the robot sends a fault alarm message to the operator through the communication system, detailing the fault situation. The operator remotely controls the robot for emergency handling according to the fault information. For example, the robot is controlled to move to a safe area to prevent the fault from expanding and affecting the safety of the transmission line. After reaching the safe area, wait for professional maintenance personnel to carry out the repair. After the repair is completed, the robot can be put back into operation. Using the suspension insulator replacement robot of the present invention, on the one hand, it improves the efficiency and quality of replacing insulators on transmission lines and adapts to various complex environments; on the other hand, through multiple safety protections and intelligent control, it ensures the safety and stability of the operation process, effectively reduces the risk of manual insulator replacement, and ensures the reliable operation of the transmission line.

[0037] Example of replacing a single string of insulators in a conventional environment The single-string insulator replacement operation is carried out under the condition that the transmission line environment is good, there are no obvious obstacles and the distance between insulator strings is normal. First, the operator starts the robot through the remote control terminal. The crawler moving device 59 of the robot is driven by the stepping motor 40, and the driving wheel 39 drives the crawler plate 42 to rotate, so that the robot moves along the transmission line insulator towards the position of the insulator to be replaced. During the movement, the lidar 16 and the millimeter-wave radar 14 scan the surrounding environment in real time and transmit the data to the control system to ensure the accurate positioning of the robot and avoid other components on the line. When the robot reaches the operation position, the hydraulic lifting buffer device 57 starts to work. The hydraulic cylinder 36 of the hydraulic lifting buffer device pushes the linkage 35 of the hydraulic lifting buffer device, so that the lifting platform 37 of the hydraulic lifting buffer device rises, and the robot operation platform is adjusted to a suitable height to adapt to the height of the insulator. During the lifting process, the hydraulic buffer device 58 buffers the vibration generated by the movement of the equipment to ensure the stability of the robot. Then, the six-axis manipulator 62 switches to the detection mode, and uses its six degrees of freedom to flexibly adjust the position of the detection tool, and cooperates with the pan-tilt camera and the camera at the end of the manipulator to comprehensively detect the insulator. If the insulator is detected to be damaged, the six-axis manipulator switches to the replacement device. The hydraulic manipulator 60 is driven by a high-performance hydraulic system and accurately adjusts its posture according to the sliding-mode variable structure control algorithm. The hydraulic mechanical claw (61) approaches the insulator driven by the hydraulic manipulator, and through the feedback of the pressure sensor and the PID algorithm, realizes a force control accuracy of 0.1 N and firmly grabs the insulator. The hydraulic telescopic device pulls both ends of the insulator to separate the insulator from the line. Subsequently, the clamping device firmly clamps the damaged insulator, the replacement tool pulls out the insulator connection pin, removes the damaged insulator and places it in the storage place. After that, the manipulator takes out a new insulator for installation. The six-axis manipulator and the hydraulic manipulator cooperate to accurately control the position and posture of the new insulator. After the new insulator is installed in place, the installation pin is fixed. Finally, the six-axis manipulator switches to the detection mode again to detect the replaced insulator. After the detection is qualified, all components return to their original positions, and the robot continues to move to the next operation point or waits for the recovery instruction.

[0038] Example of Replacing Multiple Strings of Insulators in a Complex Environment When the transmission line is in complex environments such as strong wind and low temperature, and multiple strings of insulators need to be replaced, the working process of the robot is as follows: After starting the robot, the crawler moving device 59 moves towards the target area according to the preset path. During the movement, the windproof and cold-resistant designs of the robot come into play. Special materials and protective coatings resist the erosion of the harsh environment, and the buffer articulated crawler and seismic frame enhance stability; After reaching the target area, the hydraulic lifting buffer device 57 precisely adjusts the height of the operation platform according to the height of different insulator strings. After each string of insulators is detected or replaced, the hydraulic lifting buffer device quickly adjusts the height to adapt to the next string of insulators; For the detection and replacement of multiple strings of insulators, the six-axis robotic arm 62, the hydraulic robotic arm 60, and the hydraulic robotic claw 61 cooperate closely. Each string of insulators is detected in sequence. If a damaged insulator is found, the replacement operation is carried out as in Embodiment 1. During the replacement process, the intelligent algorithm dynamically distributes power according to the load conditions to ensure the stable operation of the robot in complex environments; After all the target insulator strings are replaced, the robot conducts an overall inspection. After confirming no abnormalities, it moves to the designated position through the crawler moving device and waits for subsequent recovery operations.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A suspension insulator replacement robot with multi-dimensional adaptability, characterized in that: The robot has a front-to-back symmetrical structure as a whole, and is composed of the same main structure, which is divided into front and rear ends. The front and rear ends include a hexagonal shell, a hydraulic lifting buffer device (57), a crawler moving device (59), a hydraulic buffer device (58), a hydraulic telescopic device, a hydraulic mechanical arm (60), a hydraulic mechanical claw (61), a mechanical arm moving platform (4), a six-axis mechanical arm (62), and a quick-change device tool placement table (11). The quasi-hexagonal shell comprises a left main frame (1), a right main frame (2) and two bottom frames (3); the left main frame (1) and the right main frame (2) symmetrically form the upper half of the quasi-hexagonal shell, and the two bottom frames (3) symmetrically form the lower half of the quasi-hexagonal shell; the lower ends of the left main frame (1) and the right main frame (2) are respectively hinged to the upper end of a base frame, and an opening and closing device is provided to control the bottom frame; the opening and closing device comprises an opening and closing device motor drive component (13) and an opening and closing device follower (12) hinged to the opening and closing device motor drive component (13); the opening and closing device motor drive component (13) is installed at the lower outer part of the left main frame (1) and the right main frame (2); the opening and closing device follower (12) is installed at the upper outer side of the bottom frame (3); a control system device compartment is provided at the top of the left main frame (1); and the tops of the left main frame (1) and the right main frame (2) are connected via a two-stage hydraulic telescopic cylinder; The left main frame (1), the right main frame (2), and the two bottom frames (3) are respectively provided with hydraulic lifting buffer devices (57) on the inner mounting holes, and the crawler moving device (59) is installed on the hydraulic lifting buffer devices (57), and the four hydraulic buffer devices (57) are symmetrical in pairs; the left main frame (1), the right main frame (2) are provided with hydraulic buffer devices (58) on the inner upper bottom surfaces and the inner lower top surfaces of the two bottom frames (3), and the upper and lower hydraulic buffer devices (58) are symmetrically arranged; the outer parts of the left main frame (1) and the right main frame (2) are fixedly connected with a rectangular parallelepiped opening frame as a hydraulic telescopic device placement bin for installing the hydraulic telescopic device, and the front and rear ends are connected through the hydraulic telescopic device, and the upper fixedly connected square plate of the hydraulic telescopic device placement bin is a mechanical arm moving platform hydraulic telescopic cylinder fixing plate, and the tail of the mechanical arm moving platform hydraulic telescopic cylinder (20) is connected to it; Guide rails (19) are installed on the left and right sides of the fixing plate of the hydraulic telescopic cylinder of the robot arm moving platform. A slider (6) is arranged on the guide rail (19). The slider (6) is connected to the robot arm moving platform connecting piece (5). The robot arm moving platform connecting piece (5) is connected to the end of the hydraulic telescopic cylinder (20) of the robot arm moving platform. The robot arm moving platform (4) is fixed to the robot arm moving platform connecting piece (5). A six-axis robot arm (62) is installed at the front end of the robot arm moving platform (4). The hydraulic mechanical arm (60) is mounted on the brackets at the front sections of the left main frame (1) and the right main frame (2) in a coaxial manner; The quick-change device tool placement platform (11) is installed on the side end of the robot arm moving platform (4).

2. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The two-axis pan-tilt camera (18) is installed on a mounting space at the center above the connection position between the robot arm moving platform (4) and the robot arm moving platform connecting piece (5); the two-axis pan-tilt camera (18) is installed on the upper end of the inner bottom plate of the bottom frame (3) and the inner side of the hydraulic buffer device (58); the two-axis pan-tilt camera (18) is also installed on the mounting space on the inner side of the left main body frame and the front side of the hydraulic lifting buffer device (57); the millimeter wave radar (14) is installed on the mounting bracket at the rear end of the left main body frame (1).

3. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: A hydraulic system compartment and a battery compartment are arranged outside the bottom frame, the hydraulic system compartment is provided with a hydraulic system compartment cover (7), a hydraulic system device (64) is installed in the hydraulic system compartment, the battery compartment is located at one side of the lower part of the bottom frame, below the hydraulic system compartment, a battery placement platform (10) is installed in the battery compartment, a battery compartment cover (8) is arranged at the lower part of the battery compartment, and the battery placement platform (10) and the battery compartment cover (8) are connected via a battery compartment cover linkage member (9).

4. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The left main frame (1) and the right main frame (1) are in the form of a hexagonal frame cut into one quarter and then nested into a rectangular frame, with reinforcing ribs arranged at the corners of the segmented hexagonal frame, reinforcing ribs arranged inside the rectangular frame, and the side surfaces are triangular hollow structures; wherein the segmented hexagonal frame of the left main frame (1) has a horizontal plate structure inserted into it parallel to its edge at 90 mm from the top, and right-angle structures protrude from the front and rear ends of the outer side of the hexagonal frame, and two symmetrical rectangular columns are inserted between the horizontal plate structure and the segmented hexagonal frame at a distance from the top; the segmented hexagonal frame of the right main frame (2) has a horizontal plate structure inserted into it parallel to its edge at 90 mm from the top, and a vertical plate structure is inserted between the horizontal plate structure and the segmented hexagonal frame at a distance from the top; the bottom frame (3) is a complete whole formed by the bottom of a structure cut into one quarter of the hexagonal frame and spliced ​​with a rectangular frame, and reinforcing ribs are arranged at the corners of the segmented hexagonal frame.

5. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The hydraulic mechanical arm (60) comprises a hydraulic mechanical arm first-stage mechanical arm (21) and a hydraulic mechanical arm first-stage mechanical arm driving hydraulic cylinder (24); the tail end of the hydraulic mechanical arm first-stage mechanical arm driving hydraulic cylinder (24) is fixed on the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner, and the end is fixed to the circular hole below the end of the hydraulic mechanical arm first-stage mechanical arm (21) in a concentric axis connection manner; the second circular hole at the tail end of the hydraulic mechanical arm second-stage mechanical arm (22) is connected to the corresponding circular hole on the end of the hydraulic mechanical arm first-stage mechanical arm (21) in a concentric axis connection manner; the hydraulic mechanical arm second-stage mechanical arm driving hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle ... hydraulic mechanical arm second-stage mechanical arm driving hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner; the hydraulic mechanical arm second-stage mechanical arm driving hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner; the hydraulic mechanical arm second-stage mechanical arm driving hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner; the hydraulic mechanical arm second-stage mechanical arm driving hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner; the hydraulic mechanical arm second-stage mechanical arm driving hydraulic The tail end of the hydraulic cylinder (25) is connected to the corresponding coaxial axis of the circular hole above the tail end of the hydraulic mechanical arm first mechanical arm (21), and the end is connected to the third circular hole at the tail end of the hydraulic mechanical arm second mechanical arm (22) concentrically; the second circular hole at the tail end of the hydraulic mechanical arm third mechanical arm (23) is connected to the corresponding coaxial axis of the upper circular hole at the end of the hydraulic mechanical arm second mechanical arm (22); the tail end of the hydraulic mechanical arm third mechanical arm driving hydraulic cylinder (26) is connected to the corresponding coaxial axis of the circular hole above the tail end of the hydraulic mechanical arm second mechanical arm (22), and the end is connected to the third circular hole at the tail end of the hydraulic mechanical arm third mechanical arm (23) concentrically.

6. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: In the hydraulic mechanical claw (61), the hydraulic mechanical claw hydraulic cylinder (30) is coaxially connected to the first circular hole at the tail end of the hydraulic mechanical arm three-stage mechanical arm (23), the hydraulic mechanical claw hydraulic cylinder fixing frame (27) is fixed on the hydraulic mechanical arm three-stage mechanical arm (23), the front end of the hydraulic mechanical claw hydraulic cylinder (30) is fixed to the hydraulic mechanical claw hydraulic cylinder fixing frame (27), the hydraulic mechanical claw tail end fixing frame (28) is fixed on the hydraulic mechanical arm three-stage mechanical arm (23), and one end of the hydraulic mechanical claw linkage member (29) is concentrically connected to the hydraulic mechanical arm three-stage mechanical arm (23). The hydraulic mechanical claw is connected to the tail end fixing frame (28) of the hydraulic mechanical claw in an axis manner, and the other end is connected to the first circular hole at the tail end of the hydraulic mechanical claw arm (31) in a coaxial manner; the end of the hydraulic mechanical claw hydraulic cylinder (30) is connected to the second circular hole at the tail end of the hydraulic mechanical claw arm (31) in a coaxial manner; the hydraulic mechanical claw movable mechanism (32) is installed on the hydraulic mechanical claw arm (31), the hydraulic mechanical claw clamp (33) is installed on the hydraulic mechanical claw movable mechanism (32), and the hydraulic mechanical claw clamp (33) is installed with a pressure sensor.

7. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The hydraulic lifting buffer device (57) comprises a hydraulic lifting buffer device base (34), a hydraulic lifting buffer device linkage member (35), a hydraulic lifting buffer device hydraulic cylinder (36) and a hydraulic lifting buffer device lifting platform (37) to form a scissor-type lifting structure, wherein the hydraulic lifting buffer device base (34) serves as a basic supporting component, and the hydraulic lifting buffer device linkage member (35) connects the hydraulic lifting buffer device hydraulic cylinder (36) and the hydraulic lifting buffer device lifting platform (37).

8. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The six-axis robotic arm (62) comprises a six-axis robotic arm base (48), a six-axis robotic arm bracket one (49), a six-axis robotic arm bracket two (50), a servo motor (51), a six-axis robotic arm bracket three (52), a six-axis robotic arm bracket four (53), and a six-axis robotic arm bracket five (54). The six-axis robotic arm (62) has six degrees of freedom and is capable of performing complex movements in a three-dimensional space. Each joint is driven by a high-precision servo motor (51) and is controlled by a precise control algorithm. The six-axis robotic arm base (48) is fixed to the front end of the robotic arm mobile platform (4) to provide stable support for the entire six-axis robotic arm (62); the six-axis robotic arm bracket one (49) to the six-axis robotic arm bracket five (54) are interconnected to form a frame structure of the robotic arm, and the servo motors (51) are respectively installed at each joint.

9. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The crawler moving device (59) comprises a crawler device frame (38), a driving wheel (39), a stepper motor (40), a driven wheel (41), and a track shoe (42). The crawler device frame (38) is a bearing structure of the entire crawler moving device (59); the stepper motor (40) is a driving source and is connected to the driving wheel (39); the driving wheel (39) rotates under the drive of the stepper motor (40); the driven wheel (41) cooperates with the driving wheel (39) so that the track shoe (42) can wrap around the driving wheel (39) and the driven wheel (41).

10. The suspension insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that: The hydraulic buffer device (58) comprises a hydraulic buffer device base (43), a hydraulic buffer device hydraulic cylinder (44), a hydraulic buffer device linkage member (45), a hydraulic buffer device linkage member 2 (46), and a hydraulic buffer device linkage member 3 (47); the hydraulic buffer device base (43) is used to fix the entire hydraulic buffer device (58); the hydraulic buffer device hydraulic cylinder (44) serves as a power component; the hydraulic buffer device linkage member (45), the hydraulic buffer device linkage member 2 (46), and the hydraulic buffer device linkage member 3 (47) cooperate with each other.

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