Power-assisted upper limb exoskeleton robot for replacing insulator of power transmission line tower

Abstract

The invention belongs to the technical field of insulator replacement, and discloses a power-assisted upper limb exoskeleton robot for power transmission line tower insulator replacement, which comprises a support frame, a first servo motor is fixed at the top end of the support frame, an air injection mechanism is fixed outside the support frame, and an air pressure adjusting mechanism is arranged at one end of the air injection mechanism. Through cooperation of a gas conveying box, a corrugated conveying pipe, a fourth servo motor and other structures, the device can convey gas flow by starting the fourth servo motor and a fifth servo motor, gas is sprayed out through a gas conveying opening through the corrugated conveying pipe, and the clamping state of the cutting device is kept after a user cuts off a core rod; the angle of the air conveying opening is adjusted, glass fiber chippings and dust generated in the insulator core rod cutting process are vertically blown and swept on the cutting face, the situation that residues affect the follow-up installation sealing performance is avoided, and therefore the purpose that the device conveniently guarantees the insulator replacement accuracy and maintenance in an air blowing mode is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of insulator replacement, and specifically relates to an assistive upper limb exoskeleton robot for replacing insulators on transmission line towers. Background Art

[0002] Replacing insulators on transmission line towers is a high-risk operation in power operation and maintenance. Workers need to complete complex operations such as disassembly, handling, and installation in a high-altitude and strong electric field environment. Traditional manual operations rely on multi-person cooperation, with low efficiency and risks of electric shock and falling. With the advancement of UHV grid construction, the frequency of insulator replacement increases, and automated equipment is needed to improve operation safety and efficiency.

[0003] Currently, most upper limb exoskeletons adopt fixed torque output and cannot adapt to the dynamically changing load requirements during insulator disassembly, resulting in insufficient assistance or stuck movements. Conventional exoskeleton materials are easy to conduct electricity and lack an equipotential protection design for live working, posing a risk of electric shock. Additionally, when replacing insulators, extra tools are needed to help lift the insulator assembly from the ground to the tower top. Carrying too many tools by workers will increase the risk factor. Since insulators are exposed to the environment for a long time, dust, dirt, or chemical deposits are likely to accumulate on their surfaces. These pollutants will reduce the insulation performance and cause partial discharge. Moreover, residues such as glass fiber debris and metal particles generated during insulator cutting or welding may cause mechanical stress concentration or electric field distortion.

[0004] By setting up an assistive exoskeleton robot to help workers effectively replace insulators, enabling workers to quickly and conveniently cooperate with ground workers after reaching the tower top, transporting new insulators upward after removing the insulators on the tower top, improving the transportation rate and reducing the tools carried by workers, thereby protecting the personal safety of users. And by setting up a blowing component to help workers clean residues such as glass fiber debris and metal particles generated during insulator cutting or welding, and dusting insulators with good performance that do not need to be replaced, to avoid the phenomenon of partial discharge. Summary of the Invention

[0005] To solve the problems raised in the above background art, the invention provides an assistive upper limb exoskeleton robot for replacing insulators on transmission line towers.

[0006] To achieve the above object, the invention provides the following technical solution: An assistive upper limb exoskeleton robot for replacing insulators on transmission line towers, including a support frame, a first servo motor is fixed at the top of the support frame, a first connecting arm is fixed at the bottom output end of the first servo motor, a second connecting arm is arranged at one end of the first connecting arm, a guiding mechanism is installed inside the second connecting arm, a jetting mechanism is fixed outside the support frame, and a pressure regulating mechanism is arranged at one end of the jetting mechanism; The guiding mechanism includes a first air cylinder, a mounting ring and a second air cylinder. The first air cylinder is fixed inside the second connecting arm. One end of the first air cylinder is fixed with a mounting ring, and the second air cylinder is fixed outside the mounting ring. The air jetting mechanism includes an air delivery box, a corrugated delivery pipe and a fourth servo motor. The air delivery box is fixed outside the support frame. The bottom end of the air delivery box is communicated with the corrugated delivery pipe, and the fourth servo motor is fixed inside the air delivery box. The air pressure regulating mechanism includes an extension pipe, a screw rod and a pressing disc. The bottom end of the extension pipe is communicated with the corrugated delivery pipe. The screw rod is threadedly connected inside the extension pipe, and the bottom end of the screw rod is fixed with the pressing disc.

[0007] Preferably, a third servo motor is fixed inside the mounting ring. The output end of the third servo motor is fixed with a second guide wheel. A chute is formed outside the second connecting arm. The mounting ring is slidably connected with the second connecting arm. The first air cylinder and the second air cylinder are symmetrically distributed about the central axis of the chute.

[0008] Preferably, the output end of the fourth servo motor is fixed with a first connecting rod. A first crank is fixed outside the first connecting rod. The first crank is hinged with a second connecting rod. The bottom end of the second connecting rod is hinged with a piston. A fifth servo motor is fixed inside the air delivery box. The output end of the fifth servo motor is fixed with a third connecting rod. A second crank is fixed outside the third connecting rod. The second crank is hinged with a fourth connecting rod.

[0009] Preferably, the output end of the corrugated delivery pipe is communicated with an air outlet. The fourth servo motor and the fifth servo motor are symmetrically distributed about the central axis of the air delivery box. The outer wall of the piston is close to the inner wall of the corrugated delivery pipe, and the piston is slidably connected with the corrugated delivery pipe.

[0010] Preferably, the top end of the screw rod is fixed with a torsion handle. The bottom end of the pressing disc is fixed with a torsion handle. A spring is fixed at the bottom end of the torsion handle.

[0011] Preferably, the outer wall of the pressing disc is close to the inner wall of the extension pipe. The pressing disc is in contact connection with the extension pipe. A plurality of groups of anti-slip lines are arranged on the outer wall of the torsion handle, and the anti-slip lines are equally spaced about the central axis of the torsion handle.

[0012] Preferably, the spring is used to press the limiting block and keep it in a downward moving trend.

[0013] Preferably, a lumbar support ring is installed outside the support frame, a chest support ring is arranged outside the support frame, a second servo motor is fixed outside the first connecting arm, a first guide wheel is rotatably connected outside the second connecting arm, a limiting mechanism is installed outside the second connecting arm, a hand-held rod is fixed outside the second connecting arm, and an air outlet is installed at one end of the second connecting arm.

[0014] Preferably, the limiting mechanism includes a first clamping arm, a first electromagnetic sheet and a hook. The first clamping arm is rotatably connected outside the second connecting arm. A first electromagnetic sheet is fixed at one end of the first clamping arm. A hook is hinged outside the first clamping arm. A second clamping arm is hinged outside the second connecting arm. A second electromagnetic sheet is fixed outside the second clamping arm. A limiting groove is installed outside the second clamping arm.

[0015] Preferably, the lumbar support ring and the chest support ring are symmetrically distributed about the central axis of the support frame, and two groups of second connecting arms are symmetrically distributed about the central axis of the support frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the cooperation of structures such as an air delivery box, a corrugated delivery pipe and a fourth servo motor, the device can convey air flow by starting the fourth servo motor and the fifth servo motor, and spray the gas through the air outlet through the corrugated delivery pipe, so that the user can keep the cutting device in a clamped state after cutting the mandrel, adjust the angle of the air outlet, and vertically blow the cutting surface to remove the glass fiber debris and dust generated during the cutting of the insulator mandrel, avoiding the influence of residues on the subsequent installation sealing performance. Further, the directional air flow blowing can remove the oxide layer or contaminants on the flange joint surface of the insulator that is functioning normally and does not need to be replaced, improve the electrical conductivity uniformity of the contact surface during the installation of the new insulator, reduce the risk of partial discharge, and complete the maintenance of the insulator, so as to achieve the purpose of facilitating the device to ensure the accuracy and maintenance of replacing the insulator by blowing.

[0017] Through the cooperation of structures such as an extension pipe, a screw rod and an extrusion disc, the device can rotate the turning handle to move the screw rod downward, so that the extrusion disc moves downward to squeeze the spring, increasing the squeezing force of the spring, and then adjusting the air pressure for air delivery through the corrugated delivery pipe by the squeezing force of the spring on the limiting block, thereby completing the air pressure adjustment of the device, so as to achieve the purpose of facilitating the device to adjust the air pressure.

[0018] Through the cooperation of structures such as the first cylinder, the mounting ring, and the second cylinder, the device can cooperate with the workers on the ground to convey the insulator upward through the rope when the workers reach the top of the tower. The rope is wound around the first guide wheel and the second guide wheel to wind and guide the rope, so that the rope conveys the insulator fixed on the rope through the first guide wheel and the second guide wheel, eliminating the need for workers to carry redundant guiding tools, ensuring the safety of the workers, and thus achieving the purpose of facilitating the device to guide the rope for conveying the insulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic right view of the overall structure of the present invention; Figure 3 is a schematic rear view of the overall structure of the present invention; Figure 4 is a schematic diagram of the structure of the boosting component of the present invention; Figure 5 is a schematic diagram of the structure of the guiding mechanism of the present invention; Figure 6 is a schematic diagram of the structure of the limiting mechanism of the present invention; Figure 7 is a schematic diagram of the structure of the air jetting mechanism of the present invention; Figure 8 is a schematic diagram of the internal structure of the air jetting mechanism of the present invention; Figure 9 is a schematic diagram of the structure of the air pressure regulating mechanism of the present invention.

[0020] In the figure: 1, support frame; 2, waist support ring; 3, chest support ring; 4, first servo motor; 5, first connecting arm; 6, second servo motor; 7, second connecting arm; 8, first guide wheel; 9, guiding mechanism; 901, first cylinder; 902, mounting ring; 903, second cylinder; 904, third servo motor; 905, second guide wheel; 10, limiting mechanism; 1001, first clamping arm; 1002, first electromagnetic sheet; 1003, hook; 1004, second clamping arm; 1005, second electromagnetic sheet; 1006, limiting groove; 11, hand-held rod; 12, air jetting mechanism; 1201, air delivery box; 1202, corrugated delivery pipe; 1203, fourth servo motor; 1204, first connecting rod; 1205, first crank; 1206, second connecting rod; 1207, piston; 1208, fifth servo motor; 1209, third connecting rod; 1210, second crank; 1211, fourth connecting rod; 13, air pressure regulating mechanism; 1301, extension pipe; 1302, screw rod; 1303, extrusion disc; 1304, twisting handle; 1305, spring; 1306, limiting block; 14, air delivery port. DETAILED DESCRIPTION OF THE INVENTION

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figures 1 to 9 shown, the present invention provides an assistive upper limb exoskeleton robot for replacing insulators of transmission line towers, including a support frame 1. A first servo motor 4 is fixed at the top of the support frame 1. A first connecting arm 5 is fixed to the bottom output end of the first servo motor 4. One end of the first connecting arm 5 is provided with a second connecting arm 7. A waist support ring 2 and a chest support ring 3 are symmetrically distributed about the central axis of the support frame 1. There are two groups of second connecting arms 7 symmetrically distributed about the central axis of the support frame 1. A guiding mechanism 9 is installed inside the second connecting arm 7. An air jetting mechanism 12 is fixed to the outside of the support frame 1. One end of the air jetting mechanism 12 is provided with a pressure regulating mechanism 13. A waist support ring 2 is installed on the outside of the support frame 1. A chest support ring 3 is provided on the outside of the support frame 1. A second servo motor 6 is fixed to the outside of the first connecting arm 5. A first guide wheel 8 is rotatably connected to the outside of the second connecting arm 7. A limiting mechanism 10 is installed on the outside of the second connecting arm 7. A hand-held rod 11 is fixed to the outside of the second connecting arm 7. An air inlet 14 is installed at one end of the second connecting arm 7.

[0023] Adopting the above scheme: The whole device is fixed on the worker's body through the waist support ring 2 and the chest support ring 3. The first servo motor 4 drives the whole first connecting arm 5 to rotate, and the second servo motor 6 starts to drive the whole second connecting arm 7 to rotate, so as to adjust the guiding angle and the air blowing angle, facilitating the worker to use the device to replace the insulator.

[0024] As Figures 1 to 9 shown, the guiding mechanism 9 includes a first cylinder 901, a mounting ring 902 and a second cylinder 903. The first cylinder 901 is fixed inside the second connecting arm 7. One end of the first cylinder 901 is fixed with a mounting ring 902. The second cylinder 903 is fixed to the outside of the mounting ring 902. A third servo motor 904 is fixed inside the mounting ring 902. The output end of the third servo motor 904 is fixed with a second guide wheel 905. A chute is formed on the outside of the second connecting arm 7. The mounting ring 902 is slidably connected to the second connecting arm 7. The first cylinder 901 and the second cylinder 903 are symmetrically distributed about the central axis of the chute.

[0025] Adopting the above solution: By starting the first cylinder 901 and the second cylinder 903, the mounting ring 902 and the third servo motor 904 can be pushed, thereby changing the position of the second guide wheel 905, so that the second guide wheel 905 cooperates with the first guide wheel 8 to achieve different tension forces for lifting and conveying the insulator.

[0026] As Figures 1 to 9 shown, the air jet mechanism 12 includes an air delivery box 1201, a corrugated delivery pipe 1202, and a fourth servo motor 1203. The air delivery box 1201 is fixed to the outside of the support frame 1. The bottom end of the air delivery box 1201 is communicated with the corrugated delivery pipe 1202. The fourth servo motor 1203 is fixed inside the air delivery box 1201. The output end of the fourth servo motor 1203 is fixed with a first connecting rod 1204. A first crank 1205 is fixed to the outside of the first connecting rod 1204. A second connecting rod 1206 is hinged to the outside of the first crank 1205. The bottom end of the second connecting rod 1206 is hinged to a piston 1207. The output end of the corrugated delivery pipe 1202 is communicated with an air outlet 14. The fourth servo motor 1203 and the fifth servo motor 1208 are symmetrically distributed about the central axis of the air delivery box 1201. The outer wall of the piston 1207 is close to the inner wall of the corrugated delivery pipe 1202. The piston 1207 is slidably connected to the corrugated delivery pipe 1202.

[0027] As Figures 1 to 9 shown, a fifth servo motor 1208 is fixed inside the air delivery box 1201. The output end of the fifth servo motor 1208 is fixed with a third connecting rod 1209. A second crank 1210 is fixed to the outside of the third connecting rod 1209. A fourth connecting rod 1211 is hinged to the outside of the second crank 1210.

[0028] Adopting the above solution: By starting the fourth servo motor 1203 and the fifth servo motor 1208, the first crank 1205 and the second crank 1210 are driven to rotate, and then the second connecting rod 1206 and the fourth connecting rod 1211 are driven to move, and then the piston 1207 is driven to perform a reciprocating motion, thereby completing the delivery of air, vertically purging the cutting surface, and simultaneously being able to complete the maintenance of the insulator.

[0029] As Figures 1 to 9As shown, the air pressure regulating mechanism 13 includes an extension pipe 1301, a screw 1302, and a pressing disc 1303. The bottom end of the extension pipe 1301 is connected to a corrugated conveying pipe 1202. The screw 1302 is threadedly connected inside the extension pipe 1301. A pressing disc 1303 is fixed to the bottom end of the screw 1302. A twisting handle 1304 is fixed to the top end of the screw 1302. The outer wall of the pressing disc 1303 is close to the inner wall of the extension pipe 1301. The pressing disc 1303 and the extension pipe 1301 are in contact connection. A number of anti-slip patterns are provided on the outer wall of the twisting handle 1304, and the anti-slip patterns are evenly distributed about the central axis of the twisting handle 1304. A twisting handle 1304 is fixed to the bottom end of the pressing disc 1303. A spring 1305 is fixed to the bottom end of the twisting handle 1304. The spring 1305 is used to press the limiting block 1306 and keep it in a downward moving trend.

[0030] With the above solution: By rotating the twisting handle 1304, the screw 1302 is moved downward, so that the pressing disc 1303 moves downward to press the spring 1305, increasing the pressing force of the spring 1305. Thus, the air pressure of the air conveyed through the corrugated conveying pipe 1202 is adjusted by the pressing force of the spring 1305 on the limiting block 1306.

[0031] As Figures 1 to 9 shown, the limiting mechanism 10 includes a first clamping arm 1001, a first electromagnetic sheet 1002, and a hook 1003. The first clamping arm 1001 is rotatably connected to the outside of the second connecting arm 7. A first electromagnetic sheet 1002 is fixed to one end of the first clamping arm 1001. A hook 1003 is hinged to the outside of the first clamping arm 1001. A second clamping arm 1004 is hinged to the outside of the second connecting arm 7. A second electromagnetic sheet 1005 is fixed to the outside of the second clamping arm 1004. A limiting groove 1006 is installed on the outside of the second clamping arm 1004.

[0032] With the above solution: By activating the first electromagnetic sheet 1002 and the second electromagnetic sheet 1005 to have a repulsive magnetic force direction, the user's arm is limited by the first clamping arm 1001 and the second clamping arm 1004. After being limited by the hook 1003 and the limiting groove 1006, the repulsive magnetic force can ensure the firmness of the connection, enabling the user's upper limb to move with the device, facilitating subsequent operations of replacing and maintaining the insulator with the device.

[0033] Working principle and usage process of the present invention: The whole device is fixed on the worker's body through the waist support ring 2 and the chest support ring 3. The first servo motor 4 drives the overall rotation of the first connecting arm 5, and the second servo motor 6 starts to drive the overall rotation of the second connecting arm 7, so as to adjust the guiding angle and the blowing angle, facilitating the worker to use the device to replace the insulator. Moreover, by starting the first electromagnetic sheet 1002 and the second electromagnetic sheet 1005 with repulsive magnetic force directions, the user's arm is limited by the first clamping arm 1001 and the second clamping arm 1004, and after being limited by the hook 1003 and the limiting groove 1006, the repulsive magnetic force can ensure the firmness of the connection, enabling the user's upper limb to move along with the device, facilitating subsequent operations of replacing and maintaining the insulator using the device. In addition, the fourth servo motor 1203 and the fifth servo motor 1208 are started to drive the rotation of the first crank 1205 and the second crank 1210, thereby driving the movement of the second connecting rod 1206 and the fourth connecting rod 1211, and further driving the piston 1207 to perform reciprocating motion, thus completing the delivery of air. The gas is ejected through the air delivery port 14 via the corrugated delivery pipe 1202, enabling the cutting device to maintain a clamping state after the user cuts the core rod. The angle of the air delivery port 14 is adjusted to vertically blow the cutting surface to remove the glass fiber debris and dust generated during the cutting of the insulator core rod, avoiding the influence of residues on the subsequent installation tightness. Further, the directional air blowing can remove the oxide layer or contaminants on the flange joint surface of the insulator that is functioning properly and does not need to be replaced, improving the electrical conductivity uniformity of the contact surface during the installation of the new insulator and reducing the risk of partial discharge, thereby completing the maintenance of the insulator.

[0034] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An assistive upper limb exoskeleton robot for replacing insulators of transmission line towers, comprising a support frame (1), characterized in that: A first servo motor (4) is fixed to the top end of the support frame (1). A first connecting arm (5) is fixed to the bottom output end of the first servo motor (4). One end of the first connecting arm (5) is provided with a second connecting arm (7). A guiding mechanism (9) is installed inside the second connecting arm (7). An air jetting mechanism (12) is fixed to the outside of the support frame (1). One end of the air jetting mechanism (12) is provided with a pneumatic pressure regulating mechanism (13). The guiding mechanism (9) includes a first air cylinder (901), a mounting ring (902), and a second air cylinder (903). The first air cylinder (901) is fixed inside the second connecting arm (7). One end of the first air cylinder (901) is fixed with the mounting ring (902). The second air cylinder (903) is fixed to the outside of the mounting ring (902). The air jetting mechanism (12) includes an air delivery box (1201), a corrugated delivery pipe (1202), and a fourth servo motor (1203). The air delivery box (1201) is fixed to the outside of the support frame (1). The bottom end of the air delivery box (1201) is communicated with the corrugated delivery pipe (1202). The fourth servo motor (1203) is fixed inside the air delivery box (1201). The pneumatic pressure regulating mechanism (13) includes an extension pipe (1301), a screw rod (1302), and a pressing disc (1303). The bottom end of the extension pipe (1301) is communicated with the corrugated delivery pipe (1202). The screw rod (1302) is threadedly connected inside the extension pipe (1301). The pressing disc (1303) is fixed to the bottom end of the screw rod (1302).

2. The powered upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 1, characterized in that: A third servo motor (904) is fixed inside the mounting ring (902). A second guide wheel (905) is fixed to the output end of the third servo motor (904). A chute is formed on the outside of the second connecting arm (7). The mounting ring (902) is slidably connected with the second connecting arm (7). The first air cylinder (901) and the second air cylinder (903) are symmetrically distributed about the central axis of the chute.

3. The assisting upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 1, wherein: A first connecting rod (1204) is fixed to the output end of the fourth servo motor (1203). A first crank (1205) is fixed to the outside of the first connecting rod (1204). A second connecting rod (1206) is hinged to the outside of the first crank (1205). A piston (1207) is hinged to the bottom end of the second connecting rod (1206). A fifth servo motor (1208) is fixed inside the air delivery box (1201). A third connecting rod (1209) is fixed to the output end of the fifth servo motor (1208). A second crank (1210) is fixed to the outside of the third connecting rod (1209). A fourth connecting rod (1211) is hinged to the outside of the second crank (1210).

4. The powered upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 3, characterized in that: The output end of the corrugated conveying pipe (1202) is communicated with an air outlet (14). The fourth servo motor (1203) and the fifth servo motor (1208) are symmetrically distributed about the central axis of the air conveying box (1201). The outer wall of the piston (1207) is close to the inner wall of the corrugated conveying pipe (1202), and the piston (1207) is slidably connected to the corrugated conveying pipe (1202).

5. The assisting upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 1, characterized in that: The top end of the screw rod (1302) is fixed with a torsion handle (1304). The bottom end of the extrusion disc (1303) is fixed with a torsion handle (1304). The bottom end of the torsion handle (1304) is fixed with a spring (1305).

6. The powered upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 5, wherein: The outer wall of the extrusion disc (1303) is close to the inner wall of the extension pipe (1301). The extrusion disc (1303) is in contact connection with the extension pipe (1301). The outer wall of the torsion handle (1304) is provided with several groups of anti-slip lines, and the anti-slip lines are equidistantly distributed about the central axis of the torsion handle (1304).

7. The powered upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 5, characterized in that: The spring (1305) is used to squeeze the limit block (1306) and keep it in a downward moving trend.

8. The assisting upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 1, wherein: A waist support ring (2) is installed outside the support frame (1). A chest support ring (3) is arranged outside the support frame (1). A second servo motor (6) is fixed outside the first connecting arm (5). A first guide wheel (8) is rotatably connected outside the second connecting arm (7). A limiting mechanism (10) is installed outside the second connecting arm (7). A hand-held rod (11) is fixed outside the second connecting arm (7). An air outlet (14) is installed at one end of the second connecting arm (7).

9. The powered upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 8, characterized in that: The limiting mechanism (10) includes a first clamping arm (1001), a first electromagnetic sheet (1002) and a hook (1003). The first clamping arm (1001) is rotatably connected outside the second connecting arm (7). A first electromagnetic sheet (1002) is fixed at one end of the first clamping arm (1001). A hook (1003) is hinged outside the first clamping arm (1001). A second clamping arm (1004) is hinged outside the second connecting arm (7). A second electromagnetic sheet (1005) is fixed outside the second clamping arm (1004). A limiting groove (1006) is installed outside the second clamping arm (1004).

10. The assisting upper limb exoskeleton robot for replacing insulators of transmission line towers according to claim 8, wherein: The waist support ring (2) and the chest support ring (3) are symmetrically distributed about the central axis of the support frame (1). There are two groups of the second connecting arms (7) symmetrically distributed about the central axis of the support frame (1).

Images