Connecting structure of auxiliary operation mechanical arm and insulating rod

Abstract

The invention discloses a connecting structure of an auxiliary operation mechanical arm and an insulating rod. The connecting structure comprises a posture adjusting mechanism and a clamping driving mechanism. The side end face of a rotating assembly of the posture adjusting mechanism and a tipping assembly are rotationally connected through a pin shaft and are controlled by a first stepping motor to rotate relatively. The connecting shaft plate is arranged on the rear end face of the rotating assembly, fixed to the clamping driving mechanism and controlled to rotate through a second stepping motor. Two wheel supporting plates of the clamping driving mechanism are symmetrically arranged and are controlled by a lead screw assembly to transversely move oppositely or oppositely, and at least four clamping driving wheels are symmetrically arranged on the two wheel supporting plates and are controlled by a driving assembly to rotate. The auxiliary operation mechanical arm is compact in structure, capable of being matched with a low-degree-of-freedom mechanical arm and compatible with insulating rods of various specifications and models, flexible and stable posture adjustment of the auxiliary operation mechanical arm is achieved, stability is high, operation is convenient, precision is high, and the application range is wide.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power construction, in particular to a connecting structure of an auxiliary operation mechanical arm and an insulating rod. BACKGROUND

[0002] With the continuous improvement of the automation degree of distribution network, live working technology plays a crucial role in ensuring the continuity and safety of power grid operation. Among them, the short pole method has gradually become an important technical means in the live working of distribution network due to its high flexibility, small space occupation and strong adaptability. In order to further improve the efficiency and safety of short pole method operation, the auxiliary operation mechanical arm technology has developed rapidly in recent years, which plans to replace manual operation with mechanization, reduce the operation intensity and improve the operation consistency.

[0003] The introduction of distribution network operation robot alleviates the problems of low efficiency, insufficient reliability and high safety risk of manual operation to a certain extent, and improves the operation stability and quality with multi-angle and multi-pose operation capability. However, the technical maturity of the robot under unstructured working conditions is still insufficient at present, the coordination accuracy of preset trajectory, perception and mechanical arm is limited, the abnormality detection and fault tolerance control are weak, the electromagnetic interference and rain and fog weather are easy to cause perception degradation and link interruption, and the research and development and whole life cycle operation and maintenance cost are high. Compared with the whole machine type distribution network operation robot, the auxiliary operation mechanical arm has more advantages in engineering implementability and whole life cycle cost, and the structure design conforming to ergonomics and high-performance mechanical transmission system provide strong support and intelligent assistance for the operation personnel, through the man-machine cooperation mode, the operation strategy is adjusted in real time, the sudden conditions are better coped with, and the limitations of automatic operation robot are avoided. At present, the mainstream auxiliary operation mechanical arm on the market mostly adopts "high degree of freedom mechanical arm + modified insulating working rod" or "low degree of freedom mechanical arm + single type insulating working rod" for simple and limited operation design idea. In this kind of system, the driving and posture adjustment of the insulating rod mostly depend on the multi-degree-of-freedom action of the mechanical arm body, which not only puts forward higher requirements for the degree of freedom configuration of the mechanical arm, but also increases the system complexity and cost. At the same time, the connecting structure of the auxiliary operation mechanical arm and the insulating rod is single in function, most of which uses special clamps to clamp the insulating operation rod, and part of the system needs to modify or customize the structure of the insulating rod, so as to limit the compatibility and popularization adaptability of different operation tools. SUMMARY

[0004] Based on the technical problems existing in the background technology, the present application provides a connecting structure of an auxiliary operation mechanical arm and an insulating rod.

[0005] The application provides a connecting structure of an auxiliary operation mechanical arm and an insulating rod, which comprises a posture adjusting mechanism and a clamping driving mechanism.

[0006] Preferably, the tilting assembly is composed of a bottom plate and two side wing plates, the tilting assembly is fixed with the auxiliary operation mechanical arm through bolts, the two side wing plates are symmetrically fixed on the two sides of the bottom plate through screws, and a support connecting rod parallel to the bottom plate is arranged between the two side wing plates.

[0007] Preferably, the rotating assembly is composed of two side rotating plates and a rear end plate, the two side rotating plates are respectively attached to the two side wing plates and are rotationally connected through a pin shaft and a deep groove ball bearing, the two side rotating plates are fixed and supported through a rotating plate support rod or a rotating plate support plate, the deep groove ball bearing is arranged on the pin shaft, the side wing plate is fixed on the deep groove ball bearing shaft sleeve through a large rotating arm bearing sleeve, the side rotating plate is fixed on the pin shaft, and the step motor one is arranged on the side rotating plate of the rotating assembly and is fixed in series with at least one pin shaft through an output shaft.

[0008] Preferably, the step motor one is a double-output shaft step motor, and the two pin shafts are fixed in series with the double-output shaft of the step motor one.

[0009] Preferably, the rear end plate is arranged between the rear ends of the two side rotating plates and is perpendicular to the side rotating plate, the step motor two is arranged on the side rotating plate of the rotating assembly and is arranged in the rear end plate through a bearing, and the connecting shaft plate is fixed on the output shaft of the step motor two arranged on the rear side of the rear end plate.

[0010] Preferably, the connecting plate is provided with a left fixing plate and a right fixing plate perpendicular to the connecting plate on both sides respectively; the screw rod assembly comprises a transverse sliding rail, a screw rod and a sliding block, the transverse sliding rail is arranged on the rear end face of the connecting plate, the screw rod is parallel to the transverse sliding rail and both ends of the screw rod are fixed on the left fixing plate and the right fixing plate respectively, the screw rod is provided with two symmetrical external threads on the left and right sides, the sliding block is provided with two and is arranged on the transverse sliding rail to slide on the left and right sides, the two sliding blocks are provided with transverse screw rod through holes, the screw rod is arranged in the transverse screw rod through holes of the two sliding blocks, and the internal threads arranged in the transverse screw rod through holes of the two sliding blocks are matched with the two symmetrical external threads on the left and right sides of the screw rod respectively.

[0011] Preferably, the screw rod assembly is provided with two sets and is arranged on the upper and lower sides of the rear end face of the connecting plate respectively, and the two wheel supporting plates are fixed on the left and right sliding blocks of the two sets of screw rod assemblies respectively.

[0012] Preferably, the left fixing plate or the right fixing plate is provided with a screw rod movement motor, and the output shaft of the screw rod movement motor is fixed in series with the end of one of the two sets of screw rod assemblies.

[0013] Preferably, the rear of the two wheel supporting plates is provided with a driving assembly shell and is fixed with the wheel supporting plate through the shell connecting plate, the clamping driving wheel is arranged between the wheel supporting plate and the driving assembly shell, a rotating shaft rod is fixed at the center of the front end face of the clamping driving wheel and is rotatably arranged on the wheel supporting plate through a bearing, and a rotating shaft rod is fixed at the center of the rear end face and penetrates into the interior of the driving assembly shell and rotates through the control of the driving assembly.

[0014] Preferably, the driving assembly is provided with two sets and is arranged in the driving assembly shells on the left and right sides respectively; the driving assembly comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel is arranged in the two driving assembly shells and rotates through the control of a driving motor; the driven wheel is provided with a plurality of and corresponds to the clamping driving wheels on the left or right side one by one, and the driven wheel is arranged on the rotating shaft rod of the clamping driving wheel; the transmission belt is arranged on the driving wheel and the driven wheel in the driving assembly shell, and the meshing teeth arranged on the transmission belt are engaged with the rotating teeth arranged on the outer circumferences of the driving wheel and the driven wheel.

[0015] The beneficial effects of the application are as follows:

[0016] (1) The connecting structure of the auxiliary operation mechanical arm and the insulating rod, in the posture adjusting mechanism, the tilting assembly and the rotating assembly, the rotating assembly and the connecting shaft plate are designed to rotate, realizing three-degree-of-freedom control, not only can the mechanical arm of various models of auxiliary operation mechanical arms be connected through the tilting assembly, and the low-degree-of-freedom auxiliary operation mechanical arm can be adapted to complete the complex automatic operation of the power distribution network, but also can be adjusted in pitch and plane posture to adapt to the complex operation environment of the power distribution network.

[0017] (2) The connecting structure of the auxiliary operation mechanical arm and the insulating rod, in the clamping driving mechanism, the clamping driving wheel adopts symmetrical design, and is controlled to move transversely relative or opposite to realize the clamping of the insulating rod, and is controlled to rotate by the driving assembly to realize the driving walking on the insulating rod. Without the need to modify the structure of the insulating rod, different models of insulating rods can be adapted.

[0018] (3) The connecting structure of the auxiliary operation mechanical arm and the insulating rod, compact structure, can adapt to low-degree-of-freedom auxiliary operation mechanical arm and compatible with various specifications and models of insulating rods, realize flexible and stable posture adjustment of auxiliary operation mechanical arm, high stability, easy to operate, high precision, greatly reduce the dependence on the degree of freedom and structure form of auxiliary operation mechanical arm, so that the overall system structure is more simple, the cost is lower, the deployment is more flexible, especially suitable for complex, narrow and variable field operation environment of power distribution network. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 : The working installation position schematic view of the connecting structure of the auxiliary operation mechanical arm and the insulating rod of the application;

[0020] Figure 2 : The structure schematic view of the application;

[0021] Figure 3 : The structure schematic view of the posture adjusting mechanism of the application;

[0022] Figure 4 : The overall structure schematic view of the clamping driving mechanism of the application;

[0023] Figure 5 : The structure schematic view of the clamping wheel assembly and the driving assembly of the application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments.

[0025] Embodiment 1:

[0026] As Figure 1 shown, the auxiliary work mechanical arm and insulating rod connecting structure 100 proposed by the application is installed at the connection between the auxiliary work mechanical arm (i.e. power distribution network work robot) 200 and the insulating rod 300, the auxiliary work mechanical arm (i.e. power distribution network work robot) 200 is installed on the insulating work platform 400, the top end of the insulating rod 300 is installed with the power distribution network professional work tool 500, and the power distribution network professional work tool 500 can complete the specific work operation of the power distribution network. For example, the power distribution network professional work tool 500 is an automatic insulation wire stripping tool, through the application of the auxiliary work mechanical arm and insulating rod connecting structure 100 of the application, and through the automatic insulation wire stripping tool, the insulation layer stripping work of the required length can be completed on the wire with different insulation layer thicknesses.

[0027] As Figures 2-5 shown, the auxiliary work mechanical arm and insulating rod connecting structure proposed by the application comprises a posture adjusting mechanism 1 and a clamping driving mechanism 2 installed together, the posture adjusting mechanism 1 is connected and fixed with the auxiliary work mechanical arm, and the clamping driving mechanism 2 is adaptively connected and fixed with the insulating rod 3.

[0028] The posture adjusting mechanism 1 comprises a tilting component, a rotating component and a connecting shaft plate 18, the side end face of the rotating component and the tilting component are rotationally connected through a pin shaft, and the relative rotation between the tilting component and the rotating component is controlled through a stepping motor 1 6. The connecting shaft plate 18 is arranged on the rear side of the rear end face of the rotating component and is fixed on the output shaft of the stepping motor 2 19 installed in the rotating component, and the connecting shaft plate 18 is controlled to rotate through the stepping motor 2 19.

[0029] The tilting component, the rotating component and the connecting shaft plate 18 are rotationally designed, three-degree-of-freedom control is realized, the auxiliary work mechanical arm can be connected to various models of auxiliary work mechanical arms through the tilting component, and the low-degree-of-freedom auxiliary work mechanical arm can be adapted to complete the complex automatic work of the power distribution network; and the tilting and plane posture adjusting can be performed to adapt to the complex work environment of the power distribution network.

[0030] The clamping driving mechanism 2 comprises a connecting plate 21, a wheel support plate 25 and clamping driving wheels 26, the connecting plate 21 is fixed with the connecting shaft plate 18 through bolts, the wheel support plate 25 is symmetrically arranged on the connecting plate 21 and moves horizontally relative to or away from each other through a screw component, the clamping driving wheels 26 are symmetrically arranged on the two wheel support plates 25 and are controlled to rotate through a driving component 28.

[0031] The clamping drive wheel 26 adopts a symmetrical design and is controlled by a lead screw assembly to move laterally relative to each other or in opposite directions to clamp the insulating rod 3; it is controlled by the drive assembly 28 to rotate so as to drive it to move on the insulating rod 3; no structural modification of the insulating rod 3 is required, and it can be adapted to the connection and fixation of different models of insulating rod 3.

[0032] The present invention discloses a connection structure between an auxiliary working robot arm and an insulating rod. The structure is compact, adaptable to low-degree-of-freedom auxiliary working robots, and compatible with various specifications and models of insulating rods 3. It enables flexible and stable posture adjustment of the auxiliary working robot arm, with high stability, convenient operation, and high precision. It significantly reduces the dependence on the degree of freedom and structural form of the auxiliary working robot arm, thereby making the overall system structure simpler, lower in cost, and more flexible in deployment. It is particularly suitable for complex, confined, and variable field working environments in power distribution networks.

[0033] Example 2:

[0034] like Figure 1 As shown, the connection structure 100 between the auxiliary operation robot arm and the insulating rod proposed in this invention is installed at the connection point between the auxiliary operation robot arm (i.e., the power distribution network operation robot) 200 and the insulating rod 300. The auxiliary operation robot arm (i.e., the power distribution network operation robot) 200 is installed on the insulating operation platform 400. A power distribution network professional operation tool 500 is installed at the top of the insulating rod 300. The power distribution network professional operation tool 500 can complete specific power distribution network operation, such as an automatic insulation stripping tool for insulated wires. Through the application of the connection structure 100 between the auxiliary operation robot arm and the insulating rod of this invention, and with the automatic insulation stripping tool for insulated wires, the device automatically adapts to wires with different insulation layer thicknesses and completes the insulation stripping operation of the required length.

[0035] like Figures 2-5 As shown, the present invention proposes a connection structure between an auxiliary working robot arm and an insulating rod, including an attitude adjustment mechanism 1 and a clamping drive mechanism 2 installed together. The attitude adjustment mechanism 1 is connected and fixed to the auxiliary working robot arm, while the clamping drive mechanism 2 is adapted and connected and fixed to the insulating rod 3.

[0036] The attitude adjustment mechanism 1 includes a tilt component, a rotation component, and a connecting shaft plate 18. The side end face of the rotation component is rotatably connected to the tilt component via a pin, and the relative rotation between the tilt component and the rotation component is controlled by a stepper motor 16. The connecting shaft plate 18 is located on the rear side of the rear end face of the rotation component and is fixed to the output shaft of a stepper motor 19 installed inside the rotation component. The rotation of the connecting shaft plate 18 is controlled by the stepper motor 19. The specific structure is as follows:

[0037] The tilting assembly consists of a base plate 11 and two side wing plates 12. The tilting assembly is fixed to the auxiliary working robot arm by bolts. The two side wing plates 12 are symmetrically fixed to both sides of the base plate 11 by screws. A support connecting rod 111 parallel to the base plate 11 is installed between the two side wing plates 12. The support connecting rod 111 can strengthen the structural fixation between the two side wing plates 12 and the base plate 11 and maintain structural stability.

[0038] The rotating assembly consists of two side rotating plates 13 and a rear end plate 17. The two side rotating plates 13 are respectively fitted to the two side wing plates 12 and are rotatably connected by pins and deep groove ball bearings 15. The two side rotating plates 13 are fixedly supported by rotating plate support rods or rotating plate support plates. The deep groove ball bearings 15 are mounted on the pins. The side wing plates 12 are fixed to the bushings of the deep groove ball bearings 15 by large arm bearing sleeves 14. The side rotating plates 13 are fixed on the pins. A stepper motor 16 is mounted on the side rotating plates 13 of the rotating assembly, and its output shaft is connected in series with at least one of the pins. After starting, the stepper motor 16 can drive itself and the rotating assembly to rotate relative to the tilting assembly, thereby adjusting the tilt angle of the tilting assembly (and the connected auxiliary robotic arm).

[0039] The stepper motor 16 can be a single-output-axis stepper motor or a dual-output-axis stepper motor. When it is a single-output-axis stepper motor, its output shaft is connected in series with the pin of one of the side rotating plates 13 and fixed. The rotation of the rotating assembly is achieved by driving the rotation of one side rotating plate 13 through the single-output-axis stepper motor. When it is a dual-output-axis stepper motor, its two output shafts are connected in series with the pins of the two side rotating plates 13 respectively. The rotation of the rotating assembly is achieved by driving the rotation of the two side rotating plates 13 through the dual-output-axis stepper motor.

[0040] The rear end plate 17 is positioned between the rear ends of the two side rotating plates 13 and is perpendicular to the side rotating plates 13. A second stepper motor 19 is mounted on the side rotating plate 13 of the rotating assembly, and its output shaft is mounted through a bearing in the rear end plate 17. A connecting shaft plate 18 is fixedly mounted on the output shaft of the second stepper motor 19 on the rear side of the rear end plate 17. The rotation of the second stepper motor 19 drives the connecting shaft plate 18, thereby driving the clamping drive mechanism 2, which is fixed to the connecting shaft plate 18, to rotate. That is, when the clamping drive mechanism 2 is fixed, the rotation of the second stepper motor 19 can drive the rotating assembly-tilt assembly (and the connected auxiliary robotic arm) to rotate. The output shaft of the second stepper motor 19 is perpendicular to the output shaft of the first stepper motor 16, enabling rotation in two different directions.

[0041] The tilting assembly and the rotating assembly, as well as the rotating assembly and the connecting shaft plate 18, are designed to rotate to achieve three degrees of freedom control. This not only allows for docking with various types of auxiliary robotic arms through the tilting assembly, but also enables adaptation to low-degree-of-freedom auxiliary robotic arms to complete complex automated operations in the power distribution network. Furthermore, it allows for pitch and planar attitude adjustments to adapt to the complex operating environment of the power distribution network.

[0042] The clamping drive mechanism 2 includes a connecting plate 21, wheel support plates 25, and clamping drive wheels 26. The connecting plate 21 is fixed to the connecting shaft plate 18 by bolts. Two symmetrical wheel support plates 25 are arranged and move laterally relative to each other or in opposite directions on the connecting plate 21 via a lead screw assembly. At least four clamping drive wheels 26 are arranged symmetrically on the two wheel support plates 25, and the clamping drive wheels 26 are controlled to rotate by a drive assembly 28. The specific structure is as follows:

[0043] The connecting plate 21 has a left fixing plate 211 and a right fixing plate 212 perpendicular to it on both sides. The lead screw assembly includes a transverse slide rail 22, a lead screw 23, and a slider 24. The transverse slide rail 22 is located on the rear end face of the connecting plate 21. The lead screw 23 is parallel to the transverse slide rail 22 and its two ends are fixed to the left fixing plate 211 and the right fixing plate 212, respectively. The lead screw 23 has two symmetrical external threads. There are two sliders 24, which are installed on the transverse slide rail 22 and slide on the left and right sides. Each slider 24 has a transverse lead screw through hole. The lead screw 23 passes through the transverse lead screw through holes of the two sliders 24, and the internal threads in the transverse lead screw through holes of the two sliders 24 are adapted to the two symmetrical external threads on the lead screw 23. Therefore, when the lead screw 23 rotates, it drives the two sliders 24 to slide relative to or away from each other on the transverse slide rail 22, thereby achieving the clamping or releasing of the insulating rod by the left and right symmetrical clamping drive wheels 26. At the same time, the left and right symmetrical clamping drive wheels 26 not only have high stability during relative or away movement, but also have high precision in controlling the movement distance.

[0044] Two sets of lead screw assemblies are provided and installed on the upper and lower sides of the rear end face of the connecting plate 21, respectively. The two wheel support plates 25 are fixed on the left and right sliders 24 of the two lead screw assemblies, respectively. A lead screw motion motor 231 is installed on the left fixed plate 211 or the right fixed plate 212, and the output shaft of the lead screw motion motor 231 is connected in series with the end of one of the lead screws 23 of the two lead screw assemblies. By using two sets of lead screw assemblies to simultaneously control the movement of the wheel support plate 25, the stability is higher and the tightening of the insulating rod 3 is more efficient.

[0045] A drive assembly housing 27 is provided behind each of the two wheel support plates 25 and is fixed to the wheel support plate 25 via a housing connecting plate 271. A clamping drive wheel 26 is installed between the wheel support plate 25 and the drive assembly housing 27, and a rotating shaft is fixed at the center of its front end face and rotatably mounted on the wheel support plate 25 via a bearing. A rotating shaft is fixed at the center of its rear end face and extends into the drive assembly housing 27, rotating under the control of the drive assembly 28. Two drive assemblies 28 are provided and installed in the left and right drive assembly housings 27 respectively. Each drive assembly 28 includes a drive wheel 281, a driven wheel 282, and a transmission belt 283. The drive wheel 281 is installed inside the housings 27 of the two drive assemblies and its rotation is controlled by a drive motor 284. Multiple driven wheels 282 are provided, each corresponding to a clamping drive wheel 26 on the left or right side, and each driven wheel 282 is mounted on the rotating shaft of the clamping drive wheel 26. The transmission belt 283 is sleeved on the drive wheel 281 and driven wheel 282 inside the housing 27 of the drive assembly, and the meshing teeth of the transmission belt 283 mesh with the rotating teeth on the outer periphery of the drive wheel 281 and driven wheel 282. The starting of the two drive motors 284 simultaneously controls the rotation of the two drive wheels 281, which in turn drives the rotation of multiple driven wheels 282 via the transmission belt 283, thereby rotating the clamping drive wheel 26. Therefore, when the clamping drive wheel 26 clamps the insulating rod, the starting of the drive motor 284 enables the clamping drive wheel 26 to drive the insulating rod 3.

[0046] The clamping drive wheel 26 adopts a symmetrical design and is controlled by a lead screw assembly to move laterally relative to each other or in opposite directions to clamp the insulating rod 3; it is controlled by the drive assembly 28 to rotate so as to drive it to move on the insulating rod 3; no structural modification of the insulating rod 3 is required, and it can be adapted to the connection and fixation of different models of insulating rod 3.

[0047] The present invention discloses a connection structure between an auxiliary working robot arm and an insulating rod. The structure is compact, adaptable to low-degree-of-freedom auxiliary working robots, and compatible with various specifications and models of insulating rods 3. It enables flexible and stable posture adjustment of the auxiliary working robot arm, with high stability, convenient operation, and high precision. It significantly reduces the dependence on the degree of freedom and structural form of the auxiliary working robot arm, thereby making the overall system structure simpler, lower in cost, and more flexible in deployment. It is particularly suitable for complex, confined, and variable field working environments in power distribution networks.

[0048] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A connection structure between an auxiliary robotic arm and an insulating rod, characterized in that, It includes an attitude adjustment mechanism (1) and a clamping drive mechanism (2); The attitude adjustment mechanism (1) includes a tilt component, a rotation component and a connecting shaft plate (18). The side end face of the rotation component is rotatably connected to the tilt component by a pin and the relative rotation between the tilt component and the rotation component is controlled by a stepper motor (16). The connecting shaft plate (18) is set on the rear side of the rear end face of the rotation component and fixed on the output shaft of a stepper motor (19) installed inside the rotation component. The rotation of the connecting shaft plate (18) is controlled by the stepper motor (19). The clamping drive mechanism (2) includes a connecting plate (21), a wheel support plate (25), and a clamping drive wheel (26). The connecting plate (21) is fixed to the connecting shaft plate (18) by bolts. Two symmetrical wheel support plates (25) are provided and move laterally relative to each other or in opposite directions on the connecting plate (21) through a screw assembly. At least four clamping drive wheels (26) are provided and symmetrically arranged on the two wheel support plates (25). The clamping drive wheels (26) are controlled to rotate by a drive assembly (28).

2. The connection structure between the auxiliary operation robotic arm and the insulating rod according to claim 1, characterized in that, The tilting assembly consists of a base plate (11) and two side wing plates (12). The tilting assembly is fixed to the auxiliary working robot arm by bolts. The two side wing plates (12) are symmetrically fixed to both sides of the base plate (11) by screws, and a support connecting rod (111) parallel to the base plate (11) is installed between the two side wing plates (12).

3. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 2, characterized in that, The rotating assembly consists of two side rotating plates (13) and a rear end plate (17). The two side rotating plates (13) are respectively attached to the two side wing plates (12) and are rotatably connected by pins and deep groove ball bearings (15). The two side rotating plates (13) are fixedly supported by rotating plate support rods or rotating plate support plates. The deep groove ball bearings (15) are installed on the pins. The side wing plates (12) are fixed on the deep groove ball bearing (15) bushing by large rotating arm bearing sleeves (14). The side rotating plates (13) are fixed on the pins. The first stepper motor (16) is installed on the side rotating plates (13) of the rotating assembly and its output shaft is connected in series with at least one of the pins.

4. The connection structure between the auxiliary operation robotic arm and the insulating rod according to claim 3, characterized in that, The stepper motor (16) is a dual-output shaft stepper motor, and the two pins are connected in series with the dual output shafts of the stepper motor (16).

5. The connection structure between the auxiliary operation robotic arm and the insulating rod according to claim 3, characterized in that, The rear end plate (17) is located between the rear ends of the two side rotating plates (13) and is perpendicular to the side rotating plate (13). The second stepper motor (19) is mounted on the side rotating plate (13) of the rotating assembly and its output shaft is installed in the rear end plate (17) through a bearing. The connecting shaft plate (18) is fixedly mounted on the output shaft of the second stepper motor (19) on the rear side of the rear end plate (17).

6. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 1, characterized in that, The connecting plate (21) is provided with a left fixed plate (211) and a right fixed plate (212) perpendicular to the connecting plate (21) on both sides respectively; the lead screw assembly includes a transverse slide rail (22), a lead screw (23) and a slider (24). The transverse slide rail (22) is provided on the rear end face of the connecting plate (21). The lead screw (23) is parallel to the transverse slide rail (22) and its two ends are fixed on the left fixed plate (211) and the right fixed plate (212) respectively. The lead screw (23) is provided with two symmetrical external threads on the left and right sides. There are two sliders (24) and they are installed on the left and right sides of the transverse slide rail (22) for sliding. Both sliders (24) are provided with transverse lead screw through holes. The lead screw (23) passes through the transverse lead screw through holes of the two sliders (24), and the internal threads provided in the transverse lead screw through holes of the two sliders (24) are respectively adapted to the two symmetrical external threads on the left and right sides of the lead screw (23).

7. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 6, characterized in that, The lead screw assembly is provided in two sets and is installed on the upper and lower sides of the rear end face of the connecting plate (21) respectively. The two wheel support plates (25) are fixed on the left and right sliders (24) of the two sets of lead screw assemblies respectively.

8. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 7, characterized in that, A lead screw motor (231) is installed on the left fixed plate (211) or the right fixed plate (212), and the output shaft of the lead screw motor (231) is connected in series with the end of one of the lead screws (23) of the two sets of lead screw assemblies.

9. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 1, characterized in that, A drive assembly housing (27) is provided behind each of the two wheel support plates (25) and is fixed to the wheel support plate (25) by a housing connecting plate (271). The clamping drive wheel (26) is installed between the wheel support plate (25) and the drive assembly housing (27), and a rotating shaft is fixed at the center of its front end face and is rotatably mounted on the wheel support plate (25) by a bearing. A rotating shaft is fixed at the center of its rear end face and passes through the drive assembly housing (27) to rotate under the control of the drive assembly (28).

10. The connection structure between the auxiliary working robot arm and the insulating rod according to claim 9, characterized in that, The drive assembly (28) is provided with two sets and is installed in the drive assembly housing (27) on the left and right sides respectively; each drive assembly (28) includes a drive wheel (281), a driven wheel (282) and a transmission belt (283). The drive wheel (281) is installed inside the two drive assembly housings (27) and rotated by a drive motor (284); multiple driven wheels (282) are provided and correspond one-to-one with the clamping drive wheel (26) on the left or right side, and the driven wheels (282) are all installed on the rotating shaft of the clamping drive wheel (26); the transmission belt (283) is sleeved on the drive wheel (281) and driven wheel (282) inside the drive assembly housing (27), and the meshing teeth of the transmission belt (283) mesh with the rotating teeth provided on the outer periphery of the drive wheel (281) and driven wheel (282).

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