Insulator detection system and insulator detection method

Abstract

This application belongs to the field of insulator testing technology and discloses an insulator testing system and method. The insulator testing system includes a flying robot, a scissor-type robotic arm, and a testing device. The flying robot carries the scissor-type robotic arm and the testing device to a hovering position so that the testing device can be placed on the target insulator by the scissor-type robotic arm. The scissor-type robotic arm includes a robotic arm control module, a multi-stage scissor telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. The scissor-type robotic arm is driven to operate by the robotic arm control module according to the kinematic model of the robotic arm, so that the end effector performs grasping or placing while the adaptive compensation function of the wrist joint posture compensation mechanism compensates for the grasping or placing operation. The insulator testing system of this application can improve the accuracy of the placing and grasping operations.

Description

Technical Field

[0001] This application relates to the field of insulator testing technology, and more specifically, to an insulator testing system and an insulator testing method. Background Technology

[0002] With the rapid development of industrial and agricultural production, society's demand for electricity is increasing, and the reliability of power supply systems is also improving. In the field of high-voltage overhead transmission lines, inspection, maintenance, and construction tasks are crucial to ensuring the stable operation of the power system. However, traditional high-voltage transmission line operations face many challenges and problems, such as complex working environments, high risks associated with manual operation, and low work efficiency.

[0003] To address the challenges of traditional operations, using drones as a tool for high-altitude field inspections has become an indispensable method for maintaining high-voltage overhead transmission lines, with broad market application prospects. However, existing drone-mounted inspection systems often suffer from the following problems when inspecting insulators: First, because insulators are typically located at high altitudes in complex environments, drones are easily affected by airflow disturbances and wind when placing and grasping inspection devices while hovering, leading to insufficient placement or grasping accuracy and potentially damaging the insulators or inspection devices. Second, existing inspection systems lack effective posture compensation mechanisms during device placement and grasping, making it difficult to cope with potential impact loads during operation, thus affecting operational stability and safety. Furthermore, existing inspection systems typically require manual fine-tuning during device placement and grasping, resulting in low operational efficiency and high skill requirements for operators. Therefore, improving the accuracy, stability, and efficiency of drone-mounted insulator inspection systems in complex environments for device placement and grasping is a pressing technical problem that needs to be solved.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] The purpose of this application is to provide an insulator detection system and method. A flying robot and a scissor-mounted robotic arm carry the detection device in flight. The robotic arm's control module, based on a preset kinematic model, drives a multi-stage scissor-mounted telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. This allows the end effector to grasp or place the detection device while the wrist joint posture compensation mechanism uses its adaptive compensation function to compensate for the grasping or placing operations. This ensures the detection device is accurately placed on the target insulator for inspection. This addresses the problems of existing insulator detection systems using drones, such as insufficient placement or grasping accuracy, lack of effective posture compensation mechanisms, difficulty in handling potential impact loads during operation, and low operational efficiency. The new system utilizes the scissor-mounted robotic arm's kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism to effectively handle posture deviations and impact loads that may occur during device placement and grasping operations in complex environments, thereby significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0006] In a first aspect, this application provides an insulator detection system for detecting insulators, including a flying robot, a scissor-type robotic arm disposed below the flying robot, and a detection device clamped at the end of the scissor-type robotic arm;

[0007] The flying robot is used to carry the scissor-arm and the detection device to a hovering position so that the detection device can be placed on the target insulator by the scissor-arm.

[0008] The detection device is used to detect the target insulator;

[0009] The scissor-type robotic arm includes a robotic arm control module, a multi-stage scissor telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector connected sequentially from top to bottom. The scissor-type robotic arm is used to drive the multi-stage scissor telescopic mechanism through the robotic arm control module, based on a preset robotic arm kinematic model. This drives the wrist joint posture compensation mechanism and the end effector to move, allowing the end effector to grasp or place the detection device while simultaneously compensating for the grasping or placing operation of the end effector using the adaptive compensation function of the wrist joint posture compensation mechanism.

[0010] The insulator inspection system provided in this application enables the inspection of insulators. A flying robot and a scissor-mounted robotic arm carry the inspection device in flight. Utilizing the robotic arm control module of the scissor-mounted robotic arm, based on a preset kinematic model, the system drives a multi-stage scissor telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. This allows the end effector to grasp or place the inspection device while the adaptive compensation function of the wrist joint posture compensation mechanism compensates for the grasping or placing operation of the end effector. This ensures precise placement of the inspection device on the target insulator for inspection. This system addresses the problems of existing insulator inspection systems using drones, such as insufficient placement or grasping accuracy, lack of effective posture compensation mechanisms, difficulty in handling potential impact loads during operation, and low operational efficiency. By leveraging the robotic arm kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism, the system effectively handles posture deviations and impact loads that may occur during the placement and grasping of the inspection device in complex environments, thereby significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0011] Optionally, the wrist joint posture compensation mechanism includes a wrist joint base, a wrist joint piston assembly, a mechanical claw connector and a pressure sensor fixedly connected to the wrist joint base, and a laser distance sensor and a monocular vision sensor installed on the end effector; the pressure sensor, the laser distance sensor and the monocular vision sensor are communicatively connected to the robotic arm control module;

[0012] The wrist joint base is used to fix the position of the wrist joint piston assembly, the mechanical claw connector and the pressure sensor;

[0013] The wrist joint piston assembly is used to compensate for the grasping or placing operation of the end effector based on the load signal fed back by the pressure sensor.

[0014] The mechanical gripper connector is disposed between the wrist joint base and the end effector, and the mechanical gripper connector is used to connect the wrist joint base and the end effector;

[0015] The pressure sensor is disposed between the wrist joint piston assembly and the wrist joint base, and the pressure sensor is used to measure the total load borne by the end effector and the detection device;

[0016] The laser distance sensor is used to measure the distance from the laser distance sensor to the detection device;

[0017] The monocular vision sensor is used to acquire image information from the detection device.

[0018] Optionally, the wrist joint piston assembly includes a wrist joint piston cavity, a flange plunger, and a coil spring; the flange plunger is movably disposed inside the wrist joint piston cavity; one end of the flange plunger is fixedly connected to the mechanical claw connecting seat, and the other end is surrounded by the coil spring and installed together with the coil spring inside the wrist joint piston cavity; the outer surface of the flange plunger not surrounded by the coil spring meshes with the inner surface of the wrist joint piston cavity;

[0019] The wrist joint piston cavity is used to limit the range of motion of the flange plunger and the helical spring;

[0020] The flange plunger is used to move within the wrist joint piston cavity when the load signal fed back by the pressure sensor changes, in order to compensate for the grasping or placing operation of the end effector.

[0021] The helical spring is used to absorb impact loads and assist in resetting when the end effector performs gripping and placing operations.

[0022] The insulator detection system provided in this application can detect insulators. Through the synergistic action of the flange plunger and the helical spring, it can effectively absorb impact loads and assist in reset, thus providing a smoother and safer compensation mechanism during gripping and placement operations. This significantly enhances the system's stability in the face of sudden impacts, reduces the risk of damage to insulators or detection devices, and further improves the reliability of gripping and placement operations.

[0023] Optionally, the wrist joint piston assembly may also be provided with a flange seat;

[0024] The flange seat is disposed between the flange plunger and the wrist joint base, and the flange seat is used to withstand the axial tensile force applied to the flange plunger by the external load.

[0025] Optionally, the multi-stage scissor lift mechanism includes at least one telescopic mechanism; the telescopic mechanism includes a telescopic component base, a telescopic drive component, and a movable telescopic component; the telescopic component base is fixedly connected to the movable telescopic component and the telescopic drive component respectively; the telescopic drive component is electrically connected to the robotic arm control module and the movable telescopic component respectively; the telescopic mechanism includes at least two movable telescopic components, each of which is evenly disposed in the telescopic component base;

[0026] The telescopic component base is used to fix the positions of the movable telescopic component and the telescopic drive component;

[0027] The telescopic drive component is used to drive the movable telescopic component;

[0028] The movable telescopic component is used to adjust the length of the multi-stage scissor telescopic mechanism.

[0029] The insulator inspection system provided in this application can inspect insulators. By driving a telescopic drive assembly to move the telescopic component, the length of the scissor arm can be precisely adjusted. This allows the scissor-type robotic arm to flexibly adjust its telescopic length according to different operational needs and insulator positions, thereby expanding the operating range and improving the adaptability of the insulator inspection system to different operational scenarios.

[0030] Optionally, the telescopic assembly includes a linear motion mechanism and a scissor linkage mechanism that are slidably connected; the linear motion mechanism includes a fixed block, a linear slide rail, and a slider; the linear slide rail and the slider are slidably connected; the linear slide rail and the fixed block are both fixedly connected to the telescopic assembly base; the slider and the fixed block are both fixedly connected to the scissor linkage mechanism; limit modules are respectively provided at both ends of the linear slide rail; the scissor linkage mechanism is composed of multiple cross links that are hinged together in sequence, and the cross links include two links that are hinged together at their midpoints; there are two linear motion mechanisms, respectively located at the upper and lower ends of the scissor linkage mechanism, referred to as the first linear motion mechanism and the second linear motion mechanism; one end of the scissor linkage mechanism is connected to the fixed block and the slider of the first linear motion mechanism through the two links of the uppermost cross link, and the other end is connected to the fixed block and the slider of the second linear motion mechanism through the two links of the lowermost cross link.

[0031] The linear motion mechanism is used to drive the slider to move so as to drive the scissor linkage mechanism to perform extension and retraction movements.

[0032] The scissor linkage mechanism is used to perform extension and retraction movements to adjust the length of the multi-stage scissor telescopic mechanism.

[0033] Optionally, one telescopic mechanism is provided, and the second linear movement mechanism is fixedly connected to the wrist joint base of the wrist joint posture compensation mechanism.

[0034] Optionally, at least two telescopic mechanisms are provided, each of which is sequentially connected via an elbow joint assembly. Each elbow joint assembly includes an elbow joint base, and an elbow joint drive assembly and an elbow joint transmission assembly fixedly connected to the elbow joint base. The elbow joint transmission assembly includes an upper elbow joint base plate and a lower elbow joint base plate hinged together. The upper elbow joint base plate is fixedly connected to the elbow joint base, and the lower elbow joint base plate is fixedly connected to the telescopic assembly base of the next telescopic mechanism. The second linear movement mechanism of the last telescopic mechanism is fixedly connected to the wrist joint base of the wrist joint posture compensation mechanism.

[0035] The elbow joint base is used to fix the position of the elbow joint drive assembly and the elbow joint transmission assembly.

[0036] The elbow joint drive assembly is used to drive the elbow joint transmission assembly.

[0037] The elbow joint transmission assembly is used to adjust the position of the next telescopic mechanism through a hinge connection between the upper and lower base plates of the elbow joint, thereby adjusting the movement angle of the multi-stage scissor telescopic mechanism.

[0038] Optionally, the end effector includes an electrically connected gripping manipulator and an end drive mechanism;

[0039] The gripping manipulator is used to grasp and place the detection device;

[0040] The end effector is used to drive the gripping robot.

[0041] Secondly, this application provides an insulator testing method, applied to the insulator testing system described above for testing insulators, comprising:

[0042] Obtain the position information of the target insulator;

[0043] Based on the location information, the optimal flight trajectory of the insulator detection system is generated;

[0044] Control the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory;

[0045] Based on the preset kinematic model of the robotic arm, and combined with the adaptive compensation function of the wrist joint posture compensation mechanism, the insulator detection system is controlled to drive the scissor-type robotic arm to place the detection device to the target placement position at the hovering position.

[0046] The detection device is controlled to detect the target insulator, and the insulator detection result is obtained.

[0047] The insulator detection method provided in this application can detect insulators. By using a preset kinematic model of the robotic arm and the adaptive compensation function of the wrist joint posture compensation mechanism, the insulator detection system is controlled to fly to a hovering position and then driven to precisely place the detection device on the target insulator for detection. This effectively addresses the posture deviations and impact loads that may occur when placing and grasping the detection device in complex environments, thereby significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0048] Beneficial Effects: The insulator inspection system provided in this application uses a flying robot and a scissor-mounted robotic arm to carry the inspection device in flight. Utilizing the robotic arm control module of the scissor-mounted robotic arm, based on a preset kinematic model, it drives a multi-stage scissor telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. This allows the end effector to grasp or place the inspection device while the adaptive compensation function of the wrist joint posture compensation mechanism compensates for the grasping or placing operation of the end effector. This ensures precise placement of the inspection device on the target insulator for inspection. This solves the problems of insufficient placement or grasping accuracy, lack of effective posture compensation mechanisms, difficulty in handling potential impact loads during operation, and low operational efficiency in existing insulator inspection systems using drones. By leveraging the robotic arm kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism, it effectively addresses potential posture deviations and impact loads that may occur during the placement and grasping of the inspection device in complex environments, thereby significantly improving the accuracy, stability, and safety of the placement and grasping operations. Attached Figure Description

[0049] Figure 1 This is a first structural schematic diagram of the insulator detection system provided in an embodiment of this application.

[0050] Figure 2 This is the second structural schematic diagram of the insulator detection system.

[0051] Figure 3 This is a schematic diagram of a scissor-type robotic arm.

[0052] Figure 4 This is a schematic diagram of the linear motion mechanism.

[0053] Figure 5 This is a schematic diagram of the wrist joint posture compensation mechanism.

[0054] Figure 6 This is a schematic diagram illustrating the kinematic model of a robotic arm.

[0055] Figure 7This is a schematic flowchart of the insulator testing method provided in the embodiments of this application.

[0056] Labeling Explanation: 1. Flying Robot; 2. Scissor-type Robotic Arm; 3. Detection Device; 4. Robotic Arm Control Module; 5. Multi-stage Scissor Telescopic Mechanism; 6. Wrist Joint Posture Compensation Mechanism; 7. End Effector; 8. Wrist Joint Base; 9. Wrist Joint Piston Assembly; 10. Mechanical Grip Connector; 11. Pressure Sensor; 12. Laser Distance Sensor; 13. Monocular Vision Sensor; 14. Wrist Joint Piston Chamber; 15. Flange Plunger; 16. Helical Spring; 17. Telescopic Mechanism; 18. Telescopic Assembly Base; 19. Telescopic Drive Assembly; 20. Moving Telescopic Assembly; 21. Linear Movement Mechanism; 22. Scissor Linkage Mechanism; 23. Fixed Block; 24. Linear Slide Rail; 25. Slider; 26. Elbow Joint Assembly; 27. Elbow Joint Base; 28. Elbow Joint Drive Assembly; 29. ​​Elbow Joint Transmission Assembly; 30. Gripping Robotic Hand; 31. End Effector Drive Mechanism; 32. Insulator Under Test. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0058] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] Please refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 This is an insulator detection system according to some embodiments of the present application, used to detect insulators, including a flying robot 1, a scissor-type robotic arm 2 disposed below the flying robot 1, and a detection device 3 clamped at the end of the scissor-type robotic arm 2;

[0060] The flying robot 1 is used to carry the scissor-arm 2 and the detection device 3 to a hovering position so that the detection device 3 can be placed on the target insulator (i.e. the insulator to be tested 32) by the scissor-arm 2.

[0061] Detection device 3 is used to detect the target insulator;

[0062] The scissor-type robotic arm 2 includes a robotic arm control module 4, a multi-stage scissor telescopic mechanism 5, a wrist joint posture compensation mechanism 6, and an end effector 7 connected sequentially from top to bottom. The scissor-type robotic arm 2 is used to drive the multi-stage scissor telescopic mechanism 5 to operate through the robotic arm control module 4 according to a preset robotic arm kinematic model, so as to drive the wrist joint posture compensation mechanism 6 and the end effector 7 to move. This allows the end effector 7 to grasp or place the detection device 3 while the adaptive compensation function of the wrist joint posture compensation mechanism 6 compensates for the grasping or placing operation of the end effector 7.

[0063] In specific applications, such as Figure 1 and Figure 2 As shown, the insulator detection system includes a flying robot 1, a scissor-type robotic arm 2 located below the flying robot 1, and a detection device 3 located at the end of the scissor-type robotic arm 2.

[0064] In the insulator inspection system, the flying robot 1 is an autonomous unmanned aerial vehicle (UAV) platform, such as a multi-rotor UAV. Its main function is to carry a scissor-arm robotic arm 2 and a detection device 3 to a predetermined hovering position, so that the scissor-arm robotic arm 2 can accurately place the detection device 3 onto the target insulator. The hovering position refers to the high-altitude area above the target insulator, and the distance between the hovering position and the target insulator is generally set to 0.8-2m. The flying robot 1 possesses normal UAV functions, such as a sensing and perception module composed of sensor components including visual sensors (high-definition cameras), distance sensors (laser, ultrasonic), IMU (inertial navigation unit), incremental / absolute encoders, etc., a GNSS integrated positioning module, and a main control module with communication and control capabilities, thus enabling UAV functionality.

[0065] like Figure 2 , Figure 3As shown, the scissor-type robotic arm 2 is a multi-stage telescopic robotic arm. Its structural features enable it to achieve a large telescopic range within a limited space, thereby enabling the placement and grasping of the detection device 3. The scissor-type robotic arm 2 includes, from top to bottom, a robotic arm control module 4, a multi-stage scissor telescopic mechanism 5, a wrist joint posture compensation mechanism 6, and an end effector 7. The robotic arm control module 4 can be an embedded controller, such as a microcontroller based on an ARM processor, which internally runs the kinematics and dynamics algorithms of the robotic arm. This module receives instructions from the flying robot 1 and calculates the motion trajectory and driving torque of each joint according to a preset robotic arm kinematic model. The multi-stage scissor telescopic mechanism 5 can be composed of multiple scissor units connected in series, each driven by a motor or hydraulic cylinder to achieve independent telescopic movement. The wrist joint posture compensation mechanism 6 can be a passive or active flexible mechanism. For example, a spring damping system can be used, absorbing impact loads through the compression and extension of springs and suppressing vibrations through dampers. A hydraulic or pneumatic piston system can also be used, providing compensation force by controlling fluid pressure. The end effector 7 can be a two- or multi-finger mechanical gripper used to grasp and place the detection device 3.

[0066] The pre-defined kinematic model of the robotic arm is as follows:

[0067] ;

[0068] in, The state quantity at time k is the connection point between the wrist joint of the robotic arm (the connection point between the wrist joint posture compensation mechanism 6 and the end effector 7, i.e., the robotic gripper connector 10). The length of the scissor-type robotic arm 2; is the sum of the horizontal velocities of each telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type robotic arm 2; n is the total number of telescopic mechanisms 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type robotic arm 2, n≥i, where n and i are positive integers; is the length of the i-th telescopic mechanism 17 in the multi-stage scissor telescopic mechanism 5 of the scissor-type robotic arm 2; The speed of the i-th telescopic mechanism 17 in the horizontal direction of the multi-stage scissor telescopic mechanism 5 in the scissor-type robotic arm 2; The sum of the lengths of the scissor linkages of each telescopic mechanism 17 in the multi-stage scissor telescopic mechanism 5 of the scissor-type robotic arm 2; It is the sum of the position offset distances of the multi-stage scissor telescopic mechanism 5 in the scissor-type robotic arm 2 (i.e., the fixed distances of each mechanism in the multi-stage scissor telescopic mechanism 5). The offset distance of the i-th telescopic mechanism 17 in the multi-stage scissor telescopic mechanism 5 includes the distance from the first linear movement mechanism in the i-th telescopic mechanism 17 (or the fixed block 23, the intersection of the slider 25 and the cross link and the intersection of the fixed block 23 and the cross link are on the same horizontal line) to the intersection of the uppermost cross link of the scissor linkage mechanism 22 in the i-th telescopic mechanism 17 (this distance is a fixed distance), and the distance from the intersection of the slider 25 of the second linear movement mechanism in the i-th scissor linkage mechanism 22 and the bottommost cross link to the hinge connection of the nearest elbow linkage assembly 29 (if the i-th telescopic mechanism 17 is the last telescopic mechanism 17, it is the distance from the intersection of the slider 25 of the second linear movement mechanism in the i-th scissor linkage mechanism 22 and the bottommost cross link to the mechanical claw connecting seat 10) (this distance is a fixed distance). Let k be the sum of the derivatives of the horizontal movement distance of each telescopic mechanism 17 in the multi-stage scissor telescopic mechanism 5 of the scissor-type robotic arm 2 with respect to time k. Let k be the derivative of the horizontal movement distance of the i-th telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type robotic arm 2 with respect to time k.

[0069] The detection device 3 is a device used to perform specific detection on the insulator. For example, it can be a device that integrates infrared thermal imagers, visible light cameras, ultraviolet imagers, etc. Its function is to perform contact detection of the target object to obtain the status information of the insulator.

[0070] After the flying robot 1 reaches the hovering position, the scissor-lift robotic arm 2 begins operation. The robotic arm control module 4 calculates the optimal path and posture for placing the detection device 3 onto the target insulator based on a pre-set kinematic model of the robotic arm. This kinematic model considers the geometry of the robotic arm, joint constraints, and the positional information of the target insulator. Subsequently, the robotic arm control module 4 drives the multi-stage scissor-lift telescopic mechanism 5, the wrist joint pose compensation mechanism 6, and the end effector 7 to work together. The multi-stage scissor-lift telescopic mechanism 5 adjusts the overall length of the robotic arm to reach the target insulator. The end effector 7 is responsible for precisely grasping or placing the detection device 3. The wrist joint pose compensation mechanism 6 plays a crucial role in this process. When the end effector 7 performs grasping or placing operations, factors such as airflow disturbances, wind effects, robotic arm vibration, or operational errors may cause deviations between the actual and desired poses of the end effector 7, or even generate impact loads. The wrist joint pose compensation mechanism 6, through its adaptive compensation function, can sense these deviations and impacts in real time and automatically adjust accordingly. For example, when the end effector 7 is impacted upon contact with an insulator, the wrist joint posture compensation mechanism 6 absorbs the impact energy through internal flexible elements (such as springs and pistons) and fine-tunes the posture of the end effector 7. This ensures that the detection device 3 can be placed smoothly and accurately onto the target insulator, or that it can be stably gripped during grasping. This adaptive compensation function significantly improves the accuracy and stability of the operation, effectively preventing damage to the insulator or the detection device 3. After the detection device 3 is successfully placed onto the target insulator, it begins to detect the insulator and acquire the required detection data. After the detection is completed, the end effector 7 grasps the detection device 3 again, the scissor-arm 2 retracts, and the flying robot 1 returns with the entire system.

[0071] This insulator inspection system utilizes a flying robot and a scissor-mounted robotic arm to carry the inspection device. The robotic arm's control module, based on a pre-defined kinematic model, drives a multi-stage scissor-mounted telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. This allows the end effector to grasp or place the inspection device while the wrist joint posture compensation mechanism adaptively compensates for the grasping or placing operations. This ensures precise placement of the inspection device on the target insulator. This system addresses the shortcomings of existing insulator inspection systems using drones, such as insufficient placement or grasping accuracy, lack of effective posture compensation mechanisms, difficulty in handling potential impact loads, and low operational efficiency. By leveraging the scissor-mounted robotic arm's kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism, the system effectively handles posture deviations and impact loads that may occur during placement and grasping operations in complex environments, significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0072] Specifically, such as Figure 5 As shown, the wrist joint posture compensation mechanism 6 includes a wrist joint base 8, a wrist joint piston assembly 9, a mechanical claw connector 10 and a pressure sensor 11 fixedly connected to the wrist joint base 8, and a laser distance sensor 12 and a monocular vision sensor 13 installed on the end effector 7; the pressure sensor 11, the laser distance sensor 12 and the monocular vision sensor 13 are all communicatively connected to the robotic arm control module 4.

[0073] The wrist joint base 8 is used to fix the position of the wrist joint piston assembly 9, the mechanical claw connector 10 and the pressure sensor 11;

[0074] The wrist joint piston assembly 9 is used to compensate for the gripping or placing operation of the end effector 7 based on the load signal fed back by the pressure sensor 11.

[0075] The mechanical gripper connector 10 is disposed between the wrist joint base 8 and the end effector 7, and the mechanical gripper connector 10 is used to connect the wrist joint base 8 and the end effector 7.

[0076] The pressure sensor 11 is disposed between the wrist joint piston assembly 9 and the wrist joint base 8. The pressure sensor 11 is used to measure the total load borne by the end effector 7 and the detection device 3.

[0077] The laser distance sensor 12 is used to measure the distance from the laser distance sensor 12 to the detection device 3;

[0078] The monocular vision sensor 13 is used to acquire image information from the detection device 3.

[0079] In practical applications, the wrist joint base 8 is designed as the main structural component of the wrist joint posture compensation mechanism 6, providing a stable mounting and fixing position for the wrist joint piston assembly 9, the mechanical gripper connector 10, and the pressure sensor 11. The wrist joint piston assembly 9 is the core component for achieving posture compensation. Through its internal mechanical structure, it responds to the load signal fed back by the pressure sensor 11, thereby dynamically adjusting and compensating for the gripping or placing operation of the end effector 7. The mechanical gripper connector 10 serves as a transition component between the wrist joint base 8 and the end effector 7, ensuring a stable connection and torque transmission between the two.

[0080] The pressure sensor 11 is strategically positioned between the wrist joint piston assembly 9 and the wrist joint base 8. Its main function is to monitor the total load on the end effector 7 and the grasped detection device 3 in real time. This load information is crucial for determining whether there is abnormal contact or overload during grasping or placement. The laser distance sensor 12 is mounted on the end effector 7 to accurately measure the distance between the detection device 3 and the target insulator, providing data support for fine positioning. The monocular vision sensor 13 is also mounted on the end effector 7. Its function is to acquire image information of the detection device 3 and its surrounding environment for visual recognition, target localization, and attitude estimation. All these sensors—pressure sensor 11, laser distance sensor 12, and monocular vision sensor 13—are communicatively connected to the robotic arm control module 4 (e.g., via electrical connection or wireless communication via Wi-Fi, Bluetooth, etc.) to ensure real-time data transmission and reception of control commands.

[0081] By integrating multiple sensors, the wrist joint pose compensation mechanism 6 can achieve more precise and comprehensive adaptive compensation. When the end effector 7 performs a grasping or placing operation, the pressure sensor 11 monitors load changes in real time. Once an abnormal load or contact force is detected, it feeds back the corresponding load signal to the robotic arm control module 4. Simultaneously, the laser distance sensor 12 provides accurate distance information, while the monocular vision sensor 13 provides visual feedback, helping the robotic arm control module 4 determine the relative position and orientation between the end effector 7 and the target insulator or detection device 3. The robotic arm control module 4 receives and processes this multi-source sensor data and drives the wrist joint piston assembly 9 to perform corresponding fine-tuning. Thus, the wrist joint piston assembly 9 can dynamically adjust the pose of the end effector 7 according to the actual force and spatial position information, thereby achieving adaptive compensation for grasping or placing operations.

[0082] Specifically, such as Figure 4As shown, the wrist joint piston assembly 9 includes a wrist joint piston cavity 14, a flange plunger 15, and a coil spring 16; the flange plunger 15 is movably disposed inside the wrist joint piston cavity 14; one end of the flange plunger 15 is fixedly connected to the mechanical claw connecting seat 10, and the other end is surrounded by the coil spring 16 and installed inside the wrist joint piston cavity 14 together with the coil spring 16; the outer surface of the flange plunger 15 not surrounded by the coil spring 16 meshes with the inner surface of the wrist joint piston cavity 14.

[0083] The wrist joint piston cavity 14 is used to limit the range of motion of the flange plunger 15 and the coil spring 16;

[0084] The flange plunger 15 is used to move within the wrist joint piston cavity 14 when the load signal fed back by the pressure sensor 11 changes, in order to compensate for the gripping or placing operation of the end effector 7.

[0085] The helical spring 16 is used to absorb impact loads and assist in reset when the end effector 7 performs gripping and placing operations.

[0086] In practical applications, the wrist joint piston cavity 14 is a structure with a specific internal space. Its main function is to provide a restricted range of motion for the flange plunger 15 and the coil spring 16, ensuring that they move within a predetermined path and range, thereby maintaining the structural integrity and functional stability of the entire compensation mechanism. Among them, the flange plunger 15 is the core component for realizing the compensation function. When the load signal fed back by the pressure sensor 11 changes, such as when grasping or placing the detection device 3, due to the instantaneous force caused by the change in contact or load, the flange plunger 15 will move axially inside the wrist joint piston cavity 14. This axial movement can dynamically adjust the relative position of the end effector 7, thereby adaptively compensating for the grasping or placing operation to absorb impact or fine-tune the posture. The outer surface of the flange plunger 15, which is not surrounded by the helical spring 16, meshes with the inner surface of the wrist joint piston cavity 14 (e.g., the outer surface of the flange plunger 15 and the inner surface of the wrist joint piston cavity 14 are provided with mutually cooperating protrusions and grooves, or other mutually cooperating structures that can constrain the redundant rotational freedom of the flange plunger 15), thus constraining the redundant rotational freedom of the flange plunger 15 around its plunger center and preventing the end effector 7 from having a large angular deviation.

[0087] By movably positioning the flange plunger 15 within the wrist joint piston cavity 14 and cooperating with the coil spring 16, dynamic compensation is achieved for the gripping or placing operations of the end effector 7. When the end effector 7 contacts the target insulator or detection device 3, the pressure sensor 11 senses load changes in real time. These load signal changes cause axial movement of the flange plunger 15 within the wrist joint piston cavity 14. This mobility of the flange plunger 15 allows the end effector 7 to make minute positional adjustments based on the actual contact force, thus achieving flexible contact and precise compensation. Simultaneously, the coil spring 16 acts as a buffer during the movement of the flange plunger 15, absorbing potential impact loads during operation and preventing damage to the system from hard collisions. Furthermore, the elastic potential energy of the coil spring 16 assists the flange plunger 15 in quickly resetting after the load is released, preparing for the next operation, thereby ensuring the rapid response and continuous effectiveness of the compensation mechanism.

[0088] For example, during the placement process performed by the end effector 7, the external load is gradually unloaded and the load signal output by the pressure sensor 11 gradually decreases. Due to the floating of the base and the shift of the center of gravity during the loading process, the scissor arm 2 may over-extend and cause reverse compression of the detection device 3. At this time, the flange plunger 15 will move upward, so that the pressure difference between the upper and lower surfaces of the pressure sensor 11 is reduced to zero to achieve a compensation effect. When the robotic arm control module detects the load signal and receives compensation feedback, it stops the movement of the scissor arm 2, opens the end effector 7, and releases the detection device 3 to complete the placement operation.

[0089] Specifically, the wrist joint piston assembly 9 is also provided with a flange seat;

[0090] The flange seat is located between the flange plunger 15 and the wrist joint base 8. The flange seat is used to bear the axial tensile force applied to the flange plunger 15 by the external load.

[0091] In practical applications, by setting a flange seat between the flange plunger 15 and the wrist joint base 8, the structural stability problem that may exist in the wrist joint piston assembly 9 when subjected to axial tensile force is effectively solved. When the end effector 7 performs a gripping or placing operation and is subjected to outward axial tensile force, this force is transmitted through the flange plunger 15. At this time, the flange seat, as an additional support structure, can directly contact the flange plunger 15 or its connecting parts and transmit part or all of the axial tensile force to the more robust wrist joint base 8. Thus, the flange seat shares the axial load borne by the flange plunger 15, avoiding excessive tensile stress on the mating surface between the flange plunger 15 and the wrist joint piston cavity 14, thereby reducing the risk of wear and deformation.

[0092] Specifically, such as Figure 3 As shown, the multi-stage scissor lift telescopic mechanism 5 is provided with at least one telescopic mechanism 17; the telescopic mechanism 17 includes a telescopic component base 18, a telescopic drive component 19, and a movable telescopic component 20; the telescopic component base 18 is fixedly connected to the movable telescopic component 20 and the telescopic drive component 19 respectively; the telescopic drive component 19 is electrically connected to the robotic arm control module 4 and the movable telescopic component 20 respectively; the telescopic mechanism 17 is provided with at least two movable telescopic components 20, and each movable telescopic component 20 is evenly disposed in the telescopic component base 18;

[0093] The telescopic component base 18 is used to fix the positions of the movable telescopic component 20 and the telescopic drive component 19;

[0094] Telescopic drive assembly 19 is used to drive the moving telescopic assembly 20;

[0095] The movable telescopic component 20 is used to adjust the length of the multi-stage scissor telescopic mechanism 5.

[0096] In practical applications, the telescopic mechanism 17 is the basic unit constituting the multi-stage scissor telescopic mechanism 5. Its number can be configured according to actual application requirements, for example, one or more. Each telescopic mechanism 17 includes a telescopic component base 18, a telescopic drive component 19, and a movable telescopic component 20. The telescopic component base 18 serves as a support structure, used to securely mount the movable telescopic component 20 and the telescopic drive component 19, ensuring their relative positional relationship during operation. The telescopic drive component 19 is the core component for realizing the telescopic action. Through an electrical connection with the robotic arm control module 4, it receives control commands and drives the movable telescopic component 20 to move, thereby adjusting the length of the multi-stage scissor telescopic mechanism 5. The movable telescopic component 20, under the action of the telescopic drive component 19, realizes the length adjustment function of the multi-stage scissor telescopic mechanism 5. As a preferred embodiment, each telescopic mechanism 17 can be equipped with at least two movable telescopic components 20, which are evenly arranged in the telescopic component base 18 to ensure the smoothness of the telescopic process and the symmetry of the structure.

[0097] Specifically, when the robotic arm control module 4 issues a command based on the preset robotic arm kinematic model, the telescopic drive component 19 receives the command and drives the electrically connected movable telescopic component 20 to move. This movement causes a change in the overall length of the multi-stage scissor telescopic mechanism 5. Thus, by controlling the action of the telescopic drive component 19, the telescopic amount of the multi-stage scissor telescopic mechanism 5 can be precisely controlled, enabling the end effector 7 to accurately place the detection device 3 on the target insulator or to grasp the detection device 3 from the target insulator.

[0098] Specifically, the movable telescopic assembly 20 includes a linear motion mechanism 21 and a scissor linkage mechanism 22 that are slidably connected; such as Figure 4 As shown, the linear motion mechanism 21 includes a fixed block 23, a linear slide rail 24, and a slider 25; the linear slide rail 24 and the slider 25 are slidably connected; both the linear slide rail 24 and the fixed block 23 are fixedly connected to the telescopic component base 18; both the slider 25 and the fixed block 23 are fixedly connected to the scissor linkage mechanism 22; limit modules are respectively provided at both ends of the linear slide rail 24; the scissor linkage mechanism 22 is composed of multiple cross links that are hinged together in sequence, and the cross links include two links that are hinged together at their midpoints; there are two linear motion mechanisms 21, which are respectively located at the upper and lower ends of the scissor linkage mechanism 22, referred to as the first linear motion mechanism and the second linear motion mechanism; one end of the scissor linkage mechanism 22 is connected to the fixed block 23 and the slider 25 of the first linear motion mechanism through the two links of the topmost cross link, and the other end is connected to the fixed block 23 and the slider 25 of the second linear motion mechanism through the two links of the bottommost cross link.

[0099] The linear motion mechanism 21 is used to drive the slider 25 to move so as to drive the scissor linkage mechanism 22 to perform extension and retraction movements;

[0100] The scissor linkage mechanism 22 is used to perform extension and retraction movements to adjust the length of the multi-stage scissor telescopic mechanism 5.

[0101] In practical applications, the linear motion mechanism 21 is the core component for realizing the linear movement of the telescopic assembly 20. Its fixed block 23 and linear guide rail 24 are securely mounted on the telescopic assembly base 18, providing stable support and guidance for the movement of the slider 25. A sliding connection is used between the slider 25 and the linear guide rail 24 to ensure smooth movement. The limit module is designed to prevent the slider 25 from exceeding the preset movement range, thereby protecting the mechanism from damage and ensuring movement accuracy. The scissor linkage mechanism 22 is composed of multiple cross links connected by hinges, each cross link consisting of two links hinged at the midpoint. This structure allows the scissor linkage mechanism 22 to achieve length extension and retraction under the drive of the linear motion mechanism 21. The two linear motion mechanisms 21 are located at opposite ends of the scissor linkage mechanism 22. One end of the scissor linkage mechanism 22 is connected to the fixed block 23 and slider 25 of the first linear motion mechanism via the two links of its topmost cross link. Similarly, the other end of the scissor linkage mechanism 22 is connected to the fixed block 23 and the slider 25 of the second linear motion mechanism via two connecting rods of its bottommost cross link. This connection method ensures that the motion of the linear motion mechanism 21 can be effectively transmitted to the scissor linkage mechanism 22, enabling it to perform extension or retraction movements synchronously.

[0102] By refining the telescopic component 20 into a linear motion mechanism 21 and a scissor linkage mechanism 22, precise length adjustment of the multi-stage scissor telescopic mechanism 5 is achieved. When the telescopic drive component 19 drives the slider 25 in the linear motion mechanism 21 to move along the linear slide rail 24, the movement of the slider 25, which is fixedly connected to the scissor linkage mechanism 22, will cause the scissor linkage mechanism 22 to extend or retract. The unique hinge connection structure of the scissor linkage mechanism 22 allows it to efficiently change its overall length when driven. By controlling the movement distance and direction of the linear motion mechanism 21, the extension and retraction of the scissor linkage mechanism 22 can be precisely controlled, thereby realizing the length adjustment function of the multi-stage scissor telescopic mechanism 5. The presence of the limit module further ensures the safety and controllability of the movement.

[0103] Specifically, the telescopic mechanism 17 is provided with a second linear movement mechanism that is fixedly connected to the wrist joint base 8 of the wrist joint posture compensation mechanism 6.

[0104] In practical applications, when the multi-stage scissor telescopic mechanism 5 is equipped with only one telescopic mechanism 17, the structural rigidity and stability of the end of the scissor-type robotic arm 2 are significantly improved by fixing the second linear movement mechanism of the telescopic mechanism 17 to the wrist joint base 8 of the wrist joint posture compensation mechanism 6 (located above the wrist joint base 8). This ensures the placement accuracy and repeatability of the detection device 3 during insulator inspection, effectively avoiding detection errors caused by unstable connections, thereby improving the reliability and efficiency of the entire insulator inspection system.

[0105] Specifically, at least two telescopic mechanisms 17 are provided, and each telescopic mechanism 17 is connected in sequence via an elbow joint assembly 26; for example Figure 3 As shown, the elbow joint assembly 26 includes an elbow joint base 27, and an elbow joint drive assembly 28 and an elbow joint transmission assembly 29 fixedly connected to the elbow joint base 27; the elbow joint transmission assembly 29 includes an upper elbow joint base plate and a lower elbow joint base plate hinged together, the upper elbow joint base plate being fixedly connected to the elbow joint base, and the lower elbow joint base plate being fixedly connected to the telescopic assembly base 18 of the next telescopic mechanism 17; the second linear movement mechanism of the last telescopic mechanism 17 is fixedly connected to the wrist joint base 8 of the wrist joint posture compensation mechanism 6.

[0106] Elbow joint base 27 is used to fix the position of elbow joint drive assembly 28 and elbow joint transmission assembly 29.

[0107] Elbow joint drive assembly 28 is used to drive elbow joint transmission assembly;

[0108] The elbow joint transmission assembly 29 is used to adjust the position of the next telescopic mechanism through the hinge connection between the upper and lower base plates of the elbow joint, thereby adjusting the movement angle of the multi-stage scissor telescopic mechanism 5.

[0109] In practical applications, the elbow joint assembly 26 is a key component for achieving angle adjustment of the multi-stage scissor lift mechanism 5. The elbow joint base 27 serves as a connection and support platform, ensuring the stable installation of the elbow joint drive assembly 28 and the elbow joint transmission assembly 29. The elbow joint drive assembly 28 can be understood as providing a power source, such as a motor, hydraulic cylinder, or pneumatic cylinder, and its function is to generate driving force according to control commands, causing relative movement of the elbow joint transmission assembly 29. The elbow joint transmission assembly 29, through its internal hinge connection structure, converts the driving force into angle changes, enabling relative rotation between adjacent telescopic mechanisms 17. The hinge connection between the upper and lower base plates of the elbow joint is the core of angle adjustment, allowing the posture of the next telescopic mechanism 17 relative to the current telescopic mechanism 17 to be changed while maintaining structural integrity.

[0110] By introducing the elbow joint assembly 26, the limitation of the multi-stage scissor telescopic mechanism 5, which can only perform linear telescopic movements when connected in multiple segments, is effectively solved. Specifically, when it is necessary to adjust the movement angle of the robotic arm, the robotic arm control module 4 sends a command to the corresponding elbow joint drive assembly 28. After receiving the command, the elbow joint drive assembly 28 drives the elbow joint transmission assembly 29. Since the upper and lower elbow joint base plates inside the elbow joint transmission assembly 29 are connected by hinges, they will rotate relative to each other under the action of driving force, thereby changing the connection angle of the next telescopic mechanism 17 relative to the previous telescopic mechanism 17. This angle adjustment allows the entire multi-stage scissor telescopic mechanism 5 to move beyond linear motion and achieve bending or articulated movements, greatly expanding the working space and flexibility of the robotic arm. Through the synergistic effect of multiple elbow joint assemblies 26, precise control of the overall posture of the robotic arm can be achieved, enabling it to adapt to various complex detection environments and the positional requirements of target insulators.

[0111] Furthermore, such as Figure 6 As shown (the meanings of the symbols in the figure are explained below), taking a multi-stage scissor telescopic mechanism 5 consisting of two-stage telescopic mechanisms 17 (one telescopic mechanism 17 is one stage) as an example, a base coordinate system is established with the fixed point of the robotic arm based on the kinematic relationship of the aerial robotic arm system. The X-axis is established by the direction of movement of the slider 25 in the linear motion mechanism 21 along the linear slide rail 24. Figure 6 X in w (The positive direction of the X-axis), with the direction of motion of the scissor linkage 22 as the Z-axis ( Figure 6 Z in w (with the positive direction of the Z-axis) Establish joint coordinate systems for the two-stage scissor lift robotic arms. Assume that at time k, the first-stage scissor lift mechanism drive motor (the telescopic drive component 19 of the first telescopic mechanism 17, with stage numbers arranged from top to bottom) drives the linear slide rail 24 to rotate at the following angle. and angular velocity The state vector is expressed as ,definition , The angle of rotation of the linear guide rail 24. The derivative of the angle of the telescopic drive component 19 of the first telescopic mechanism 17 with respect to time k, i.e., the angular velocity of the linear guide rail 24 when it rotates. Similarly, the rotation angle and angular velocity of the elbow joint transmission assembly 29, and the state vector of the second-stage scissor lift mechanism drive motor are respectively expressed as: , , This is the state vector of the rotation angle and angular velocity of the elbow joint transmission assembly 29. This refers to the rotation angle of the elbow joint transmission assembly 29. Let ω be the angular velocity of the elbow joint transmission component (i.e., the derivative of the rotation angle of the elbow joint transmission component with respect to time k). This is the state vector of the angle and angular velocity of the corresponding linear slide rail 24 in the telescopic drive assembly 19 of the second telescopic mechanism 17 during rotation. The angle of the linear guide rail 24 in the telescopic drive assembly 19 of the second telescopic mechanism 17 during rotation. Let k be the angular velocity of the linear guide rail 24 corresponding to the telescopic drive assembly 19 of the second telescopic mechanism 17 during rotation (i.e., the derivative of the angular velocity of the linear guide rail 24 corresponding to the telescopic drive assembly 19 of the second telescopic mechanism 17 with respect to time k). Therefore, for this 3-axis robotic arm system (a multi-stage scissor telescopic mechanism 5 composed of two-stage telescopic mechanisms 17), its generalized state vector at time k can be described as... For the multi-stage scissor telescopic mechanism 5 composed of the i-th stage telescopic mechanism 17, its generalized state vector at time k can be described as follows: , where the singular state vector (i.e. , ... ) is the state vector of the telescopic mechanism 17, and the even-numbered state vectors (i.e. , ... ) is the state vector of the elbow joint transmission assembly 29 between the two telescopic mechanisms 17.

[0112] At any time k, when the corresponding linear slide rail 24 in the telescopic drive assembly 19 of the telescopic mechanism 17 moves... When rotating at angular velocity, it pushes the slider 25, which is slidably connected to it, to move along the X-axis. At this time, the angle of the linear guide rail 24 is... The position of slider 25 in the corresponding movable telescopic component 20 is indicated as follows: Its moving speed can be expressed as ( Figure 6 In The moving speed of slider 25 in the first telescopic mechanism 17, (where k is the moving speed of the slider 25 in the second telescopic mechanism 17), that is, at any moment k during the movement of the telescopic drive component 19 of any telescopic mechanism 17, the kinematic relationship is satisfied:

[0113] ;

[0114] in, The position of the slider 25 in the movable telescopic component 20 of the i-th telescopic mechanism 17; The velocity of the slider 25 in the moving telescopic component 20 of the i-th telescopic mechanism 17; Let be the angle of the telescopic drive component 19 of the i-th telescopic mechanism 17; Let be the angular velocity of the telescopic drive component 19 of the i-th telescopic mechanism 17; Let be a linear function relating the kinematics of the telescopic drive component 19 of the i-th telescopic mechanism 17 to the elbow joint transmission component 29 (which can be obtained experimentally). , , Let k be the derivative of the position of slider 25 in the moving telescopic component 20 of the i-th telescopic mechanism 17 with respect to time k. Let be the derivative of the angle of the telescopic drive component 19 of the i-th telescopic mechanism 17 with respect to time k. This refers to the linear distance that the slider 25 moves along the linear slide rail 24 in the axial direction after the linear slide rail 24 rotates one revolution.

[0115] Assuming that all links in the scissor linkage mechanism 22 are of equal length and that the length of each link is also equal. The projected lengths of the hinge points of the first and second stage scissor lift mechanisms on the Z-axis are: , , Where N represents the number of levels of the cross links in each stage of the scissor linkage mechanism 22. In the figure, N=2, meaning that both the upper and lower telescopic mechanisms 17 contain two levels of scissor linkage mechanisms 22. This refers to the length of a single link in the cross linkage (the individual links of each cross linkage in the scissor linkage mechanism 22 are of equal length).

[0116] At this time, the length of the rotation center of the robotic arm elbow joint (i.e., the hinge connection between the first linear movement mechanism in the first-stage telescopic mechanism 17 and the nearest elbow joint transmission assembly 29) ,in, This indicates the position offset distance in the first-stage scissor link mechanism 22, including the distance from the first linear movement mechanism in the first-stage telescopic mechanism 17 to the corresponding slider 25 (or fixed block 23, the intersection of slider 25 and the cross link and the intersection of fixed block 23 and the cross link are on the same horizontal line) and the intersection of the uppermost cross link in the first-stage telescopic mechanism 17 (this distance is a fixed distance), and the distance from the intersection of the slider 25 of the second linear movement mechanism in the first-stage scissor link mechanism 22 and the bottommost cross link to the hinge connection of the nearest elbow joint transmission assembly 29 (if there is only one telescopic mechanism 17, it is the distance from the intersection of the slider 25 of the second linear movement mechanism in the first-stage scissor link mechanism 22 and the bottommost cross link to the mechanical claw connecting seat 10) (this distance is a fixed distance). Similarly, the extension length of the second-stage scissor link mechanism 22 is... , This represents the position offset distance in the first-stage scissor linkage mechanism 22, including the distance from the intersection of the slider 25 corresponding to the first linear motion mechanism in the second-stage telescopic mechanism 17 and the uppermost cross link in the scissor linkage mechanism 22 to the hinge connection of the previous elbow joint transmission assembly 29, and the distance from the intersection of the slider 25 corresponding to the second linear motion mechanism in the second-stage telescopic mechanism 17 and the lowermost cross link in the scissor linkage mechanism 22 to the mechanical claw connecting seat 10 (or, if there is another telescopic mechanism 17, the distance from the intersection of the slider 25 corresponding to the second linear motion mechanism in the second-stage telescopic mechanism 17 and the lowermost cross link in the scissor linkage mechanism 22 to the hinge connection of the next elbow joint transmission assembly 29). The pitch angle, rotation angle, and angular velocity of the joint between the two telescopic mechanisms 17 are expressed as... When the robotic arm is working, the elbow joint remains vertical, that is... .

[0117] Assuming a minimum during the robotic arm's operation Within a given time, the sliding distance of the slider 25 of the i-th stage telescopic mechanism 17 is: ,but ,in, For the i-th stage telescopic mechanism 17, the slider 25 is in a very small position. Distance traveled within a time period For the slider 25 of the i-th stage telescopic mechanism 17 in Distance traveled within a time period For the linear slide rail 24 of the i-th stage telescopic mechanism 17 in The angle of rotation within a time period (the positions of the linear guide rail 24 and the telescopic drive assembly 19 remain fixed, and the angles of rotation of the two are consistent).

[0118] The change in the telescopic length of the scissor linkage 22 of the i-th telescopic mechanism 17 :

[0119] ;

[0120] in, For the scissor linkage mechanism 22 of the i-th stage telescopic mechanism 17, The amount of change in length over time. For the scissor linkage mechanism 22 of the i-th stage telescopic mechanism 17, The amount of change in length over time.

[0121] The average speed at which the scissor linkage 22 of the i-th telescopic mechanism 17 extends along the Z-axis is:

[0122] ;

[0123] in, For the scissor linkage mechanism 22 of the i-th stage telescopic mechanism 17, The average speed of elongation along the Z-axis over a given time period.

[0124] Since the first-stage telescopic mechanism 17 and the second-stage telescopic mechanism 17 are connected in series, the scissor linkage mechanism 22 of the second-stage telescopic mechanism 17 includes the pulling speed of the first stage when it moves along the Z-axis. Therefore, the end effector of the robotic arm wrist joint (the intersection of the wrist joint posture compensation mechanism 6 and the end effector 7) is... The average velocity over time can be expressed as .

[0125] Then the state quantity at the wrist joint of the robotic arm at time k : ,Right now Where n is the total number of telescopic mechanisms 17. This is a function for the length of the robotic arm.

[0126] at this time, Figure 6 The multi-stage scissor telescopic mechanism 5, consisting of two-stage telescopic mechanisms 17, corresponds to the length of the scissor-type robotic arm 2. for In order to ensure that the length of the elbow joint transmission assembly 29 is not affected by the elbow joint angle, the elbow joint transmission assembly 29 needs to be kept in a vertical state, that is, the rotation angle of the elbow joint transmission assembly 29 needs to be controlled at 0°. =0), to ensure that the length of the elbow joint transmission component 29 remains unchanged.

[0127] In summary, the pre-defined kinematic model of the robotic arm is as follows:

[0128] .

[0129] Specifically, the end effector 7 includes an electrically connected gripping manipulator 30 and an end drive mechanism 31;

[0130] The gripping robot 30 is used to grasp and place the detection device 3;

[0131] The end effector 31 is used to drive the gripper 30.

[0132] In practical applications, the end effector 7 is subdivided into a gripping manipulator 30 and an end drive mechanism 31, enabling the grasping and placement of the detection device 3. Specifically, when the detection device 3 needs to be grasped, the robotic arm control module 4 sends a command to the end drive mechanism 31. Upon receiving the command, the end drive mechanism 31 drives the gripping manipulator 30 to open its claws or suction cups, allowing it to cover or adhere to the detection device 3. Once the detection device 3 is securely grasped, the end drive mechanism 31 drives the gripping manipulator 30 to close or maintain the suction state, thereby ensuring the stability of the detection device 3 during flight and movement. When the detection device 3 needs to be placed, the end drive mechanism 31 drives the gripping manipulator 30 to release the detection device 3, allowing it to be placed smoothly on the target insulator. This clearly defined structural design ensures that the end effector 7 can efficiently and reliably perform its core functions.

[0133] As described above, this insulator inspection system utilizes a flying robot and a scissor-mounted robotic arm to carry the inspection device. The robotic arm's control module, based on a pre-set kinematic model, drives a multi-stage scissor-mounted telescopic mechanism, a wrist joint posture compensation mechanism, and an end effector. This allows the end effector to grasp or place the inspection device while the adaptive compensation function of the wrist joint posture compensation mechanism compensates for the grasping or placing operations. This ensures the inspection device is precisely placed on the target insulator for inspection. This system addresses the problems of insufficient placement or grasping accuracy, lack of effective posture compensation mechanisms, difficulty in handling potential impact loads, and low operational efficiency in existing insulator inspection systems using drones. By leveraging the scissor-mounted robotic arm's kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism, the system effectively addresses posture deviations and impact loads that may occur during placement and grasping operations in complex environments, significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0134] Please refer to Figure 7 , Figure 7 This is an insulator testing method according to some embodiments of this application, applied to the insulator testing system described above to test insulators, including:

[0135] Step S1: Obtain the position information of the target insulator;

[0136] Step S2: Based on the location information, generate the optimal flight trajectory of the insulator detection system;

[0137] Step S3: Control the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory;

[0138] Step S4: Based on the preset kinematic model of the robotic arm and combined with the adaptive compensation function of the wrist joint posture compensation mechanism, control the insulator detection system to drive the scissor-type robotic arm to place the detection device to the target placement position in the hovering position.

[0139] Step S5: Control the detection device to detect the target insulator and obtain the insulator detection result.

[0140] The insulator detection method provided in this application can detect insulators. By using a preset kinematic model of the robotic arm and the adaptive compensation function of the wrist joint posture compensation mechanism, the insulator detection system is controlled to fly to a hovering position and then driven to precisely place the detection device on the target insulator for detection. This effectively addresses the posture deviations and impact loads that may occur when placing and grasping the detection device in complex environments, thereby significantly improving the accuracy, stability, and safety of the placement and grasping operations.

[0141] In step S1, the precise spatial coordinates of the insulator to be tested are obtained through various means. For example, the three-dimensional position of the target insulator can be determined using the Global Positioning System (GPS), a high-precision inertial navigation system (INS), lidar scanning, or by combining pre-mapped power line geographic information system (GIS) data. Alternatively, the target area can be preliminarily scanned using the visual sensors mounted on the flying robot 1 or other visual sensors, and the position of the target insulator can be identified and determined using image recognition and positioning algorithms. The purpose is to provide accurate positioning data for subsequent flight trajectory planning and robotic arm operations.

[0142] In step S2, after obtaining the position information of the target insulator, an existing path planning algorithm (such as Dijkstra's algorithm or A* algorithm) is used to comprehensively consider the performance parameters of the flying robot 1 (such as endurance and maximum flight speed), environmental factors (such as wind speed and obstacle distribution), and detection task requirements (such as detection range and detection sequence) to calculate the shortest, safest, and most energy-efficient flight path from the current position to the hovering position of the target insulator. This optimal flight trajectory may include multiple waypoints and flight attitude commands to ensure that the flying robot 1 can reach the predetermined work area efficiently and safely.

[0143] In step S3, the flight control system of the flying robot 1 drives the propulsion system of the flying robot 1 according to the generated optimal flight trajectory, so that it flies along the predetermined path. When the flying robot 1 reaches the preset hovering position above the target insulator, the flight control system will activate the high-precision hovering mode, and use data from sensors such as GPS, visual positioning, and inertial measurement unit (IMU) to perform fusion positioning, so as to stably keep the flying robot 1 in the hovering position, thereby ensuring the stability of subsequent robotic arm operations.

[0144] In step S4, after the flying robot 1 hovers stably, the robotic arm control module 4 calculates the joint angles and extension amounts of the multi-stage scissor telescopic mechanism 5, the wrist joint posture compensation mechanism 6, and the end effector 7 of the scissor-type robotic arm 2 based on the preset robotic arm kinematic model and the distance from the detection device 3 to the target insulator surface detected by the visual and distance sensors of the flying robot 1. This ensures that the end effector 7 can accurately grasp the detection device 3 from below the flying robot 1 and place it on the surface of the target insulator (the surface position is the target placement position). During this process, the wrist joint posture compensation mechanism 6 uses its adaptive compensation function to adjust the attitude and position of the end effector 7 in real time based on the data fed back by the pressure sensor 11, the laser distance sensor 12, and the monocular vision sensor 13. This compensates for errors caused by slight shaking of the flying robot 1 or unevenness of the insulator surface, ensuring that the detection device 3 can smoothly and accurately contact or approach the target insulator, avoiding damage to the insulator.

[0145] In step S5, after the detection device 3 is successfully placed or positioned, the robotic arm control module 4 sends a detection command to the detection device 3 to activate its internal detection function. The detection device 3 will collect data from the target insulator according to its type (e.g., infrared thermal imager, ultraviolet imager, visible light camera, ultrasonic detector, etc.), and transmit the collected data back to the ground control station or the flying robot 1 for processing and analysis, ultimately generating insulator detection results, such as insulator surface defect images, temperature distribution maps, partial discharge signals, etc.

[0146] As can be seen from the above, this insulator detection method obtains the position information of the target insulator, generates the optimal flight trajectory of the insulator detection system based on the position information, controls the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory, and controls the insulator detection system to drive the scissor-type robotic arm to place the detection device to the target placement position at the hovering position, according to the preset robotic arm kinematic model and combined with the adaptive compensation function of the wrist joint posture compensation mechanism. The detection device is then controlled to detect the target insulator, and the insulator detection result is obtained. Thus, through the preset robotic arm kinematic model and the adaptive compensation function of the wrist joint posture compensation mechanism, after the insulator detection system flies to the hovering position, the scissor-type robotic arm is driven to accurately place the detection device on the target insulator for detection. This effectively copes with the posture deviation and impact load that may occur when placing and grasping the detection device in complex environments, thereby significantly improving the accuracy, stability and safety of the placement and grasping operations.

[0147] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0148] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An insulator testing system for testing insulators, characterized in that, It includes a flying robot (1), a scissor-type robotic arm (2) located below the flying robot (1), and a detection device (3) clamped at the end of the scissor-type robotic arm (2); The flying robot (1) is used to carry the scissor-arm (2) and the detection device (3) to a hovering position so that the detection device (3) can be placed on the target insulator by the scissor-arm (2); The detection device (3) is used to detect the target insulator; The scissor-type robotic arm (2) includes a robotic arm control module (4), a multi-stage scissor telescopic mechanism (5), a wrist joint posture compensation mechanism (6), and an end effector (7) connected sequentially from top to bottom. The scissor-type robotic arm (2) is used to drive the multi-stage scissor telescopic mechanism (5) to operate through the robotic arm control module (4) according to the preset robotic arm kinematic model, so as to drive the wrist joint posture compensation mechanism (6) and the end effector (7) to move. At the same time, the end effector (7) grasps or places the detection device (3), and the adaptive compensation function of the wrist joint posture compensation mechanism (6) compensates for the grasping or placing operation of the end effector (7). The wrist joint posture compensation mechanism (6) includes a wrist joint base (8), a wrist joint piston assembly (9), a mechanical claw connector (10), and a pressure sensor (11) fixedly connected to the wrist joint base (8), as well as a laser distance sensor (12) and a monocular vision sensor (13) installed on the end effector (7); the pressure sensor (11), the laser distance sensor (12), and the monocular vision sensor (13) are communicatively connected to the robotic arm control module (4); The wrist joint base (8) is used to fix the position of the wrist joint piston assembly (9), the mechanical claw connector (10) and the pressure sensor (11); The wrist joint piston assembly (9) is used to compensate for the gripping or placing operation of the end effector (7) based on the load signal fed back by the pressure sensor (11). The mechanical claw connector (10) is disposed between the wrist joint base (8) and the end effector (7), and the mechanical claw connector (10) is used to connect the wrist joint base (8) and the end effector (7). The pressure sensor (11) is disposed between the wrist joint piston assembly (9) and the wrist joint base (8), and the pressure sensor (11) is used to measure the total load borne by the end effector (7) and the detection device (3); The laser distance sensor (12) is used to measure the distance from the laser distance sensor (12) to the detection device (3); The monocular vision sensor (13) is used to acquire image information from the detection device (3).

2. The insulator testing system according to claim 1, characterized in that, The wrist joint piston assembly (9) includes a wrist joint piston cavity (14), a flange plunger (15), and a coil spring (16); the flange plunger (15) is movably disposed inside the wrist joint piston cavity (14); one end of the flange plunger (15) is fixedly connected to the mechanical claw connecting seat (10), and the other end is surrounded by the coil spring (16) and installed together with the coil spring (16) inside the wrist joint piston cavity (14); the outer surface of the flange plunger (15) not surrounded by the coil spring (16) meshes with the inner surface of the wrist joint piston cavity (14); The wrist joint piston cavity (14) is used to limit the range of motion of the flange plunger (15) and the coil spring (16); The flange plunger (15) is used to move within the wrist joint piston cavity (14) when the load signal fed back by the pressure sensor (11) changes, in order to compensate for the gripping or placing operation of the end effector (7). The helical spring (16) is used to absorb impact loads and assist in reset when the end effector (7) performs gripping and placement operations.

3. The insulator detection system according to claim 2, characterized in that, The wrist joint piston assembly (9) is also provided with a flange seat; The flange seat is disposed between the flange plunger (15) and the wrist joint base (8), and the flange seat is used to bear the axial tensile force applied to the flange plunger (15) by the external load.

4. The insulator testing system according to claim 3, characterized in that, The multi-stage scissor telescopic mechanism (5) is provided with at least one telescopic mechanism (17); the telescopic mechanism (17) includes a telescopic component base (18), a telescopic drive component (19), and a movable telescopic component (20); the telescopic component base (18) is fixedly connected to the movable telescopic component (20) and the telescopic drive component (19) respectively; the telescopic drive component (19) is electrically connected to the robotic arm control module (4) and the movable telescopic component (20) respectively; the telescopic mechanism (17) is provided with at least two movable telescopic components (20), and each movable telescopic component (20) is evenly disposed in the telescopic component base (18); The telescopic component base (18) is used to fix the positions of the movable telescopic component (20) and the telescopic drive component (19); The telescopic drive assembly (19) is used to drive the movable telescopic assembly (20). The movable telescopic component (20) is used to adjust the length of the multi-stage scissor telescopic mechanism (5).

5. The insulator testing system according to claim 4, characterized in that, The movable telescopic assembly (20) includes a linear moving mechanism (21) and a scissor linkage mechanism (22) that are slidably connected; the linear moving mechanism (21) includes a fixed block (23), a linear slide rail (24), and a slider (25); the linear slide rail (24) and the slider (25) are slidably connected; the linear slide rail (24) and the fixed block (23) are both fixedly connected to the telescopic assembly base (18); the slider (25) and the fixed block (23) are both fixedly connected to the scissor linkage mechanism (22); limit modules are respectively provided at both ends of the linear slide rail (24); the scissor linkage mechanism (22) consists of multiple The scissor linkage mechanism (22) is composed of two cross links that are hinged together in sequence. The cross links include two links that are hinged together at their midpoints. There are two linear movement mechanisms (21), which are respectively located at the upper and lower ends of the scissor linkage mechanism (22) and are referred to as the first linear movement mechanism and the second linear movement mechanism. One end of the scissor linkage mechanism (22) is connected to the fixed block (23) and the slider (25) of the first linear movement mechanism through the two links of the topmost cross link, and the other end is connected to the fixed block (23) and the slider (25) of the second linear movement mechanism through the two links of the bottommost cross link. The linear motion mechanism (21) is used to drive the slider (25) to move so as to drive the scissor linkage mechanism (22) to perform extension and retraction movements; The scissor linkage mechanism (22) is used to perform extension and retraction movements to adjust the length of the multi-stage scissor telescopic mechanism (5).

6. The insulator testing system according to claim 5, characterized in that, One telescopic mechanism (17) is provided, and the second linear movement mechanism is fixedly connected to the wrist joint base (8) of the wrist joint posture compensation mechanism (6).

7. The insulator testing system according to claim 5, characterized in that, At least two telescopic mechanisms (17) are provided, and each telescopic mechanism (17) is connected in sequence through an elbow joint assembly (26). The elbow joint assembly (26) includes an elbow joint base (27), an elbow joint drive assembly (28) and an elbow joint transmission assembly (29) fixedly connected to the elbow joint base (27). The elbow joint transmission assembly (29) includes an upper elbow joint base plate and a lower elbow joint base plate that are hinged together. The upper elbow joint base plate is fixedly connected to the elbow joint base, and the lower elbow joint base plate is fixedly connected to the telescopic assembly base (18) of the next telescopic mechanism (17). The second linear movement mechanism of the last telescopic mechanism (17) is fixedly connected to the wrist joint base (8) of the wrist joint posture compensation mechanism (6). The elbow joint base (27) is used to fix the position of the elbow joint drive assembly (28) and the elbow joint transmission assembly (29); The elbow joint drive assembly (28) is used to drive the elbow joint transmission assembly; The elbow joint transmission assembly (29) is used to adjust the position of the next telescopic mechanism through the hinge connection between the upper base plate of the elbow joint and the lower base plate of the elbow joint, so as to adjust the movement angle of the multi-stage scissor telescopic mechanism (5).

8. The insulator detection system according to claim 6 or 7, characterized in that, The end effector (7) includes an electrically connected gripper (30) and an end drive mechanism (31). The gripping manipulator (30) is used to grasp and place the detection device (3); The end effector (31) is used to drive the gripper (30).

9. A method for testing insulators, characterized in that, The insulator testing system of claim 8 is used to test insulators, comprising: Obtain the position information of the target insulator; Based on the location information, the optimal flight trajectory of the insulator detection system is generated; Control the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory; Based on the preset kinematic model of the robotic arm, and combined with the adaptive compensation function of the wrist joint posture compensation mechanism, the insulator detection system is controlled to drive the scissor-type robotic arm to place the detection device to the target placement position at the hovering position. The detection device is controlled to detect the target insulator, and the insulator detection result is obtained.

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