Power distribution network live-line work man-machine collaborative dual-arm auxiliary mechanical arm system and work method

Abstract

This invention relates to the field of live-line working equipment for power distribution networks, and discloses a human-machine collaborative dual-arm assisted robotic arm system and operating method for live-line working in power distribution networks. The system includes an installation and fixing structure integrated into the working bucket of an insulated bucket truck, a dexterous arm system, and a load-bearing arm system. The installation and fixing structure achieves stable fixation through multi-directional internal and external clamping, requiring no modification to the bucket body. The dexterous arm system adopts a pure force-controlled human-machine collaborative mode, enabling precise operations and filtering out posture vibrations. The load-bearing arm system is remotely operated, possessing multi-degree-of-freedom movement capabilities and capable of handling heavy loads and high torque operations. Through the coordinated distribution of spatial position and force, the dual arms combine the advantages of precise human control with heavy-duty mechanical assistance, offering convenient operation, high precision, and good safety, significantly improving work efficiency. It is compatible with ordinary insulated bucket trucks, facilitating large-scale deployment.

Description

Technical Field

[0001] This invention relates to the field of live-line working equipment for power distribution networks, specifically to a human-machine collaborative dual-arm auxiliary robotic arm system and working method for live-line working in power distribution networks. Background Technology

[0002] Live-line work on power distribution networks is a core operational method to ensure uninterrupted power supply to the power grid. The existing mainstream operation modes are divided into two categories: short pole operation mode and robot operation mode. Both of these modes have significant technical defects.

[0003] The short-pole operation method relies on an insulated bucket truck and a short insulated pole, allowing workers to directly hold the pole to perform delicate operations such as cable alignment, insulation stripping, and surge arrester installation. While this method offers a short transmission chain and fast response, it requires workers to maintain a suspended position at height for extended periods in confined spaces or complex obstructions, resulting in extremely high labor intensity. Furthermore, the uncontrollable tremors caused by manual operation pose safety hazards, and tool compatibility and operational efficiency are significantly limited.

[0004] Existing power distribution network operation robots possess multi-degree-of-freedom and automated operation capabilities, which can reduce the safety risks of direct human operation to a certain extent. However, these robots have poor adaptability to unstructured working environments, and their operation paths often rely on offline planning and complex perception systems, resulting in insufficient fault tolerance. In addition, the robot systems are expensive, bulky, and have high deployment and maintenance costs, making it impossible to widely promote and apply them on the working buckets of ordinary insulated bucket trucks.

[0005] Given the shortcomings of existing technologies, there is an urgent need in this field to develop a collaborative auxiliary operation equipment that can retain the core advantages of "human participation in decision-making and precise control" in the short pole operation method, while also sharing the heavy load and repetitive labor through mechanical structures, ultimately improving the safety and efficiency of the operation. Summary of the Invention

[0006] The purpose of this invention is to provide a human-machine collaborative dual-arm assisted robotic arm system and operation method for live-line work in power distribution networks, so as to solve the above-mentioned defects.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] This invention proposes a human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks, comprising: an installation and fixing structure for detachable connection to the working bucket of an insulated bucket truck; a dexterous arm system for performing precision operations; and a load-bearing arm system for undertaking heavy-duty operations. The installation and fixing structure, the dexterous arm system, and the load-bearing arm system are integrated and assembled on the working bucket of the insulated bucket truck. The installation and fixing structure includes an external clamping assembly and an internal clamping assembly. The external clamping assembly is used to clamp and fix the system to the edge of the working bucket of the insulated bucket truck, and the internal clamping assembly is used to press and fit against the inner wall of the working bucket of the insulated bucket truck. The dexterous arm system adopts a pure force-controlled human-machine collaborative mode, including six... The system comprises a six-degree-of-freedom robotic arm, a six-dimensional force control sensor, and a gripper. The six-dimensional force control sensor is fixed to the end of the six-degree-of-freedom robotic arm, and the gripper is bolted to the six-dimensional force control sensor. The operator can perform precise movements by applying force with their hands to pull the six-degree-of-freedom robotic arm, which can amplify human strength and filter posture vibrations. The weight-bearing arm system adopts a remote control operation mode and includes a dual linear module structure, which has multi-degree-of-freedom motion capabilities such as pitch, rotation, extension, and rotation of the insulating rod to achieve heavy-load support, lifting, and high-torque operations. The dexterous arm system and the weight-bearing arm system achieve coordinated distribution of spatial position and force through the insulating rod and the end-effector, forming a "human-machine collaboration and dual-arm cooperation" operation architecture.

[0009] Preferably, the external clamping assembly includes a support plate, a rectangular tube support, and heavy-duty G-clamps. The support plate is horizontally laid on the top surface of the working bucket of the insulated bucket truck. Multiple rectangular tube supports are provided and welded between the lower end face of the support plate and the outer wall of the working bucket of the insulated bucket truck to form a triangular stable support surface. Several heavy-duty G-clamps are provided and symmetrically arranged on both sides of the support plate to clamp the support plate and the edge of the working bucket of the insulated bucket truck. The heavy-duty G-clamps consist of a movable upper clamping part and a fixed lower clamping part connected by a high-strength screw to form a G-shaped structure. The fixed lower clamping part is fixedly installed on the lower end of the high-strength screw, and the movable upper clamping part is sleeved on the upper end of the high-strength screw. A G-clamp adjusting nut is installed on the high-strength screw above the movable upper clamping part by threaded engagement. The distance between the movable upper clamping part and the fixed lower clamping part and the clamping degree can be adjusted by rotating the G-clamp adjusting nut.

[0010] Preferably, the internal clamping assembly includes a connecting arm, a hexagonal rotating tube, a threaded rod, a bearing seat, and a circular foot pad. Two symmetrical connecting arms are installed near the inner walls of both sides of the working bucket of the insulated bucket truck, and the upper end of each connecting arm is fixedly connected to a support plate. Two threaded rods are provided, one with a positive thread at one end and a smooth shaft at the other, and the other with a reverse thread at one end and a smooth shaft at the other. The hexagonal rotating tube has internal threads; one end of the tube is threaded onto the positive thread end of the threaded rod, and the other end is threaded onto the reverse thread end of the threaded rod. The bearing seat is fixed to the side of the connecting arm facing the hexagonal rotating tube; the smooth shaft end of the threaded rod passes through the bearing seat and slides within it; the circular foot pad is fixed to the end of the smooth shaft end of the threaded rod and is used to press against the inner walls of both sides of the working bucket of the insulated bucket truck.

[0011] Preferably, the internal clamping assembly further includes a guide clamping component, which includes a fixed plate, a push plate, a first slide rail, a first slider, a hexagonal screw, a threaded bushing, a round rod, and a second round foot pad. The fixed plate is fixedly connected between the two connecting arms. Two first slide rails are provided and respectively installed on the end faces of the two connecting arms near the fixed plate. Two first sliders are provided and respectively installed on the two first slide rails and slide in cooperation with the first slide rails. The push plate is parallel to the fixed plate and its two ends are respectively fixed to the two first sliders. Fixed connection; the hexagonal screw is installed through a bearing at the center point of the push plate, the threaded bushing is welded to the fixed plate, and the rear end of the hexagonal screw is threadedly engaged with the threaded bushing; at least two round rods are provided, which are parallel to each other and symmetrically installed on both sides of the hexagonal screw. The round rods are fixed through the push plate and slide through the fixed plate with clearance fit; the front ends of the hexagonal screw and the round rods are all equipped with circular foot pads II. The rotation of the hexagonal screw can push the circular foot pads II to press and adhere to the inner wall of the front end of the working bucket of the insulated bucket truck.

[0012] Preferably, the dexterous arm system further includes an insulating rod and an automatic working tool, wherein the insulating rod is clamped and fixed by a clamp, and the automatic working tool is detachably installed at the end of the insulating rod.

[0013] Preferably, the fixture includes a fixed plate, a slide rail, a connecting component, and V-shaped rollers; the fixed plate is fixedly connected to a six-dimensional force control sensor by bolts; two parallel slide rails are provided, each fixed to the end face of the fixed plate, and two sliders are installed on each slide rail, with the sliders slidingly engaging with their corresponding slide rails; the connecting component includes slider connecting pads and connecting brackets; four slider connecting pads are provided and fixedly connected to four sliders respectively; two symmetrical connecting brackets are provided and fixedly connected to two sliders on the upper and lower slide rails; at least two sets of V-shaped rollers are provided, with two in each set, and the two V-shaped rollers in each set are respectively installed in two connecting brackets; the insulating rod is clamped between the two V-shaped rollers in each set. Between the rollers; a lead screw is installed through the two slider connecting pads on at least one of the two slide rails, the lead screw having two symmetrical external thread structures with opposite thread directions, and the two external thread structures respectively engaging with the threaded holes on the corresponding two slider connecting pads; a clamping motor is installed on the fixing plate, the output end of which is fixedly connected to the end of the lead screw, and through the control of the clamping motor, the two slider connecting pads on the lead screw can be driven to move synchronously towards each other or away from each other, thereby driving the relative clamping or opening of the two V-shaped rollers in each group, thus realizing the self-centering clamping or loosening of the insulating rod.

[0014] Preferably, the boom support system includes a support mechanism, a linear module one, a connecting rod rotation assembly, a linear module two, and an insulating rod two; the support mechanism includes a support back plate and a support base plate, the support back plate being vertically fixed to the support plate, and the support base plate being fixed to the outer wall of the working bucket of the insulating boom truck on one side of the support back plate; the linear module one includes a slide rail three, a slider three, and a lead screw two, the slide rail three being arranged along the height direction of the support back plate and fixed to the support back plate and the support base plate, the slider three being mounted on the slide rail three and slidingly engaging with the slide rail three, and the lead screw two being arranged along the length direction of the slide rail three and threadedly engaging with the slider three, with one end of the lead screw two being equipped with... Motor 1, the output shaft of which is fixedly connected to lead screw 2 via a coupling, is used to drive lead screw 2 to rotate, thereby driving slider 3 to move up and down along slide rail 3; the connecting rod rotation assembly includes a connecting plate, bearing connecting rod, bearing seat 1, bearing seat 2, motor 2, and reducer 2. Bearing seat 1 is fixed to the support base plate, and the lower end of the connecting plate is rotatably connected to the support base plate via bearing seat 1; one end of the bearing connecting rod is hinged to the upper end of the connecting plate, and the other end is hinged and fixed to slider 3; bearing seat 2 is fixedly fixed to the connecting plate, and linear module 2 is mounted on bearing seat 2; motor 2 is fixedly connected to reducer 2 and mounted on one side of the connecting plate, reducing... The output shaft of speed reducer 2 is fixedly connected to the module base plate of linear module 2; motor 1 drives slider 3 to move up and down along slide rail 3, which can drive the connecting plate to rotate relative to bearing seat 1 through bearing connecting rod, thereby controlling the overall pitch movement of linear module 2; the linear module 2 includes a module base plate, slide rail 4, slider 4 and lead screw 3. The module base plate is fixedly installed on bearing seat 2, slide rail 4 is fixed on the module base plate, slider 4 is installed on slide rail 4 and slides with slide rail 4, lead screw 3 is arranged along the length of slide rail 4 and threaded with slider 4, motor 3 is installed at one end of lead screw 3, and the output shaft of motor 3 is fixedly connected to lead screw 3. A fixed connection is used to drive the lead screw three to rotate, thereby driving the slider four to move linearly along the slide rail four to achieve telescopic action; a guide baffle is installed at the corresponding position of the other end of the lead screw three, and the guide baffle is fixed to the end of the module base plate away from the motor three. The insulating rod two is installed through the guide hole set in the guide baffle, and a sliding bearing is installed in the guide hole, with the insulating rod two and the sliding bearing forming a clearance fit; a motor is fixedly installed on the slider four through the motor frame, and one end of the insulating rod two is fixedly connected to the output shaft of the motor. When the motor is started, it can drive the insulating rod two to rotate around its own axis. The other end of the insulating rod two is used to bear heavy-duty operations or install auxiliary operation tools.

[0015] Preferably, the automatic operating tool includes a stripper and a surge arrester installation tool, both of which are detachably connected to an insulating rod via a quick-release buckle structure. The quick-release buckle structure includes a claw fixed to the end of the insulating rod and a slot fixed to the tail of the automatic operating tool. The claw and the slot engage to enable quick replacement of the automatic operating tool.

[0016] A method for operating a human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks includes the following steps:

[0017] S1. System Installation:

[0018] The support plate for the fixed installation structure is laid horizontally on the top surface of the working bucket of the insulated bucket truck. A triangular stable support surface is formed by the rectangular tube support. The G-clamp adjusting nut of the heavy-duty G-clamp is rotated to drive the upper clamping part to move closer to the fixed lower clamping part, clamping the support plate and the edge of the working bucket of the insulated bucket truck. The hexagonal rotating tube is rotated to drive the two positive and negative threaded screws to feed towards each other along the bearing seat, so that the first circular foot pad is pressed against the inner wall of both sides of the working bucket of the insulated bucket truck. The hexagonal screw of the guide clamping component is rotated, and the push plate is driven to feed along the slide rail 1 through the threaded engagement of the threaded bushing. This causes the second circular foot pad at the front end of the hexagonal screw and the round rod to press against the inner wall of the front end of the working bucket of the insulated bucket truck, completing the multi-directional clamping and fixing.

[0019] S2. Equipment debugging:

[0020] Select the automatic operation tool according to the operation requirements and install it on the end of the insulating rod through the quick-release buckle structure; start the clamping motor of the fixture, drive the lead screw to rotate, drive the slider connecting pad and connecting bracket to move, so that the V-shaped roller self-centers and clamps the insulating rod; the operator pulls the six-degree-of-freedom robotic arm to verify the force signal acquisition accuracy of the six-dimensional force control sensor and the action response of the robotic arm; debug the load-bearing arm system through the remote terminal, start motor one, motor two, motor three and the motor to ensure that the pitch, rotation, extension and retraction of the linear module two and the rotation of the insulating rod two are precise and controllable;

[0021] S3, Dual-arm coordinated operation:

[0022] The operator continuously pulls the dexterous arm system, using automated tools to perform precise actions such as cable alignment, insulation stripping, or surge arrester installation; a six-dimensional force control sensor collects hand force signals in real time, and the dexterous arm system amplifies human force and filters out posture tremors; at the same time, the operator controls the load-bearing arm system via remote control, with the second insulating rod undertaking heavy-load support, lifting, and high-torque auxiliary operations. The dexterous arm system and the load-bearing arm system complete live-line work through the coordinated distribution of spatial position and force.

[0023] S4. System Disassembly:

[0024] After the operation is completed, rotate the hexagonal screw and hexagonal rotating tube in the opposite direction to detach the two circular foot pads and one circular foot pad from the inner wall of the insulated bucket truck. Rotate the G-clamp adjusting nut in the opposite direction to loosen the heavy-duty G-clamp and disassemble the installation and fixing structure, the dexterous arm system and the load-bearing arm system from the insulated bucket truck's working bucket and store them separately.

[0025] Preferably, in step S3, when the automatic working tool is a wire stripper, motors one, two, and three of the support arm system are first started via remote control command. The position of the insulating rod two is adjusted and it is aligned with the cable to be worked on. The motor is started to drive the insulating rod two to rotate and clamp the cable. The operator pulls the six-degree-of-freedom robotic arm of the dexterous arm system, which drives the wire stripper to cut into the cable insulation layer and moves at a constant speed along the axial direction to complete the stripping of the insulation layer. When the automatic working tool is a surge arrester installation tool, the operator uses the dexterous arm system to drive the surge arrester installation tool to grab the surge arrester and accurately align it with the cable terminal. The support arm system is remotely controlled to make the insulating rod two contact the fastening end of the surge arrester. The motor outputs a preset torque to assist in the fastening installation of the surge arrester.

[0026] The beneficial effects of this invention are as follows:

[0027] (1) The dual-arm auxiliary robotic arm system for live-line operation of power distribution network of the present invention constructs a dual-arm collaborative operation system that combines the dexterous arm force control teaching and the heavy-duty arm remote operation. It retains the core advantages of human decision-making and environmental understanding, and significantly reduces the physical burden and high-torque operation risk of operators by sharing the heavy load and high torque operation tasks through the heavy-duty arm.

[0028] (2) The dual-arm auxiliary robotic arm system for live-line operation of power distribution network of the present invention adopts a multi-directional clamping design of external and internal components for installation and fixing structure. It can be directly integrated into the working bucket of the existing insulated bucket truck without modifying the bucket structure. It takes into account both lightweight and high rigidity, and can achieve quick assembly and disassembly. It is suitable for large-scale promotion and application in power distribution network operation scenarios.

[0029] (3) The dual-arm auxiliary robotic arm system for live-line operation of power distribution network of the present invention has force amplification and vibration filtering functions through the dexterous arm, which can complete fine operations such as high-precision cable alignment and stripping; the load-bearing arm has multi-degree-of-freedom motion capability, which can realize heavy load support and high torque operation. The dual-arm collaborative operation mode significantly improves the accessibility, stability and operation efficiency of short pole live-line operation under complex working conditions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the external clamping assembly structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the internal clamping assembly structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the heavy-duty G-clamp structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the dexterous arm system of the present invention;

[0035] Figure 6 This is a schematic diagram of the clamp structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the weight-bearing arm system of the present invention;

[0037] Figure 8 This is a schematic diagram of the linkage rotation assembly of the weight-bearing arm system of the present invention;

[0038] Figure 9 This is a schematic diagram of the operating state of the present invention.

[0039] In the diagram, 1. Installation and fixing structure; 11. External clamping assembly; 111. Support plate; 112. Rectangular tube support; 113. Heavy-duty G-clamp; 1131. High-strength screw; 1132. Moving upper clamp; 1133. Fixed lower clamp; 1134. G-clamp adjusting nut; 12. Internal clamping assembly; 121. Connecting arm; 122. Hexagonal rotating tube; 123. Threaded screw; 124. Bearing seat; 125. Circular foot pad; 126. Guide clamping component; 1261. Fixing plate; 1262. Push plate; 12 63. Slide rail one; 1264. Slider one; 1265. Hexagonal screw; 1266. Threaded bushing; 1267. Round rod; 1268. Circular foot pad two; 2. Dexterous arm system; 21. Six-DOF robotic arm; 22. Six-dimensional force control sensor; 23. Fixture; 231. Fixing plate one; 232. Lead screw one; 233. Slide rail two; 234. Slider two; 235. Connecting components; 2351. Slider connecting pad; 2352. Connecting bracket; 236. V-roller; 24. Insulating rod one; 25. Automated operation tool. 3. Load-bearing boom system; 31. Support mechanism; 311. Support plate; 312. Support base plate; 32. Linear module one; 321. Slide rail three; 322. Slider three; 323. Lead screw two; 324. Motor one; 325. Coupling; 33. Linkage rotation assembly; 331. Connecting plate; 332. Bearing connecting rod; 333. Bearing seat one; 334. Bearing seat two; 335. Motor two; 336. Reducer two; 34. Linear module two; 341. Module base plate; 342. Slide rail four; 343. Slider four; 344. Lead screw three; 345. Motor three; 346. Guide baffle; 347. Motor frame; 348. Motor; 35. Insulating rod two; 4. Insulated bucket truck working bucket. Detailed Implementation

[0040] The present invention will be further described below with reference to the embodiments. It should be noted that these are merely examples and descriptions of the inventive concept. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the inventive concept or exceed the scope defined in the claims, they should all be considered to fall within the protection scope of the present invention.

[0041] Example 1:

[0042] like Figure 1-8 As shown, the present invention proposes a human-machine collaborative dual-arm auxiliary robotic arm system for live-line work in power distribution networks, comprising: an installation and fixing structure 1 for detachable connection with the working bucket 4 of an insulated bucket truck, a dexterous arm system 2 for performing fine operations, and a load-bearing arm system 3 for undertaking heavy-load operations. The installation and fixing structure 1, the dexterous arm system 2, and the load-bearing arm system 3 are integrated and assembled on the working bucket 4 of the insulated bucket truck.

[0043] The mounting and fixing structure 1 includes an external clamping assembly 11 and an internal clamping assembly 12. The external clamping assembly 11 is used to clamp and fix the bucket edge of the working bucket 4 of the insulated bucket truck, and the internal clamping assembly 12 is used to press and fit against the inner wall of the working bucket 4 of the insulated bucket truck.

[0044] The dexterous arm system 2 adopts a pure force-controlled human-machine collaborative mode, including a six-degree-of-freedom robotic arm 21, a six-dimensional force control sensor 22, and a gripper 23. The six-dimensional force control sensor 22 is fixed to the end of the six-degree-of-freedom robotic arm 21, and the gripper 23 is bolted to the six-dimensional force control sensor 22. The operator applies force with their hands to pull the six-degree-of-freedom robotic arm 21 to achieve precise motion execution, which can amplify human force and filter posture tremors. The load-bearing arm system 3 adopts a remote control operation mode, including a dual linear module structure, which has multi-degree-of-freedom motion capabilities of pitch, rotation, extension, and rotation of the insulating rod to achieve heavy-load support, lifting, and high-torque operations. The dexterous arm system 2 and the load-bearing arm system 3 achieve coordinated distribution of spatial position and force through the insulating rod and end-effector, forming a "human-machine collaborative and dual-arm cooperation" operation architecture.

[0045] The present invention relates to a human-machine collaborative dual-arm auxiliary robotic arm system for live-line work in power distribution networks. It constructs a dual-arm collaborative operation system that combines dexterous arm force control teaching with remote operation of the load-bearing arm. This system retains the core advantages of human decision-making and environmental understanding, while significantly reducing the physical burden on operators and the risks of high-altitude operations by having the load-bearing arm share the heavy-load and high-torque work tasks.

[0046] The present invention relates to a human-machine collaborative dual-arm auxiliary robotic arm system for live-line work in power distribution networks. The installation and fixing structure adopts a multi-directional clamping design from the outside and inside, which can be directly integrated into the working bucket of an existing insulated bucket truck without modifying the bucket structure. It combines lightweight and high rigidity, and can achieve quick assembly and disassembly, making it suitable for large-scale application in power distribution network operation scenarios.

[0047] The present invention relates to a human-machine collaborative dual-arm assisted robotic arm system for live-line work in power distribution networks. The dexterous arm has force amplification and vibration filtering functions, enabling it to perform high-precision cable alignment, stripping, and other delicate operations. The load-bearing arm has multi-degree-of-freedom motion capabilities, enabling heavy-load support and high-torque operations. The dual-arm collaborative operation mode significantly improves the accessibility, stability, and efficiency of short pole live-line work under complex conditions.

[0048] Example 2:

[0049] like Figure 1-8 As shown, this invention proposes a human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks. The system includes a mounting and fixing structure 1, a dexterous arm system 2, and a load-bearing arm system 3. These components are integrated and mounted on the working bucket 4 of an insulated bucket truck. The three work together to form an integrated operational framework of "human-machine collaboration + dual-arm cooperation," retaining the ability for precise human control while also enabling heavy-duty operation assistance. Its specific structure is as follows:

[0050] (I) Installation and fixing structure:

[0051] like Figure 2-4 As shown, the mounting and fixing structure 1 serves as the mounting carrier for the entire system, used to stably fix the dexterous arm system 2 and the load-bearing arm system 3 onto the working bucket 4 of the insulated bucket truck. It includes an external clamping component 11 and an internal clamping component 12, which work together to achieve multi-directional, high-strength clamping and fixing, taking into account both installation convenience and structural stability, without requiring modification to the structure of the working bucket 4 of the insulated bucket truck.

[0052] The external clamping assembly 11 is used to clamp and fix the bucket of the insulated bucket truck 4 along the edge, providing external support and fixing force; the internal clamping assembly 12 is used to press and fit against the inner wall of the insulated bucket truck 4, providing internal resistance support. The two work together to form a three-dimensional clamping structure to prevent the system from shaking or shifting during operation.

[0053] like Figure 2As shown, the external clamping assembly 11 includes a support plate 111, rectangular tube supports 112, and heavy-duty G-clamps 113. These components work together to achieve the external clamping function. The support plate 111 is horizontally laid on the top surface of the insulated bucket truck's working bucket 4, serving as the installation base for the dexterous boom system 2 and the load-bearing boom system 3. Its dimensions are adapted to the top surface of the insulated bucket truck's working bucket 4 to ensure a flat installation. Multiple rectangular tube supports 112 are provided, all welded between the lower end face of the support plate 111 and the outer wall of the insulated bucket truck's working bucket 4, forming a triangular stable support surface. This triangular support structure effectively improves the load-bearing capacity and stability of the support plate 111, preventing deformation under stress. Several heavy-duty G-clamps 113 are provided, symmetrically arranged on both sides of the support plate 111, used to clamp the support plate 111 to the edge of the insulated bucket truck's working bucket 4, achieving external clamping and fixation.

[0054] like Figure 4 As shown, the heavy-duty G-clamp 113 consists of a movable upper clamping part 1132 and a fixed lower clamping part 1133 connected by a high-strength screw 1131, forming a G-shaped structure that is compatible with the structural features of the working bucket 4 edge of the insulated bucket truck and facilitates clamping operation. The fixed lower clamp 1133 is fixedly installed at the lower end of the high-strength screw 1131 and is used to abut against the lower edge of the working bucket 4 of the insulated bucket truck; the movable upper clamp 1132 is sleeved on the upper end of the high-strength screw 1131 and is used to abut against the top surface of the support plate 111; a G-clamp adjusting nut 1134 is installed on the high-strength screw 1131 above the movable upper clamp 1132 by means of threaded engagement. By rotating the G-clamp adjusting nut 1134, the up and down position of the movable upper clamp 1132 along the high-strength screw 1131 can be adjusted, thereby adjusting the distance and clamping degree between the movable upper clamp 1132 and the fixed lower clamp 1133, adapting to bucket edge structures of different thicknesses, and the clamping is firm and reliable.

[0055] like Figure 3 As shown, the internal clamping assembly 12 includes a connecting arm 121, a hexagonal rotating tube 122, a forward and reverse threaded screw 123, a bearing seat 124, and a circular foot pad 125, which are used to achieve left and right clamping and fixing inside the working bucket 4 of the insulated bucket truck. At the same time, in order to further improve the clamping stability, the internal clamping assembly 12 also includes a guide clamping component 126, which is used to achieve front and rear clamping and fixing inside the working bucket 4 of the insulated bucket truck. The left and right clamping and front and rear clamping cooperate to achieve all-round internal clamping.

[0056] Specifically, two symmetrical connecting arms 121 are provided, respectively installed on the inner walls of both sides near the working bucket 4 of the insulated bucket truck. The upper end of the connecting arm 121 is fixedly connected to the support plate 111, and the lower end extends into the working bucket 4 of the insulated bucket truck, serving as a mounting bracket for the internal clamping assembly 12. Two threaded screws 123 are provided, with their structures adapted to each other. One threaded screw 123 has a positive thread at one end and a smooth shaft at the other end, while the other threaded screw 123 has a reverse thread at one end and a smooth shaft at the other end. The hexagonal rotating tube 122 has an internal thread. One end of the tube is threadedly fitted onto the positive thread end of the threaded screw 123, and the other end is threadedly fitted onto the reverse threaded screw 123. The reverse-threaded end of the screw can drive two forward and reverse-threaded screws 123 to move synchronously towards or away from each other by rotating the hexagonal rotating tube 122. The bearing seat 124 is fixed to the side of the connecting arm 121 facing the hexagonal rotating tube 122. The optical axis end of the forward and reverse-threaded screw 123 passes through the bearing seat 124 and slides with the bearing seat 124. The bearing seat 124 is used to guide and support the movement of the forward and reverse-threaded screw 123, ensuring that the movement of the forward and reverse-threaded screw 123 is smooth and avoids deviation. The circular foot pad 125 is fixed to the end of the optical axis end of the forward and reverse-threaded screw 123 and is used to press and fit against the inner walls of both sides of the working bucket 4 of the insulated bucket truck. The circular foot pad 125 is made of insulating and non-slip material, which can increase the friction with the bucket wall, improve the clamping stability, and avoid damage to the bucket wall.

[0057] The guide clamping component 126 includes a fixed plate 1261, a push plate 1262, a slide rail 1263, a slider 1264, a hexagonal screw 1265, a threaded bushing 1266, a round rod 1267, and a round foot pad 1268. Its specific structure and connection relationship are as follows: The fixed plate 1261 is fixedly connected between the two connecting arms 121, serving as the mounting base for the guide clamping component 126; two slide rails 1263 are provided, respectively installed on the two connecting arms 121 near the fixed plate 1261. On one end face, slide rail 1263 is arranged along the front-to-back direction; two sliders 1264 are provided, respectively mounted on the two slide rails 1263 and slidingly engaged with the slide rails 1263, allowing the sliders 1264 to slide smoothly along the slide rails 1263; push plate 1262 is parallel to fixed plate 1261, and its two ends are fixedly connected to the two sliders 1264 respectively, and the movement of sliders 1264 can drive push plate 1262 to move synchronously; hexagonal screw 1265 is installed through the middle of push plate 1262 via bearing. The hexagonal screw 1265 can rotate around its own axis; a threaded bushing 1266 is welded to the fixed plate 1261, and the rear end of the hexagonal screw 1265 is threadedly engaged with the threaded bushing 1266. By rotating the hexagonal screw 1265, the push plate 1262 can be driven to feed back and forth along the slide rail 1263 using the threaded engagement; at least two round rods 1267 are provided, which are parallel and symmetrically installed on both sides of the hexagonal screw 1265. The round rods 1267 are fixed through the push plate 1262 and fixed to the fixed plate 1261. 1. The round rod 1267 is used to guide the movement of the push plate 1262 and prevent the push plate 1262 from tilting or deviating during its movement. The hexagonal screw 1265 and the front end of the round rod 1267 are both equipped with a second round foot pad 1268. The second round foot pad 1268 is made of the same material as the first round foot pad 125. By rotating the hexagonal screw 1265, the second round foot pad 1268 can be pushed to press and fit against the inner wall of the front end of the working bucket 4 of the insulated bucket truck, so as to achieve clamping and fixing in the front and rear directions.

[0058] (II) Dexterous Arm System:

[0059] like Figure 1 , Figure 5 As shown, the dexterous arm system 2 adopts a pure force-controlled human-machine collaborative mode. Its core function is to complete precision tasks such as cable alignment, insulation stripping, and surge arrester installation. It retains the decision-making ability and precision control advantages of human operation while amplifying human strength and filtering out posture vibrations, thus reducing the physical burden and operational difficulty for workers. It includes a six-degree-of-freedom robotic arm 21, a six-dimensional force control sensor 22, and a gripper 23. Furthermore, to adapt to different operational needs, the dexterous arm system 2 also includes an insulating rod 24 and an automated work tool 25. All components work together to achieve precision operation functions.

[0060] Specifically, the six-degree-of-freedom robotic arm 21, serving as the motion carrier of the dexterous arm system 2, possesses multi-degree-of-freedom flexible movement capabilities, adaptable to complex workspaces. One end is fixed to the support plate 111 of the mounting and fixing structure 1, while the other end is used to mount a six-dimensional force control sensor 22. The six-dimensional force control sensor 22, fixed to the end of the six-degree-of-freedom robotic arm 21, is used to collect real-time force signals from the operator's hand, transmitting the signals to the control system to control the movement of the six-degree-of-freedom robotic arm 21, achieving force-controlled coordination. The clamp 23 is bolted to the six-dimensional force control sensor 22, ensuring a secure connection and facilitating disassembly and maintenance. It is used to clamp and fix the insulating rod 24. The insulating rod 24, clamped and fixed by the clamp 23, is made of high-strength insulating material to ensure safety during live-line work. The automatic working tool 25 is detachably mounted on the end of the insulating rod 24, allowing for the replacement of different tools according to operational needs, thus improving the system's versatility.

[0061] The six-degree-of-freedom robotic arm 21, specifically model Elite CS68F, allows the operator to move the arm by gripping the end of the insulated short rod (i.e., insulated rod 24) or directly holding the six-degree-of-freedom robotic arm 21 (during the force control phase, the robotic arm can move any joint arbitrarily). The operator applies force with their hand to pull the six-degree-of-freedom robotic arm 21, and the six-dimensional force control sensor 22 collects the force signal from the hand in real time. The control system drives the six-degree-of-freedom robotic arm 21 to follow the movement based on the signal, achieving precise motion execution. Simultaneously, the system amplifies human strength, reducing the operator's effort burden, and filters out posture vibrations caused by manual operation, improving operational accuracy. It is particularly suitable for long-term, high-precision precision work scenarios.

[0062] like Figure 6 As shown, the clamp 23 is used to achieve self-centering clamping and loosening of the insulating rod 24, ensuring that the insulating rod 24 is firmly fixed and coaxial, and preventing the insulating rod 24 from shifting or shaking during operation. Its specific structure includes a fixing plate 231, a slide rail 233, a connecting component 235 and a V-shaped roller 236. In addition, it also includes a lead screw 232, a slider 234 and a clamping motor. All components work together to achieve the clamping function.

[0063] The fixing plate 231 is fixedly connected to the six-dimensional force control sensor 22 by bolts, serving as the mounting base for the clamp 23. Two parallel slide rails 233 are provided, both fixed to the end face of the fixing plate 231, arranged in a left-right direction, to provide motion guidance for the sliders 234. Each slide rail 233 has two sliders 234 installed on it, which slide smoothly along the corresponding slide rail 233. The connecting component 235 includes four slider connecting pads 2351 and four connecting brackets 2352. Four slider connecting pads 2351 are provided, each fixedly connected to one of the four sliders 234, connecting the sliders 234 to the connecting brackets 2352. Two symmetrical connecting brackets 2352 are provided, each fixedly connected to two sliders 234 on the upper and lower slide rails 233. Movement of the sliders 234 drives the connecting brackets 2352 to move synchronously. At least two sets of V-shaped rollers 236 are provided, with two rollers in each set. The two V-shaped rollers 236 in each set are respectively installed in two connecting brackets 2352. The V-shaped structure can accommodate insulating rods 24 of different diameters, ensuring the coaxiality of the insulating rods 24 when clamped. The insulating rods 24 are clamped between the two V-shaped rollers 236 in each set, and are fixed by the clamping force of the V-shaped rollers 236.

[0064] A lead screw 232 is threaded through the two slider connecting pads 2351 on at least one of the two slide rails 233. The lead screw 232 has two symmetrical external threads with opposite directions, which mesh with the threaded holes on the corresponding slider connecting pads 2351. A clamping motor is mounted on the fixing plate 231, and its output end is fixedly connected to the end of the lead screw 232. When the clamping motor drives the lead screw 232 to rotate, the two external threads of the lead screw 232 move synchronously towards or away from each other, causing the two slider connecting pads 2351 to move synchronously towards or away from each other. The movement of the slider connecting pads 2351 causes the connecting bracket 2352 to move synchronously, which in turn causes the two V-shaped rollers 236 in each group to clamp or open relative to each other, ultimately achieving the self-centering clamping or releasing of the insulating rod 24.

[0065] The automatic tool 25 includes a stripper and a surge arrester installation tool, which can be flexibly replaced according to operational needs. Both are detachably connected to the insulating rod 24 via a quick-release buckle structure. This quick-release structure facilitates rapid tool replacement, saving operation time and improving efficiency. The quick-release buckle structure includes a claw fixed to the end of the insulating rod 24 and a slot fixed to the tail of the automatic tool 25. The claw and slot engage securely and are easy to disassemble, enabling rapid replacement of the automatic tool 25. Simultaneously, a positioning structure is provided between the claw and the slot to ensure that the automatic tool 25 is coaxial with the insulating rod 24 after installation, avoiding any impact on operational accuracy.

[0066] (III) Weight-bearing arm system.

[0067] like Figure 1 , Figure 7 As shown, the lifting arm system 3 adopts a remote control operation mode. Its core function is to undertake heavy-load support, lifting, and high-torque operations, reducing the physical burden on operators. It works in conjunction with the dexterous arm system 2 to achieve dual-arm collaborative operation. It includes a dual linear module structure, possessing multi-degree-of-freedom motion capabilities such as pitch, rotation, extension, and rotation of the insulating rod. It can flexibly adjust its working position and posture to adapt to different heavy-load operation scenarios. Specifically, the lifting arm system 3 includes a support mechanism 31, linear module one 32, a connecting rod rotation assembly 33, linear module two 34, and insulating rod two 35. These components work together to achieve multi-degree-of-freedom motion and heavy-load operation functions.

[0068] The support mechanism 31 serves as the installation base for the boom system 3, used to fix components such as the linear module 32 and the connecting rod rotation assembly 33 to the mounting and fixing structure 1, ensuring the stability of the boom system 3. It includes a support plate 311 and a support base plate 312: the support plate 311 is vertically fixed to the support plate 111 and arranged in the vertical direction, used to install the linear module 32; the support base plate 312 is fixed to the outer wall of the insulated bucket truck working bucket 4 on one side of the support plate 311, and is vertically matched with the support plate 311 to form an L-shaped support structure, which improves the load-bearing capacity and stability of the support mechanism 31 and prevents the boom system 3 from shaking during operation.

[0069] Linear module 1 32 drives the linkage rotation assembly 33 to move, thereby driving linear module 2 34 to achieve pitch motion. It includes a slide rail 321, a slider 322, and a lead screw 2 323, as well as a motor 324 and a coupling 325. The slide rail 321 is arranged along the height direction of the support plate 311 and fixed to the support plate 311 and the support base plate 312, providing motion guidance for the slider 322. The slider 322 is mounted on the slide rail 321 and slides along the slide rail 321, allowing it to move along the slide rail 321. The linear module 324 moves up and down. The lead screw 2 323 is arranged along the length of the slide rail 321 and is threadedly engaged with the slider 322. The rotation of the lead screw 2 323 can drive the slider 322 to move up and down along the slide rail 321. The motor 1 324 is installed at one end of the lead screw 2 323. Its output shaft is fixedly connected to the lead screw 2 323 through the coupling 325. When the motor 1 324 starts, it drives the lead screw 2 323 to rotate through the coupling 325, thereby driving the slider 322 to move up and down along the slide rail 321, providing power for the pitching motion of the linear module 2 34.

[0070] The connecting rod rotation assembly 33 connects linear module one 32 and linear module two 34, converting the linear motion of linear module one 32 into the pitch motion of linear module two 34, and simultaneously realizing the rotational motion of linear module two 34. It includes a connecting plate 331, a bearing connecting rod 332, a bearing housing one 333, a bearing housing two 334, a motor two 335, and a reducer two 336. Bearing housing one 333 is fixed to the support base plate 312. The lower end of the connecting plate 331 is rotatably connected to the support base plate 312 via bearing housing one 333, and the connecting plate 331 can rotate relative to bearing housing one 333. One end of the bearing connecting rod 332 is hinged to the upper end of the connecting plate 331, and the other end is hinged and fixed to slider three 322. When slider three 322 moves up and down, it drives the connecting plate 331 to rotate around bearing housing one 333 via the bearing connecting rod 332. Bearing housing two 334 is a bearing structure where the inner and outer rings can rotate relative to each other. The outer ring of bearing housing two 334... The bearing is fixedly installed in the bearing mounting hole provided in the connecting plate 331, or the outer ring of the bearing housing 334 is fixedly installed on the connecting plate 331 and the outer ring of the bearing housing 334 is coaxial with the bearing mounting hole provided in the connecting plate 331. The module base plate 341 of the linear module 34 is fixedly installed on the inner ring end face of the bearing housing 334 through a flange, which can ensure that the linear module 34 is firmly fixed. The motor 335 and the reducer 336 are fixedly connected and installed on one side of the connecting plate 331. The reducer 336, which is installed on the outer side of the other end face of the inner ring of the bearing housing 334, has its output shaft passing through the bearing mounting hole of the connecting plate 331 and the center hole of the inner ring of the bearing housing 334 and then fixedly connected to the module base plate 341. When the motor 335 starts, it can drive the linear module 34 to rotate around the center axis of the inner ring of the bearing housing 334 after being reduced by the reducer 336, thereby realizing the rotary motion of the linear module 34.

[0071] When motor 324 drives slider 322 to move up and down along slide rail 321, slider 322 drives connecting plate 331 to rotate relative to bearing seat 333 through bearing connecting rod 332. The rotation of connecting plate 331 drives linear module 34 to perform pitch movement as a whole, thereby adjusting the pitch angle of insulating rod 35 to adapt to different working height requirements.

[0072] Linear module 2 34 is used to realize the telescopic movement of insulating rod 2 35. It includes module base plate 341, slide rail 4 342, slider 4 343, and lead screw 3 344. It also includes motor 3 345, guide baffle 346, motor frame 347, and motor 348. Module base plate 341 is fixedly mounted on bearing seat 2 334, serving as the mounting base of linear module 2 34. Slide rail 4 342 is fixed on module base plate 341 and arranged in the front-to-back direction to provide movement for slider 4 343. The sliding guide is a slider 343 mounted on a slide rail 342 and slidingly engaged with it, allowing it to move linearly along the slide rail 342. The lead screw 344 is arranged along the length of the slide rail 342 and threadedly engaged with the slider 343. Rotation of the lead screw 344 drives the slider 343 to move linearly along the slide rail 342, achieving telescopic movement. The motor 345 is mounted at one end of the lead screw 344, and its output shaft is fixedly connected to the lead screw 344, used to drive the lead screw 344 to rotate.

[0073] A guide baffle 346 is fixed to the end of the module base plate 341 away from the motor 345. A guide hole is provided on the guide baffle 346, and the insulating rod 35 is installed through the guide hole. A sliding bearing is installed in the guide hole, and the insulating rod 35 and the sliding bearing form a clearance fit. The sliding bearing is used to guide and lubricate the movement of the insulating rod 35, ensuring that the extension, retraction and rotation of the insulating rod 35 are smooth. The motor frame 347 is fixedly installed on the slider 343 and is used to install the motor 348. The motor 348 is fixedly installed on the motor frame 347, and its output shaft is fixedly connected to one end of the insulating rod 35. When the motor 348 is started, it can drive the insulating rod 35 to rotate 360° around its own axis to achieve high torque operation. The insulating rod 35 is made of high-strength insulating material, and its other end is used to bear heavy loads or install auxiliary tools, undertaking heavy load support, lifting and high torque fastening and other operation tasks.

[0074] The boom system 3 adopts a remote control operation mode. The operator sends commands through the remote terminal to control the start and stop of motor 1 324, motor 2 335, motor 3 345 and motor 348, and then controls the pitch, rotation and extension of linear module 2 34 and the rotation of insulating rod 2 35. This enables remote control of heavy-duty operations, avoids direct contact between operators and heavy-duty components, and reduces physical burden.

[0075] The dexterous arm system 2 and the load-bearing arm system 3 achieve coordinated distribution of spatial position and force through insulated rods and end-effector tools, forming a "human-machine collaboration and dual-arm cooperation" work structure: During operation, the dexterous arm system 2 completes precise work actions under manual traction, while the load-bearing arm system 3 cooperates with the dexterous arm system 2 through remote control operation to undertake heavy-load support, lifting and high-torque auxiliary operations. The two work together to give full play to the advantages of human precision control and decision-making, while using mechanical structure to share the heavy-load labor, greatly improving the safety, stability and efficiency of operation.

[0076] Figure 8 This is a schematic diagram illustrating the operating state of the present invention. For example... Figure 8 As shown in the figure, the application object (insulated bucket truck working bucket 4) and the installation boundary (detachable installation and fixing structure 1) are clearly defined, which can intuitively prove that the present invention can be integrated and deployed on the existing working bucket without modifying the bucket body and supports quick assembly and disassembly, thereby enhancing the evidence of "feasibility", "adaptability" and "engineering usability". At the same time, the figure also presents the task division of "precision operation - heavy load support / high torque assistance": the dexterous boom system 2 is used for precision actions such as cable alignment and stripping, while the load-bearing boom system 3 undertakes support, lifting and high torque assistance.

[0077] Figure 8 The system includes an insulated bucket truck 100 and outriggers, an upper slewing / telescopic boom, and an insulated bucket truck working bucket 4. The working bucket 4 integrates a detachable mounting structure 1 and supports two execution units: a dexterous arm system 2 and a weight-bearing arm system 3. The six-degree-of-freedom robotic arm 21 has a six-dimensional force control sensor 22 and a clamp 23 at its end, allowing operators to perform precise positional adjustments. This system can be used for precise alignment of cables 200 and stripping of their insulation. The weight-bearing arm system 3 has pitch, slewing, telescopic, and self-rotation capabilities of the insulating rod 35. Through the insulating rod 35 and the end tool, it provides support and torque assistance to the cable / fastening end, adapting to the close clamping and axial operation of the stripper, as well as the alignment and fastening assistance during surge arrester installation. This diagram clearly illustrates the implementation method of "two arms completing spatial position and force distribution through the insulating rod and working tools," and the positional relationship between the mounting structure, the dexterous arm, the weight-bearing arm, the insulating rod / tool, and the work object (cable / tower)."

[0078] Based on the above-described structure of a human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks, this invention also discloses a working method based on the above-described human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks. The core steps are as follows, ensuring convenient system installation, proper debugging, standardized operation, and safe disassembly:

[0079] S1. System Installation:

[0080] First, the support plate 111 of the mounting and fixing structure 1 is laid horizontally on the top surface of the working bucket 4 of the insulated bucket truck, ensuring that the support plate 111 is laid flat and the rectangular tube support 112 is in contact with the outer wall of the working bucket 4 of the insulated bucket truck to form a triangular stable support surface; then, the G-clamp adjusting nut 1134 of the heavy-duty G-clamp 113 is rotated to drive the upper clamping part 1132 to approach the fixed lower clamping part 1133, clamping the support plate 111 and the edge of the working bucket 4 of the insulated bucket truck, thus completing the external clamping and fixing;

[0081] Next, rotate the hexagonal rotating tube 122, and use the thread engagement between the hexagonal rotating tube 122 and the two positive and negative thread screws 123 to drive the two positive and negative thread screws 123 to feed towards each other along the bearing seat 124, so that the circular foot pad 125 is pressed and adhered to the inner walls on both sides of the working bucket 4 of the insulated bucket truck, thus completing the internal clamping in the left and right directions.

[0082] Finally, the hexagonal screw 1265 of the rotary guide clamping component 126 drives the push plate 1262 to feed along the slide rail 1263 through the threaded engagement between the hexagonal screw 1265 and the threaded bushing 1266. This causes the circular foot pads 1268 at the front end of the hexagonal screw 1265 and the round rod 1267 to press and adhere to the inner wall of the front end of the working bucket 4 of the insulated bucket truck, completing the internal clamping in the front and rear directions. Through multi-directional clamping from the outside and inside, the system is firmly fixed, preventing shaking during operation.

[0083] S2. Equipment debugging:

[0084] Based on the requirements of this operation, select the corresponding automatic operation tool 25 (stripper or surge arrester installation tool), and install the automatic operation tool 25 onto the end of the insulating rod 24 through the quick-release buckle structure, ensuring that the claws are firmly engaged with the slots and the positioning is accurate.

[0085] The clamping motor of the fixture 23 is started, driving the lead screw 232 to rotate, which in turn moves the slider connecting pad 2351 and the connecting bracket 2352, so that the V-shaped roller 236 self-centers and clamps the insulating rod 24, ensuring that the insulating rod 24 is firmly fixed and the coaxiality meets the standard. Then, the operator pulls the six-degree-of-freedom robotic arm 21 to verify the force signal acquisition accuracy of the six-dimensional force control sensor 22 and the action response of the robotic arm, ensuring that the robotic arm follows smoothly and the force control is accurate, which can effectively amplify human strength and filter posture vibration.

[0086] The load-bearing arm system 3 was debugged via remote terminal. Motor 1 324, Motor 2 335, Motor 3 345 and Motor 348 were started respectively to verify whether the pitch, rotation and extension movements of linear module 2 34 and the rotation movement of insulating rod 2 35 were accurate and controllable, ensuring that each movement was smooth and without jamming, the remote control signal transmission was stable, and the heavy load capacity met the standard. After debugging, the system entered the work preparation state.

[0087] S3, Dual-arm coordinated operation:

[0088] The operator continuously pulls the dexterous arm system 2, using the automatic work tool 25 to complete precise actions such as cable alignment, insulation stripping, or surge arrester installation. During this process, the six-dimensional force control sensor 22 collects the hand force signal in real time. The dexterous arm system 2 amplifies the human force and filters out posture vibrations to ensure work accuracy. At the same time, the operator controls the load-bearing arm system 3 through remote control commands. The insulating rod 35 undertakes heavy-load support, lifting, and high-torque auxiliary work. The dexterous arm system 2 and the load-bearing arm system 3 complete the live-line work through the coordinated distribution of spatial position and force.

[0089] When the automatic tool 25 is a cable stripper, the operation process is as follows: First, the motors 324, 335, and 345 of the support arm system 3 are started by remote control command. The position of the insulating rod 35 is adjusted and it is made to fit the cable to be stripped. Then, the motor 348 is started to drive the insulating rod 35 to rotate and clamp the cable, providing stable support for the stripping operation. The operator pulls the six-degree-of-freedom robotic arm 21 of the dexterous arm system 2 to drive the stripper to cut into the cable insulation layer and move at a constant speed along the axial direction to complete the stripping of the insulation layer. During the stripping process, the support arm system 3 keeps the cable fixed and the dexterous arm system 2 ensures the stripping accuracy.

[0090] When the automatic work tool 25 is used as a surge arrester installation tool, the work process is as follows: The operator uses the dexterous arm system 2 to drive the surge arrester installation tool to grab the surge arrester and accurately align it with the cable terminal; then, the operator remotely controls the load-bearing arm system 3 to adjust the position of the insulating rod 35 so that it contacts the fastening end of the surge arrester; the operator starts the motor 348 to output the preset torque to assist in completing the fastening installation of the surge arrester. During this process, the dexterous arm system 2 maintains accurate alignment, and the load-bearing arm system 3 undertakes the high-torque fastening operation, reducing the physical burden on the operator.

[0091] S4. System Disassembly:

[0092] After the operation is completed, first rotate the hexagonal screw 1265 in the opposite direction to drive the push plate 1262 to move backward, so that the circular foot pad 1268 is separated from the inner wall of the front end of the working bucket 4 of the insulated bucket truck; then rotate the hexagonal rotating tube 122 in the opposite direction to drive the two positive and negative thread screws 123 to move back and forth, so that the circular foot pad 125 is separated from the inner walls on both sides of the working bucket 4 of the insulated bucket truck.

[0093] Finally, rotate the G-clamp adjusting nut 1134 in the opposite direction to loosen the heavy-duty G-clamp 113, release the external clamping fixation, and remove the installation and fixing structure 1, the dexterous arm system 2 and the load-bearing arm system 3 as a whole from the working bucket 4 of the insulated bucket truck. Then, clean, inspect and store them separately for easy use next time.

[0094] This invention discloses a human-machine collaborative dual-arm assisted robotic arm system for live-line work in power distribution networks. It adopts a dual-arm collaborative architecture of "dexterous arm + weight-bearing arm," balancing the needs of precision operation and heavy-duty work. The dexterous arm system 2 retains the advantages of human decision-making and precise control, achieving high-precision operation through a pure force-controlled human-machine collaborative mode, while amplifying human strength, filtering posture vibrations, and reducing the physical burden on operators. The weight-bearing arm system 3 is remotely controlled, undertaking heavy-duty support, lifting, and high-torque operations. The two systems work together to solve the technical problems of high labor intensity and safety risks in traditional short-pole operations, as well as the poor adaptability and high cost of existing robots.

[0095] The present invention discloses a human-machine collaborative dual-arm auxiliary robotic arm system for live-line work in power distribution networks. The installation and fixing structure 1 is reasonably designed, highly adaptable, and highly stable. It adopts a multi-directional clamping method with external clamping component 11 and internal clamping component 12, which eliminates the need to modify the existing insulated bucket truck working bucket 4 structure, and can quickly realize the installation and disassembly of the system, making deployment convenient. The triangular stable support surface and multi-directional clamping work together to ensure that the system is firm and stable during operation, without shaking or deviation, thus improving the safety of operation.

[0096] This invention discloses a human-machine collaborative dual-arm assisted robotic arm system for live-line work in power distribution networks, which is highly versatile and easy to operate: the automatic working tool 25 of the dexterous arm system 2 adopts a quick-release buckle structure, which can be quickly replaced according to the work requirements and adapted to different precision work scenarios; the load-bearing arm system 3 adopts remote control operation, which is simple to operate and responds quickly, allowing operators to remotely control heavy-duty operations and reduce the difficulty of operation; the entire system is integrated into the working bucket 4 of the insulated bucket truck, which is of moderate size and reasonable weight, and is compatible with ordinary insulated bucket trucks, making it easy to promote and apply on a large scale.

[0097] This invention discloses a human-machine collaborative dual-arm assisted robotic arm system for live-line work in power distribution networks, which features high operational precision and good safety: the six-dimensional force control sensor 22 of the dexterous arm system 2 can collect force signals in real time, achieving precise force control coordination, filtering out human posture jitter, and improving the precision of fine operations; both insulating rod 1 24 and insulating rod 2 35 are made of high-strength insulation material to ensure the safety of live-line work; the multi-degree-of-freedom motion capability of the load-bearing arm system 3 can achieve precise positioning for heavy-load operations, avoiding direct contact between operators and live and heavy-load components, and significantly improving the safety margin of operations.

[0098] The above is an exemplary description of the invention. Obviously, the specific implementation of the invention is not limited to the above-described manner. Any non-substantial improvement made using the inventive concept and technical solution of the invention, or the direct application of the inventive concept and technical solution to other situations without modification, is within the protection scope of the invention.

Claims

1. A human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks, characterized in that, include: The mounting and fixing structure (1), the dexterous boom system (2), and the load-bearing boom system (3) are detachably connected to the working bucket (4) of the insulated bucket truck. The mounting and fixing structure (1), the dexterous boom system (2), and the load-bearing boom system (3) are integrated and assembled on the working bucket (4) of the insulated bucket truck. The mounting and fixing structure (1) includes an external clamping assembly (11) and an internal clamping assembly (12). The external clamping assembly (11) is used to clamp and fix with the bucket edge of the insulated bucket truck working bucket (4). The internal clamping assembly (12) is used to press and fit against the inner wall of the insulated bucket truck working bucket (4). The dexterous arm system (2) adopts a pure force control human-machine collaboration mode, including a six-degree-of-freedom robotic arm (21), a six-dimensional force control sensor (22) and a clamp (23). The six-dimensional force control sensor (22) is fixed to the end of the six-degree-of-freedom robotic arm (21), and the clamp (23) is bolted to the six-dimensional force control sensor (22). The operator can perform fine movements by applying force with his hands to pull the six-degree-of-freedom robotic arm (21), and can amplify human strength and filter posture shaking. The load-bearing arm system (3) adopts a remote control operation mode, including a dual linear module structure, and has multi-degree-of-freedom motion capabilities such as pitch, rotation, extension and retraction and the rotation of the insulating rod, so as to realize heavy load support, lifting and high torque operation; the dexterous arm system (2) and the load-bearing arm system (3) achieve coordinated distribution of spatial position and force through the insulating rod and the end working tool, forming a "human-machine collaboration and dual-arm cooperation" operation architecture; The internal clamping assembly (12) includes a connecting arm (121), a hexagonal rotating tube (122), a forward and reverse threaded screw (123), a bearing seat (124), and a circular foot pad (125). The connecting arm (121) has two symmetrical parts, which are respectively installed on the inner walls of the working bucket (4) of the insulated bucket truck, and the upper end of the connecting arm (121) is fixedly connected to the support plate (111). There are two forward and reverse threaded screws (123), one of which has a forward thread at one end and a smooth shaft at the other end, and the other has a reverse thread at one end and a smooth shaft at the other end. The hexagonal rotating tube (122) has an internal thread. One end of the tube is threaded to the positive thread end of the positive thread screw (123), and the other end is threaded to the negative thread end of the negative thread screw (123). The bearing seat (124) is fixed to the side of the connecting arm (121) facing the hexagonal rotating tube (122). The optical axis end of the positive thread screw (123) passes through the bearing seat (124) and slides with the bearing seat (124). The circular foot pad (125) is fixed to the end of the optical axis end of the positive thread screw (123) and is used to press and fit against the inner walls of both sides of the working bucket (4) of the insulated bucket truck. The load-bearing arm system (3) includes a support mechanism (31), a linear module one (32), a connecting rod rotation assembly (33), a linear module two (34), and an insulating rod two (35); the support mechanism (31) includes a support back plate (311) and a support base plate (312), the support back plate (311) is vertically fixed on the support plate (111), and the support base plate (312) is fixed on the outer wall of the insulating bucket truck working bucket (4) on one side of the support back plate (311); the linear module one (32) includes a slide rail three (321), a slider three (322), and a lead screw two (323), the slide rail three (321) is along the support back plate (311) 311) The slider three (322) is arranged and fixed on the support plate (311) and the support base plate (312) in the height direction. The slider three (322) is installed on the slide rail three (321) and slides in cooperation with the slide rail three (321). The screw two (323) is arranged along the length direction of the slide rail three (321) and threaded in cooperation with the slider three (322). One end of the screw two (323) is equipped with a motor one (324). The output shaft of the motor one (324) is fixedly connected to the screw two (323) through a coupling (325) to drive the screw two (323) to rotate, thereby driving the slider three (322) to move up and down along the slide rail three (321). The connecting rod rotation assembly (33) includes a connecting plate (331), a bearing connecting rod (332), a bearing seat one (333), a bearing seat two (334), a motor two (335), and a reducer two (336). The bearing seat one (333) is fixed on the support base plate (312), and the lower end of the connecting plate (331) is rotatably connected to the support base plate (312) through the bearing seat one (333). One end of the bearing connecting rod (332) is hinged to the upper end of the connecting plate (331), and the other end is hinged and fixed to the slider three (322). The bearing seat two (334) is fixed through the connecting plate (331) and fixed to the connecting plate (332). On 31), the linear module two (34) is mounted on the bearing seat two (334); the motor two (335) is fixedly connected to the reducer two (336) and mounted on one side of the connecting plate (331), and the output shaft of the reducer two (336) is fixedly connected to the module base plate (341) of the linear module two (34); the motor one (324) drives the slider three (322) to move up and down along the slide rail three (321), and can drive the connecting plate (331) to rotate relative to the bearing seat one (333) through the bearing connecting rod (332), thereby controlling the linear module two (34) to perform pitch motion as a whole; The linear module two (34) includes a module base plate (341), a slide rail four (342), a slider four (343), and a lead screw three (344). The module base plate (341) is fixedly installed on the bearing seat two (334). The slide rail four (342) is fixed on the module base plate (341). The slider four (343) is installed on the slide rail four (342) and slides in cooperation with the slide rail four (342). The lead screw three (344) is arranged along the length direction of the slide rail four (342) and threadedly engaged with the slider four (343). A motor three (345) is installed at one end of the lead screw three (344). The output shaft of the motor three (345) is fixedly connected to the lead screw three (344) and is used to drive the lead screw three (344) to rotate, thereby driving the slider four (343) to move linearly along the slide rail four (342) to achieve the telescopic action. A guide baffle (346) is installed at the corresponding position of the other end of the lead screw three (344). The guide baffle (346) is fixed to the end of the module base plate (341) away from the motor three (345). The insulating rod two (35) is installed through the guide hole provided in the guide baffle (346). A sliding bearing is installed in the guide hole, and the insulating rod two (35) and the sliding bearing form a clearance fit. A motor (348) is fixedly installed on the slider four (343) through the motor frame (347). One end of the insulating rod two (35) is fixedly connected to the output shaft of the motor (348). When the motor (348) is started, it can drive the insulating rod two (35) to rotate 360° around its own axis. The other end of the insulating rod two (35) is used to bear heavy-duty operations or install auxiliary operation tools.

2. The human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 1, characterized in that, The external clamping assembly (11) includes a support plate (111), a rectangular tube support (112), and heavy-duty G-clamps (113). The support plate (111) is laid horizontally on the top surface of the working bucket (4) of the insulated bucket truck. Multiple rectangular tube supports (112) are provided and welded to the lower end face of the support plate (111) and the outer wall of the working bucket (4) of the insulated bucket truck to form a triangular stable support surface. Several heavy-duty G-clamps (113) are provided and symmetrically arranged on both sides of the support plate (111) for clamping the support plate (111) and the edge of the working bucket (4) of the insulated bucket truck. The heavy-duty G-clamp (113) consists of a movable upper clamp (1132) and a fixed lower clamp (1133) connected by a high-strength screw (1131), forming a G-shaped structure. The fixed lower clamp (1133) is fixedly installed at the lower end of the high-strength screw (1131). The movable upper clamp (1132) is sleeved on the upper end of the high-strength screw (1131). A G-clamp adjusting nut (1134) is installed on the high-strength screw (1131) above the movable upper clamp (1132) by threaded engagement. The distance and clamping degree between the movable upper clamp (1132) and the fixed lower clamp (1133) can be adjusted by rotating the G-clamp adjusting nut (1134).

3. The human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 2, characterized in that, The internal clamping assembly (12) further includes a guide clamping component (126), which includes a fixed plate (1261), a push plate (1262), a slide rail (1263), a slider (1264), a hexagonal screw (1265), a threaded bushing (1266), a round rod (1267), and a round foot pad (1268). The fixed plate (1261) is fixedly connected between two connecting arms (121). Two slide rails (1263) are provided and installed on the end faces of the two connecting arms (121) near the fixed plate (1261). Two sliders (1264) are provided and installed on the two slide rails (1263) and slide in cooperation with the slide rails (1263). The push plate (1262) is parallel to the fixed plate (1261) and its two ends are respectively connected to the fixed plate (1261). Two sliders (1264) are fixedly connected; the hexagonal screw (1265) is installed through the bearing at the center point of the push plate (1262); the threaded bushing (1266) is welded to the fixed plate (1261); the rear end of the hexagonal screw (1265) is threadedly engaged with the threaded bushing (1266); at least two round rods (1267) are provided and are parallel to each other and symmetrically installed on both sides of the hexagonal screw (1265); the round rods (1267) are fixed through the push plate (1262) and are also through the fixed plate (1261) with clearance fit; the front ends of the hexagonal screw (1265) and the round rods (1267) are each equipped with a circular foot pad (1268); the rotation of the hexagonal screw (1265) can push the circular foot pad (1268) to press and adhere to the inner wall of the front end of the working bucket (4) of the insulated bucket truck.

4. The human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 3, characterized in that, The dexterous arm system (2) also includes an insulating rod (24) and an automatic working tool (25). The insulating rod (24) is clamped and fixed by a clamp (23), and the automatic working tool (25) is detachably installed at the end of the insulating rod (24).

5. The human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 4, characterized in that, The clamp (23) includes a fixing plate (231), a slide rail (233), a connecting component (235), and a V-shaped roller (236). The first fixed plate (231) is fixedly connected to the six-dimensional force control sensor (22) by bolts. The second slide rail (233) has two parallel slide rails that are fixed to the end face of the first fixed plate (231). Each slide rail (233) has two sliders (234) installed on it, and the sliders (234) slide in cooperation with the corresponding slide rail (233). The connecting component (235) includes a slider connecting pad (2351) and a connecting bracket (2352). The slider connecting pad (2351) is provided in four parts and is fixedly connected to four sliders (234) respectively. The connecting bracket (2352) is provided in two symmetrical parts and is fixedly connected to two sliders (234) on the upper and lower slide rails (233). The V-shaped rollers (236) are provided in at least two sets of two rollers in each set. The two V-shaped rollers (236) in each set are respectively installed in two connecting brackets (2352). The insulating rod (24) is clamped between the two V-shaped rollers (236) in each set. A lead screw (232) is provided through the two slider connecting pads (2351) on at least one of the two slide rails (233). The lead screw (232) is provided with two symmetrical external thread structures with opposite thread directions, and the two external thread structures respectively mesh with the threaded holes provided on the corresponding two slider connecting pads (2351). A clamping motor is installed on the fixing plate (231), and its output end is fixedly connected to the end of the lead screw (232). By controlling the clamping motor, the two slider connecting pads (2351) on the lead screw (232) can be driven to move synchronously towards each other or away from each other, thereby driving the two V-shaped rollers (236) of each group to clamp or open relative to each other, so as to realize the self-centering clamping or loosening of the insulating rod (24).

6. The human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 5, characterized in that, The automatic operation tool (25) includes a stripper and a surge arrester installation tool. Both the stripper and the surge arrester installation tool are detachably connected to the first insulating rod (24) via a quick-release buckle structure. The quick-release buckle structure includes a claw fixed to the end of the first insulating rod (24) and a slot fixed to the tail of the automatic operation tool (25). The claw and the slot engage to enable quick replacement of the automatic operation tool (25).

7. A method for operating a human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks as described in claim 6, characterized in that: Includes the following steps: S1. System Installation: The support plate (111) of the fixed installation structure (1) is laid horizontally on the top surface of the working bucket (4) of the insulated bucket truck. A triangular stable support surface is formed by the rectangular tube support (112). The G-clamp adjusting nut (1134) of the heavy-duty G-clamp (113) is rotated to drive the upper clamp (1132) to approach the fixed lower clamp (1133) and clamp the support plate (111) and the edge of the working bucket (4) of the insulated bucket truck. Rotate the hexagonal rotating tube (122) to drive the two positive and negative thread screws (123) to feed towards each other along the bearing seat (124), so that the circular foot pad (125) is pressed and adhered to the inner walls on both sides of the working bucket (4) of the insulated bucket truck; The hexagonal screw (1265) of the rotary guide clamping component (126) drives the push plate (1262) to feed along the slide rail (1263) through the threaded engagement of the threaded bushing (1266), which in turn drives the hexagonal screw (1265) and the circular foot pad (1268) at the front end of the round rod (1267) to press and adhere to the inner wall of the front end of the working bucket (4) of the insulated bucket truck, thus completing the multi-directional clamping and fixing; S2. Equipment debugging: Select an automatic operation tool (25) according to the operation requirements and install it at the end of the insulating rod (24) through a quick-release buckle structure; Start the clamping motor of the fixture (23) to drive the lead screw (232) to rotate, which will move the slider connecting pad (2351) and the connecting bracket (2352) so that the V-shaped roller (236) self-centers and clamps the insulating rod (24); the operator pulls the six-degree-of-freedom robotic arm (21) to verify the force signal acquisition accuracy of the six-dimensional force control sensor (22) and the action response of the robotic arm; By debugging the load-bearing arm system (3) through the remote terminal, start motor one (324), motor two (335), motor three (345) and motor (348) to ensure that the pitch, rotation and extension movements of linear module two (34) and the self-rotation movement of insulating rod two (35) are precise and controllable; S3, Dual-arm coordinated operation: The operator continuously pulls the dexterous arm system (2) and completes the fine movements of cable alignment, insulation stripping or surge arrester installation through the automatic operation tool (25); the six-dimensional force control sensor (22) collects the hand force signal in real time, the dexterous arm system (2) amplifies the human body force and filters the posture shaking; at the same time, the operator controls the load-bearing arm system (3) through remote control commands, and the insulating rod two (35) undertakes heavy load support, lifting and high torque auxiliary operation. The dexterous arm system (2) and the load-bearing arm system (3) complete the live operation through the coordinated distribution of spatial position and force. S4. System Disassembly: After the operation is completed, rotate the hexagonal screw (1265) and hexagonal rotating tube (122) in the opposite direction to make the circular foot pads 2 (1268) and 1 (125) separate from the inner wall of the working bucket (4) of the insulated bucket truck. Rotate the G-clamp adjusting nut (1134) in the opposite direction to loosen the heavy-duty G-clamp (113), and remove the mounting and fixing structure (1), the dexterous arm system (2), and the load-bearing arm system (3) from the working bucket (4) of the insulated bucket truck as a whole, and store them separately.

8. The operating method of the human-machine collaborative dual-arm assisted robotic arm system for live-line working in power distribution networks according to claim 7, characterized in that: In step S3, when the automatic working tool (25) is a stripper, the motors 1 (324), 2 (335) and 3 (345) of the support arm system (3) are started by remote control command. The position of the insulating rod 2 (35) is adjusted and it is made to fit the cable to be worked. The motor (348) is started to drive the insulating rod 2 (35) to rotate and clamp the cable. The operator pulls the six-degree-of-freedom robotic arm (21) of the dexterous arm system (2) to drive the stripper to cut into the cable insulation layer and move at a constant speed along the axial direction to complete the stripping of the insulation layer. When the automatic operation tool (25) is a surge arrester installation tool, the operator uses the dexterous arm system (2) to drive the surge arrester installation tool to grab the surge arrester and accurately align it with the cable terminal. The remote control weight-bearing arm system (3) makes the insulating rod two (35) contact the fastening end of the surge arrester, and outputs the preset torque through the motor (348) to assist in completing the fastening installation of the surge arrester.

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