A suspension insulator replacement robot with multi-dimensional adaptability

Abstract

The utility model provides a kind of suspension insulator replacement robot with multi-dimensional adaptability, robot is symmetrical in front and back, the left main frame, right main frame lower end of hexagonal shell of similar of front and back end are respectively hinged to the upper end of base frame, and control bottom frame is provided with opening and closing device, driven element of opening and closing device is installed outside bottom frame, left main frame and right main frame top are connected by two-stage hydraulic telescopic cylinder;Left main frame, right main frame, the inside mounting hole position of two bottom frames are respectively provided with hydraulic lifting buffer device, track moving device is installed on hydraulic lifting buffer device;Left main frame, right main frame inside upper portion and the inside lower portion of two bottom frames are provided with hydraulic buffer device, the frame outside of left main frame, right main frame is fixedly connected with hydraulic telescopic device setting bin, front, rear end is connected by hydraulic telescopic device, and this robot is high in efficiency, good in safety, low in cost, and strong in applicability.

Description

Technical Field

[0001] This utility model belongs to the field of power transmission line maintenance equipment, and in particular relates to a suspension insulator replacement robot with multi-dimensional adaptability. Background Technology

[0002] With the global energy structure transformation, the scale of high-voltage transmission lines has expanded rapidly. my country has made remarkable achievements in the construction of ultra-high-voltage power grids, but the aging of transmission line equipment is a prominent problem, and the failure rate of insulators is rising.

[0003] Insulators, as key components of power transmission lines, are exposed to harsh environments for extended periods, leading to a gradual decline in their insulation performance. Traditional manual replacement of suspension insulators faces numerous challenges, including low efficiency, high risk, and high cost. Taking a 500kV transmission line as an example, replacing a single string of insulators is time-consuming, heavily influenced by environmental factors, and results in an average of less than 120 effective working days per year. Furthermore, the efficiency gap for manual replacement is as high as 37%. In addition, nearly 22% of power line accidents involving high-altitude operations in the past three years occurred during insulator replacement, resulting in significant economic losses.

[0004] Therefore, it is urgent to develop an efficient, safe, and intelligent robot for replacing suspension insulators. Utility Model Content

[0005] The purpose of this invention is to provide a suspension insulator replacement robot with multi-dimensional adaptability. This robot is highly efficient, safe, low-cost, and widely applicable.

[0006] The technical solution of this utility model is a suspension insulator replacement robot with multi-dimensional adaptability, characterized in that the robot has a front-to-back symmetrical structure, is composed of the same main structure, and is divided into front and rear ends.

[0007] The front and rear ends include a hexagonal shell, a hydraulic lifting and buffer device (57), a tracked moving device (59), a hydraulic buffer device (58), a hydraulic telescopic device, a hydraulic robotic arm (60), a hydraulic robotic claw (61), a robotic arm moving platform (4), a six-axis robotic arm (62), and a quick-change device tool mounting table (11).

[0008] The hexagonal shell includes a left main frame (1), a right main frame (2) and two bottom frames (3). The left main frame (1) and the right main frame (2) are symmetrically formed to form the upper half of the hexagonal shell, and the two bottom frames (3) are symmetrically formed to form the lower half of the hexagonal shell. The lower ends of the left main frame (1) and the right main frame (2) are respectively hinged to the upper end of a base frame, and an opening and closing device is provided to control the bottom frame. The opening and closing device includes an opening and closing device motor drive (13) and an opening and closing device driven component (12) hinged to the opening and closing device motor drive (13). The opening and closing device motor drive (13) is installed on the lower part of the outer side of the left main frame (1) and the right main frame (2), and the opening and closing device driven component (12) is installed on the upper side of the outer side of the bottom frame (3). The top of the left main frame (1) is provided with a control system device compartment, and the tops of the left main frame (1) and the right main frame (2) are connected by a two-stage hydraulic telescopic cylinder.

[0009] Hydraulic lifting buffer devices (57) are respectively installed on the inner mounting holes of the left main frame (1), right main frame (2), and two bottom frames (3). Track moving device (59) is installed on the hydraulic lifting buffer device (57). The above four hydraulic buffer devices (57) are symmetrical in pairs. Hydraulic buffer devices (58) are installed on the upper bottom surface of the inner side of the left main frame (1) and right main frame (2) and the lower top surface of the inner side of the two bottom frames (3). The upper and lower hydraulic buffer devices (58) are symmetrically arranged. The left main frame (1) and right main frame (2) are fixedly connected to a cuboid-like open frame as a hydraulic telescopic device placement chamber for installing hydraulic telescopic devices. The front and rear ends are connected through the hydraulic telescopic device. The upper part of the hydraulic telescopic device placement chamber is fixedly connected to a square plate as a hydraulic telescopic cylinder fixing plate for the robotic arm moving platform. The tail of the hydraulic telescopic cylinder (20) of the robotic arm moving platform is connected to it.

[0010] The hydraulic telescopic cylinder fixing plate of the robotic arm mobile platform is equipped with guide rails (19) on the left and right sides. A slider (6) is set on the guide rail (19). The slider (6) is connected to the robotic arm mobile platform connector (5). The robotic arm mobile platform connector (5) is connected to the end of the hydraulic telescopic cylinder (20) of the robotic arm mobile platform. The robotic arm mobile platform (4) is fixed to the robotic arm mobile platform connector (5). A six-axis robotic arm (62) is installed at the front end of the robotic arm mobile platform (4).

[0011] The hydraulic robotic arm (60) is mounted on the support at the front of the left main frame (1) and the right main frame (2) in a concentric manner;

[0012] The quick-change device tool mounting table (11) is installed on the side of the robotic arm moving platform (4).

[0013] The two-axis gimbal camera (18) is installed in the mounting space above the connection position of the robotic arm moving platform (4) and the robotic arm moving platform connector (5); the two-axis gimbal camera (18) is installed on the upper part of the bottom plate inside the bottom frame (3) and inside the hydraulic buffer device (58); the two-axis gimbal camera (18) is also installed in the mounting space inside the left main frame and in front of the hydraulic lifting buffer device (57); the millimeter-wave radar (14) is installed on the mounting bracket at the rear end of the left main frame (1).

[0014] The bottom frame is provided with a hydraulic system compartment and a battery compartment. The hydraulic system compartment is provided with a hydraulic system compartment cover (7). The hydraulic system device (64) is installed inside the hydraulic system compartment. The battery compartment is located on one side of the bottom frame, below the hydraulic system compartment. The battery compartment is provided with a battery placement platform (10). The battery compartment is provided with a battery compartment cover (8). The battery placement platform (10) and the battery compartment cover (8) are connected by a battery compartment cover linkage (9).

[0015] The left main frame (1) and right main frame (1) are structured as a hexagonal prism frame cut into quarters and then nested into a cuboid frame. Reinforcing ribs are set at the corners of the segmented hexagonal prism frame, and reinforcing ribs are set inside the cuboid frame. The sides are triangular hollow structures. The left main frame (1) has a horizontal plate structure inserted 90mm from the top of the segmented hexagonal prism frame, parallel to its edge. Right-angled structures protrude from the front and rear ends of the hexagonal prism frame. Two symmetrical cuboid columns are inserted between the horizontal plate structure and the segmented hexagonal prism frame at the middle of the top. The right main frame (2) has a horizontal plate structure inserted 90mm from the top of the segmented hexagonal prism frame, parallel to its edge. A vertical plate structure is inserted between the horizontal plate structure and the segmented hexagonal prism frame at the middle of the top. The bottom frame (3) is a complete whole formed by splicing a cuboid frame with a hexagonal prism frame cut into quarters at the bottom. Reinforcing ribs are set at the corners of the segmented hexagonal prism frame.

[0016] The hydraulic robotic arm (60) includes a first-stage hydraulic robotic arm (21) and a first-stage hydraulic robotic arm drive hydraulic cylinder (24). The tail end of the first-stage hydraulic robotic arm drive hydraulic cylinder (24) is fixed to the base of the left main frame (1) and the right main frame (2) in a concentric circle connection manner, and the end is fixed to the lower circular hole of the end of the first-stage hydraulic robotic arm (21) in a concentric shaft connection manner. The second circular hole at the tail end of the second-stage hydraulic robotic arm (22) is concentrically connected to the corresponding circular hole at the end of the first-stage hydraulic robotic arm (21). The tail end of the hydraulic cylinder (25) is connected to the corresponding concentric shaft of the upper circular hole of the tail end of the first-level hydraulic arm (21) and the end is connected to the third circular hole of the tail end of the second-level hydraulic arm (22); the second circular hole of the tail end of the third-level hydraulic arm (23) is connected to the corresponding concentric shaft of the upper circular hole of the end of the second-level hydraulic arm (22); the tail end of the hydraulic cylinder (26) driving the third-level hydraulic arm is connected to the corresponding concentric shaft of the upper circular hole of the tail end of the second-level hydraulic arm (22) and the end is connected to the third circular hole of the tail end of the third-level hydraulic arm (23).

[0017] The hydraulic mechanical gripper (61) and the hydraulic cylinder (30) of the hydraulic mechanical gripper are coaxially connected to the first round hole at the tail end of the third-level hydraulic mechanical arm (23). The hydraulic cylinder fixing bracket (27) of the hydraulic gripper is fixed on the third-level hydraulic mechanical arm (23). The front end of the cylinder body of the hydraulic cylinder (30) of the hydraulic gripper is fixed to the hydraulic cylinder fixing bracket (27). The tail end fixing bracket (28) of the hydraulic mechanical gripper is fixed on the third-level hydraulic mechanical arm (23). One end of the hydraulic mechanical gripper linkage (29) is concentrically connected. The other end is connected to the hydraulic mechanical claw tail end fixing bracket (28) in a shaft manner, and is connected to the first round hole at the tail end of the hydraulic mechanical claw arm (31) in a concentric shaft manner; the end of the hydraulic cylinder (30) of the hydraulic mechanical claw is connected to the second round hole at the tail end of the hydraulic mechanical claw arm (31) in a concentric shaft manner; the hydraulic mechanical claw moving mechanism (32) is installed on the hydraulic mechanical claw arm (31), the hydraulic mechanical claw gripper (33) is installed on the hydraulic mechanical claw moving mechanism (32), and a pressure sensor is installed on the hydraulic mechanical claw gripper (33).

[0018] The hydraulic lifting and buffering device (57) comprises a scissor-type lifting structure consisting of a hydraulic lifting and buffering device base (34), a hydraulic lifting and buffering device linkage component (35), a hydraulic lifting and buffering device hydraulic cylinder (36), and a hydraulic lifting and buffering device lifting platform (37). The hydraulic lifting and buffering device base (34) serves as a basic support component, and the hydraulic lifting and buffering device linkage component (35) connects the hydraulic lifting and buffering device hydraulic cylinder (36) and the hydraulic lifting and buffering device lifting platform (37).

[0019] The six-axis robotic arm (62) includes a six-axis robotic arm base (48), a six-axis robotic arm support one (49), a six-axis robotic arm support two (50), a servo motor (51), a six-axis robotic arm support three (52), a six-axis robotic arm support four (53), and a six-axis robotic arm support five (54). It has six degrees of freedom and can perform complex movements in three-dimensional space. Each joint is driven by a high-precision servo motor (51) and controlled by a precise control algorithm. The six-axis robotic arm base (48) is fixed at the front end of the robotic arm moving platform (4) to provide stable support for the entire six-axis robotic arm (62). The six-axis robotic arm support one (49) to the six-axis robotic arm support five (54) are connected to each other to form the frame structure of the robotic arm. The servo motors (51) are installed at each joint.

[0020] The tracked moving device (59) includes a track device frame (38), a drive wheel (39), a stepper motor (40), a driven wheel (41), and track plates (42). The track device frame (38) is the load-bearing structure of the entire tracked moving device (59). The stepper motor (40) is the driving source and is connected to the drive wheel (39). The drive wheel (39) rotates under the drive of the stepper motor (40). The driven wheel (41) cooperates with the drive wheel (39) so that the track plates (42) can surround the drive wheel (39) and the driven wheel (41).

[0021] The hydraulic buffer device (58) includes a hydraulic buffer device base (43), a hydraulic buffer device hydraulic cylinder (44), a hydraulic buffer device linkage (45), a second hydraulic buffer device linkage (46), and a third hydraulic buffer device linkage (47). The hydraulic buffer device base (43) is used to fix the entire hydraulic buffer device (58). The hydraulic buffer device hydraulic cylinder (44) serves as the power component, and the hydraulic buffer device linkage (45), the second hydraulic buffer device linkage (46), and the third hydraulic buffer device linkage (47) cooperate with each other.

[0022] This utility model features a suspension insulator replacement robot with multi-dimensional adaptability.

[0023] (1) High-precision operation: Traditional manual insulator replacement relies on human observation and manual operation, which has large errors in positioning and operation accuracy, making it difficult to ensure the stability of insulator connection and power transmission performance. In contrast, the robot of this utility model uses multimodal perception fusion and precision drive control technology, integrating advanced lidar, millimeter-wave radar and stereo vision system to construct a millimeter-level spatiotemporal alignment positioning network; at the same time, the hydraulic robotic arm adopts a closed-loop dual-pump servo system with a sliding diaphragm variable structure control algorithm to achieve extremely high positioning and force control accuracy. In actual operation, it can accurately connect the tiny gap between the insulator ball head and the cup head, and the overall accuracy is greatly improved compared with the traditional manual method, effectively improving the quality of insulator replacement and the stability of power transmission;

[0024] (2) Strong environmental adaptability: Traditional manual replacement operations are easily limited by environmental factors. In harsh weather conditions such as low temperature and strong wind, the efficiency of manual operation will be greatly reduced, or even impossible. Moreover, long-term operation in environments such as acid rain, strong ultraviolet radiation, and salt spray will also harm the health of personnel. The robot of this utility model has constructed a full-domain environmental adaptive system, and has been optimized in all aspects from materials and mechanical design to intelligent control. It adopts special materials and protective coatings, has buffered articulated tracks and shock-resistant frames, and also realizes precise adjustment of constant tension and dynamic allocation of load priority through intelligent algorithms. This enables the robot to operate stably in harsh environments such as extreme cold, high temperature, strong wind and strong electric field, and is adaptable to a wider range of insulator diameters, greatly expanding the operation scenarios and ensuring the maintenance needs of transmission lines in different environments;

[0025] (3) High-efficiency operation: Traditional manual replacement of insulators is inefficient, and it often takes a long time to replace a single string of insulators. This not only prolongs the power outage time and affects the stability of power supply, but also reduces the operation and maintenance efficiency of power companies. The robot of this utility model adopts the operation paradigm of "intelligent perception - autonomous decision-making - human-machine integration". Based on high-speed communication and advanced algorithms, it realizes rapid path planning and precise operation control. Compared with the traditional manual method, the efficiency of replacing a single string of insulators is significantly improved, enabling power companies to complete more maintenance tasks in the same amount of time, maintain transmission lines in a timely manner, reduce the probability of line faults, improve the reliability of transmission lines, and ensure a stable power supply.

[0026] (4) Cost reduction: Traditional manual replacement of insulators is costly, mainly involving labor costs, equipment rental costs, and economic losses caused by power outages. After using the robot of this utility model, labor costs are greatly reduced, requiring only a small number of operators for remote control; equipment rental costs are also significantly reduced, as the robot integrates multiple functions and does not require the rental of large professional equipment; at the same time, due to the shortened working time, the power outage time is correspondingly reduced, and the economic losses caused by power outages are also greatly reduced.

[0027] (5) Safety Assurance: Traditional manual insulator replacement work poses numerous safety hazards, such as falls from heights and electric shocks, leading to frequent accidents and causing serious economic losses and casualties. This utility model's robot replaces manual labor in dangerous operations, equipped with multiple safety protection mechanisms, such as collision detection, overload protection, leakage protection, and grounding protection. It also has remote monitoring and diagnostic functions, enabling real-time monitoring of operating status and timely detection and handling of potential faults. Using this robot can significantly reduce the accident risks of manual insulator replacement work and effectively protect the lives of power maintenance personnel. Attached Figure Description

[0028] Figure 1 This is a perspective structural diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the main structure of this utility model;

[0030] Figure 3 This is a side view of the structure of this utility model;

[0031] Figure 4 This is a top view of the structure of this utility model;

[0032] Figure 5 This is a schematic diagram of the main structure of the hydraulic robotic arm of this utility model;

[0033] Figure 6 This is a schematic diagram of the main structure of the hydraulic lifting and buffer device of this utility model;

[0034] Figure 7 This is a schematic diagram of the main structure of the hydraulic buffer device of this utility model;

[0035] Figure 8 This is a schematic diagram of the main structure of the tracked moving device of this utility model;

[0036] Figure 9 This is a schematic diagram of the front view of the six-axis robotic arm of this utility model;

[0037] Figure 10 This is a schematic diagram of the main structure of the tool quick-change device of this utility model.

[0038] In the diagram: 1. Right main frame; 2. Left main frame; 3. Bottom frame; 4. Robotic arm moving platform; 5. Robotic arm moving platform connector; 6. Slider; 7. Hydraulic system hatch cover; 8. Battery hatch cover; 9. Battery hatch cover linkage; 10. Battery placement platform; 11. Quick-change device tool placement table; 12. Opening and closing device driven component; 13. Opening and closing device motor drive component; 14. Millimeter-wave radar; 15. Two-stage hydraulic telescopic cylinder; 16. LiDAR; 17. Lithium-ion battery; 18. Two-axis gimbal camera; 19. Guide rail; 2 0. Hydraulic telescopic cylinder for robotic arm mobile platform; 21. First-stage hydraulic robotic arm; 22. Second-stage hydraulic robotic arm; 23. Third-stage hydraulic robotic arm; 24. First-stage hydraulic robotic arm drive cylinder; 25. Second-stage hydraulic robotic arm drive cylinder; 26. Third-stage hydraulic robotic arm drive cylinder; 27. Hydraulic gripper hydraulic cylinder mounting bracket; 28. Hydraulic gripper tail end mounting bracket; 29. ​​Hydraulic gripper linkage component; 30. Hydraulic gripper hydraulic cylinder; 31. Hydraulic gripper arm; 32. Hydraulic press 33. Hydraulic mechanical gripper; 34. Hydraulic lifting and buffer device base; 35. Hydraulic lifting and buffer device linkage; 36. Hydraulic lifting and buffer device hydraulic cylinder; 37. Hydraulic lifting and buffer device lifting platform; 38. Track device frame; 39. Drive wheel; 40. Stepper motor; 41. Driven wheel; 42. Track plate; 43. Hydraulic buffer device base; 44. Hydraulic buffer device hydraulic cylinder; 45. Hydraulic buffer device linkage; 46. Hydraulic buffer device linkage component two; 47. Hydraulic buffer device linkage component three ; 48. Six-axis robotic arm base; 49. Six-axis robotic arm bracket one; 50. Six-axis robotic arm bracket two; 51. Servo motor; 52. Six-axis robotic arm bracket three; 53. Six-axis robotic arm bracket four; 54. Six-axis robotic arm bracket five; 55. Tool quick-change device female end; 56. Tool quick-change device female end; 57. Hydraulic buffer lifting device; 58. Hydraulic buffer device; 59. Tracked movement device; 60. Hydraulic robotic arm; 61. Hydraulic robotic gripper; 62. Six-axis robotic arm; 63. Control system device; 64. Hydraulic system device. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] Please see Figure 1-10This utility model provides a technical solution: a suspension insulator replacement robot with multi-dimensional adaptability. The robot has a front-to-back symmetrical structure, divided into a front end and a rear end. The front end and the rear end have the same structure, including a hexagonal shell, a hydraulic lifting and buffer device 57, a hydraulic buffer device 58, a tracked moving device 59, a hydraulic telescopic device, a hydraulic robotic arm 60, a hydraulic robotic claw 61, a robotic arm moving platform 4, a six-axis robotic arm 62, a tool quick-change device, a battery compartment, and a hydraulic system compartment.

[0041] The hexagonal shell consists of a left main frame 1, a right main frame 2, and a bottom frame 3, with two bottom frames 3 at the bottom. The external structures of the left main frame 1 and the right main frame 2 are symmetrical, and the right main frame 2 has an additional lidar mounting bracket. The upper part of the left main frame 1 has a control system device compartment and a hydraulic telescopic device end connection structure, while the interior of the right main frame 2 is a hydraulic telescopic device mounting structure. The right main frame 2 protrudes at a right angle from the left main frame 1.

[0042] The external structures of the left main frame 1 and the right main frame 2 are symmetrical. Taking the left main frame 1 as an example, the rectangular box-shaped opening frame protruding from the outside of the left main frame is the housing for the hydraulic telescopic device. The hydraulic telescopic device is placed inside the housing, and its tail is connected to the tail of the frame. The square plate protruding from the upper part of the rectangular box-shaped opening frame is the fixing plate for the hydraulic telescopic cylinder of the robotic arm moving platform. The tail of the hydraulic telescopic cylinder (20) of the robotic arm moving platform is connected to it. Guide rails 19 are installed on the left and right sides of the fixing plate for the hydraulic telescopic cylinder of the robotic arm moving platform. A slider 6 is set on the guide rail 19. The slider 6 is connected to the connecting piece 5 of the robotic arm moving platform. The robotic arm moving platform 4 is fixed to the connecting piece 5 of the robotic arm moving platform. The end of the hydraulic telescopic cylinder 20 of the robotic arm moving platform is installed on the connecting piece 5 of the robotic arm moving platform. The six-axis robotic arm 6) is installed. The quick-change tool mounting table 11 is installed on the side of the robotic arm mobile platform 4, and the two-axis gimbal camera 18 is installed in the mounting space above the connection position between the robotic arm mobile platform 4 and the robotic arm mobile platform connector 5. The hydraulic robotic arm 60 is installed on the bracket at the front of the left main frame 1 in a concentric manner. The hydraulic lifting buffer device 57 is installed in the mounting hole on the inner side of the left main frame 1, and the track moving device 59 is installed on the hydraulic lifting buffer device 57. The hydraulic buffer device 58 is installed at the lower end of the top plate on the inner side of the left main frame 1. The two-axis gimbal camera 18 is also installed in the mounting space on the inner side of the left main frame and in front of the hydraulic lifting buffer device 57. The millimeter-wave radar 14 is installed on the mounting bracket at the rear end of the left main frame 1.

[0043] The structural differences between the left main frame 1 and the right main frame 2 are as follows: the control system device 63 is installed in the control system device compartment at the top of the left main frame 1; the end of the secondary hydraulic telescopic cylinder 15 is installed at the mounting position of the inner baffle of the left main frame 1, and the tail end is installed in the hydraulic telescopic device mounting structure inside the right main frame 2; the bottom frame 3 is connected to the left main frame 1 and the right main frame 2 respectively through the opening and closing device motor drive 13, the opening and closing device driven 12, and its own shaft; the hydraulic system device 64 is installed in the hydraulic system compartment on the side of the bottom frame 3, and the hydraulic system compartment cover 7 is closed on the bottom frame. The battery is placed on the hydraulic system compartment on the side of the bottom frame 3. The battery placement platform 10 is connected to the battery compartment at the bottom of the bottom frame 3. One end of the battery compartment cover linkage 9 is connected to the battery placement platform 10, and the other end is connected to the battery compartment cover 8. The battery compartment cover 8 is connected to the lower end of the battery compartment at the bottom of the bottom frame 3. The hydraulic lifting buffer device 57 is installed on the mounting hole on the inner side of the bottom frame 3. The track moving device 59 is installed on the hydraulic lifting buffer device 57. The hydraulic buffer device 58 is installed on the upper end of the bottom plate on the inner side of the bottom frame 3. The two-axis gimbal camera 18 is installed on the upper end of the bottom plate on the inner side of the bottom frame 3 and inside the hydraulic buffer device 58.

[0044] The left main frame 1 is a structure consisting of a hexagonal prism frame cut into quarters and then nested into a cuboid frame. Reinforcing ribs are set at the corners of the segmented hexagonal prism frame, and reinforcing ribs are also set inside the cuboid frame. The sides have a triangular hollow structure. The semi-oval perforated structure at the front end of the upper part of the cuboid frame is the base of the hydraulic robotic arm, and the square at the rear end is the mounting bracket for the hydraulic telescopic device. There are four square protrusions on both sides as guide rail mounting brackets. The cuboid frame on the outside of the segmented hexagonal prism frame and the bottom of the cuboid frame is the mounting bracket for the hydraulic corner cylinder. The bottom of the cuboid frame has an "L" shaped slot. A horizontal plate structure parallel to the edge of the segmented hexagonal prism frame is inserted 90mm from the top. Right-angled structures protrude from the front and rear ends of the outer side of the hexagonal prism frame. Two symmetrical cuboid columns are inserted between the horizontal plate structure and the top of the segmented hexagonal prism frame.

[0045] The right main frame 2 is a structure consisting of a hexagonal prism frame cut into quarters and then nested within a cuboid frame. Reinforcing ribs are installed at the corners of the segmented hexagonal prism frame, and reinforcing ribs are also present inside the cuboid frame, with triangular openwork structures on the sides. The semi-oval perforated structure at the front of the upper part of the cuboid frame serves as the base for a hydraulic robotic arm, while the square structure at the rear serves as a mounting bracket for a hydraulic telescopic device. Four square protrusions on either side serve as guide rail mounting brackets. The cuboid frame on the outer side of the segmented hexagonal prism frame and the lower side of the cuboid frame serves as a mounting bracket for a hydraulic corner cylinder, with an "L"-shaped slot on the lower side of the cuboid frame. A horizontal plate structure parallel to the edge of the segmented hexagonal prism frame is inserted 90mm from the top, and a vertical plate structure is inserted between the horizontal plate structure and the top of the segmented hexagonal prism frame.

[0046] The bottom frame 3 is a quarter-section structure of a hexagonal prism frame, joined to a rectangular frame at the bottom to form a complete unit. Reinforcing ribs are placed at the corners of the segmented hexagonal prism frame. The hexagonal shell primarily protects and supports the internal components, ensuring the robot's structural integrity in complex outdoor environments. Its unique structural design helps distribute stress, enhances overall strength, and adapts to harsh conditions such as strong winds and vibrations. Simultaneously, the shell's layout facilitates the installation and placement of various sensors and actuators, enabling the robot to perceive its environment comprehensively and execute tasks efficiently. The symmetrical design of the left main frame 1 and right main frame 2 optimizes the installation space and stress distribution; the bottom frame 3 is securely connected to the left and right main frames, bearing the robot's weight.

[0047] The hydraulic robotic arm 60 includes a primary hydraulic robotic arm 21 and a primary hydraulic robotic arm drive hydraulic cylinder 24. The tail end of the primary hydraulic robotic arm drive hydraulic cylinder 24 is fixed to the base of the left main frame 1 and the right main frame 2 in a concentric circle connection manner, and the end is fixed to the lower circular hole of the end of the primary hydraulic robotic arm 21 in a concentric shaft connection manner. The second circular hole at the tail end of the secondary hydraulic robotic arm 22 is concentrically connected to the corresponding circular hole at the end of the primary hydraulic robotic arm 21. The secondary hydraulic robotic arm drive hydraulic cylinder... The tail end of cylinder 25 is concentrically connected to the upper circular hole at the tail end of the first-stage hydraulic robotic arm 21, and its end is concentrically connected to the third circular hole at the tail end of the second-stage hydraulic robotic arm 22. The second circular hole at the tail end of the third-stage hydraulic robotic arm 23 is concentrically connected to the upper circular hole at the end of the second-stage hydraulic robotic arm 22. The tail end of the third-stage hydraulic robotic arm drive cylinder 26 is concentrically connected to the upper circular hole at the tail end of the second-stage hydraulic robotic arm 22, and its end is concentrically connected to the third circular hole at the tail end of the third-stage hydraulic robotic arm 23. This hydraulic robotic arm has three degrees of freedom, is driven by a high-performance hydraulic system, has an angle adjustment accuracy of ±0.5°, a telescopic displacement accuracy of ±1mm, and a maximum pulling force of ten tons. The hydraulic robotic arm 60 is mainly used to perform key operations such as gripping, handling, and installing insulators. It has flexible and precise positioning capabilities and strong pulling force, and can adapt to insulator replacement tasks in different positions and working conditions. Equipped with an advanced intelligent control system and various sensors, such as laser rangefinders and visual recognition sensors, it can perceive the surrounding environment and insulator status in real time, automatically adjust its movement trajectory and attitude, and support remote operation and programmable control, effectively improving work efficiency and safety. It has three active degrees of freedom, with an angle adjustment accuracy of ±0.5°, a telescopic displacement accuracy of ±1mm, and a maximum tensile force of several tons. Employing a dual-pump, dual-circuit closed-loop system, it features an axial piston pump and an electro-hydraulic servo valve. The system pressure is 35MPa, and through a sliding diaphragm variable structure control algorithm, it achieves a position control accuracy of ±0.2mm and a force control accuracy of ±1.5%.

[0048] In the hydraulic mechanical gripper 61, the hydraulic cylinder 30 of the hydraulic mechanical gripper is concentrically connected to the first round hole at the tail end of the third-stage hydraulic mechanical arm 23. The hydraulic cylinder fixing bracket 27 of the hydraulic mechanical gripper is fixed on the third-stage hydraulic mechanical arm 23. The front end of the cylinder body of the hydraulic cylinder 30 of the hydraulic mechanical gripper is fixed to the hydraulic cylinder fixing bracket 27 of the hydraulic mechanical gripper. The tail end fixing bracket 28 of the hydraulic mechanical gripper is fixed on the third-stage hydraulic mechanical arm 23. One end of the hydraulic mechanical gripper linkage 29 is concentrically connected to the tail end fixing bracket 28 of the hydraulic mechanical gripper, and the other end is concentrically connected to the first round hole at the tail end of the hydraulic mechanical gripper arm 31. The end of the hydraulic cylinder 30 of the hydraulic mechanical gripper is concentrically connected to the second round hole at the tail end of the hydraulic mechanical gripper arm 31. The hydraulic mechanical gripper moving mechanism 32 is installed on the hydraulic mechanical gripper arm 31. The hydraulic mechanical gripper claw 33 is installed on the hydraulic mechanical gripper moving mechanism 32. A pressure sensor is installed on the hydraulic mechanical gripper claw 33. The maximum gripping force is ten tons, and the angle of the mechanical gripper joint can be freely adjusted. The primary function of the hydraulic mechanical gripper 61 is to firmly grasp insulators, ensuring their stability during handling and replacement. Manufactured with high-strength materials, its inner surface is covered with a special anti-slip and wear-resistant material, and its adjustable joint angle allows it to closely conform to the surfaces of insulators of different shapes and sizes, preventing slippage during operation. It can monitor contact stress distribution in real time and dynamically adjust the hydraulic cylinder flow through a PID algorithm, achieving a force control accuracy of 0.1N. This ensures stable gripping of insulators under various working conditions, with a maximum gripping force of ten tons. The joint angle of the mechanical gripper is freely adjustable.

[0049] The hydraulic lifting and buffering device 57 comprises a scissor-type lifting structure consisting of a hydraulic lifting and buffering device base 34, a hydraulic lifting and buffering device linkage 35, a hydraulic lifting and buffering device hydraulic cylinder 36, and a hydraulic lifting and buffering device lifting platform 37. The hydraulic lifting and buffering device base 34 serves as the basic support component, while the hydraulic lifting and buffering device linkage 35 connects the hydraulic lifting and buffering device hydraulic cylinder 36 and the hydraulic lifting and buffering device lifting platform 37. This device is primarily used to precisely adjust the height of the robot's working platform to accommodate insulators of different heights and diameters. During operation, it effectively buffers vibrations caused by height changes, equipment movement, or external impacts, ensuring the stability and accuracy of the robot's operation. Employing closed-loop servo control technology and a high-precision pressure sensor, it can stably bear a rated load of 200kg. Stepless speed regulation of 0.5-5mm / s is achieved through an electro-hydraulic proportional valve, with a stroke range of up to 500mm and a positioning accuracy of ±0.2mm. The innovatively designed hydraulic buffer module uses a polyurethane buffer pad, which can absorb more than 80% of the impact energy at the end of the stroke, effectively reducing equipment wear and extending service life.

[0050] The six-axis robotic arm 62 consists of a six-axis robotic arm base 48, a first six-axis robotic arm support 49, a second six-axis robotic arm support 50, servo motors 51, a third six-axis robotic arm support 52, a fourth six-axis robotic arm support 53, and a fifth six-axis robotic arm support 54. It possesses six degrees of freedom, enabling complex movements in three-dimensional space. Each joint is driven by a high-precision servo motor 51 and controlled by a precise control algorithm. Specifically, the six-axis robotic arm base 48 is fixed to the front end of the robotic arm moving platform 4, providing stable support for the entire six-axis robotic arm 62. The first to fifth six-axis robotic arm supports 49 to 54 are interconnected, forming the frame structure of the robotic arm. The servo motors 51 are installed at each joint. The six-axis robotic arm 62 has the ability to perform complex movements in three-dimensional space, simulating human hand actions, precisely adjusting the end-effector posture, and adapting to various complex insulator replacement tasks, such as insulator installation and removal operations at different angles and positions. Equipped with a variety of advanced sensors, such as encoders, laser displacement sensors, and force sensors, it achieves high-precision operation through sensor collaboration and advanced control algorithms, with positioning accuracy reaching the millimeter level or even higher. It also employs adaptive error compensation technology to automatically detect and compensate for errors caused by factors such as mechanical structure deformation and environmental temperature changes, ensuring operational accuracy. Furthermore, it possesses intelligent task execution capabilities, featuring an intelligent path planning system that automatically plans a safe and efficient movement path based on the current position, target position, and surrounding environment information. It also has adaptive task adjustment capabilities, automatically adjusting operating parameters according to differences in insulator shape, size, and connection method.

[0051] The tracked mobile device 59 includes a track frame 38, drive wheels 39, a stepper motor 40, driven wheels 41, and track plates 42. The track frame 38 is the load-bearing structure of the entire tracked mobile device 59. The stepper motor 40 is the drive source, connected to the drive wheels 39, which rotate under the drive of the stepper motor 40. The driven wheels 41 cooperate with the drive wheels 39, allowing the track plates 42 to wrap around the drive wheels 39 and 41. The tracked mobile device 59 enables the robot to move stably on power transmission line insulators, possessing good terrain adaptability and capable of traversing gaps and obstacles of a certain width. Its high-precision positioning system ensures that the robot accurately reaches the work position during movement, providing reliable assurance for subsequent insulator replacement operations. The track plates are made of rubber-metal composite material with a special pattern on the surface to enhance grip and effectively prevent slippage on smooth insulators, ensuring stable movement of the robot under different working conditions.

[0052] The hydraulic buffer device 58 includes a hydraulic buffer device base 43, a hydraulic buffer device hydraulic cylinder 44, a hydraulic buffer device linkage 45, a second hydraulic buffer device linkage 46, and a third hydraulic buffer device linkage 47. The hydraulic buffer device base 43 is used to fix the entire hydraulic buffer device 58; the hydraulic buffer device hydraulic cylinder 44 serves as the power component; and the hydraulic buffer device linkages 45, 46, and 47 cooperate with each other. The hydraulic buffer device 58 is mainly used to buffer the impact forces generated by various factors during robot operation, protect the robot's internal precision components, reduce vibration damage to the equipment, ensure stable operation of the equipment, and extend the equipment's service life. It is installed through a specific fixing method and utilizes hydraulic principles, with the coordinated work of related linkage components to achieve the buffering effect.

[0053] When the robot begins operation, the tracked movement device 59 plays a crucial role. The stepper motor 40, acting as the drive source, outputs stable power, driving the connected drive wheel 39 to rotate. The rotation of the drive wheel 39 causes the track plates 42 to circulate around the drive wheel 39 and the driven wheel 41, enabling the robot to move smoothly on the power transmission line insulators. During movement, the robot relies on a high-precision positioning system to determine its position. This positioning system integrates data from multiple advanced sensors, including a lidar 16, a millimeter-wave radar 14, and a two-axis gimbal camera 18. The lidar emits a laser beam and accurately calculates the distance between the robot and surrounding objects by measuring the time of reflected light, thus acquiring three-dimensional information about the surrounding environment. The millimeter-wave radar uses electromagnetic waves in the millimeter-wave band to detect the distance, speed, and angle of target objects, maintaining high accuracy even in complex environments. The two-axis gimbal camera can flexibly adjust its shooting angle to capture real-time images of the robot's surroundings, allowing operators to intuitively observe the robot's working environment. These sensors work together to provide the robot with precise position information, enabling it to accurately move to the location of the insulator to be replaced. When encountering gaps and obstacles on the track, the rubber-metal composite material and special surface pattern of the track plates play a crucial role. This material and pattern design greatly enhance the grip between the tracks and insulators, ensuring that the robot will not slip under complex working conditions, thus stably crossing obstacles and successfully reaching the work point.

[0054] Once the robot reaches the designated work position, the hydraulic lifting and buffering device 57 is activated. Upon receiving a control command, the hydraulic cylinder 36 of the hydraulic lifting and buffering device generates a stable thrust, driving the linkage 35 of the hydraulic lifting and buffering device to move. Since the linkage 35 is connected to both the hydraulic cylinder 36 and the lifting platform 37, the lifting platform 37 rises or falls according to actual needs, precisely adjusting the height of the robot's work platform to accommodate insulators of different heights and diameters. During height adjustment, the hydraulic buffer module of the hydraulic lifting and buffering device plays a crucial buffering role. This module uses a polyurethane buffer pad, which absorbs over 80% of the impact energy when the robot changes height, moves, or is subjected to external impacts. This effectively reduces equipment vibration, preventing a decrease in operational accuracy due to vibration and providing a stable platform for subsequent precise operations. Simultaneously, the hydraulic buffering device 58 plays a vital role throughout the entire robot's operation. The hydraulic buffer device base 43 securely fixes the entire device to the robot. The hydraulic cylinder 44 of the hydraulic buffer device serves as the power component. When the robot is impacted, the hydraulic buffer device linkage 45, hydraulic buffer device linkage two 46 and hydraulic buffer device linkage three 47 work together to convert the impact force into hydraulic energy and absorb and buffer it, thereby protecting the precision components inside the robot and extending the service life of the equipment.

[0055] After the robot platform height is adjusted, the six-axis robotic arm 62 first switches to inspection mode. The six-axis robotic arm has six degrees of freedom, enabling complex movements in three-dimensional space. Each joint is driven by a high-precision servo motor 51 and controlled by a precise control algorithm. During inspection, the six-axis robotic arm flexibly adjusts its posture, accurately moving the inspection tool to various inspection positions on the insulator. Simultaneously, the gimbal camera and the robotic arm end-effector camera work together to observe and photograph the insulator from all angles. The gimbal camera can rotate flexibly in both horizontal and vertical directions, expanding the field of view; the robotic arm end-effector camera can capture close-up, clear images of the insulator's details. Using the image information acquired by these cameras, operators can intuitively judge the insulator's condition or perform automatic inspection using image recognition algorithms. If damage to the insulator is detected, the six-axis robotic arm quickly switches to replacement mode. At this point, the hydraulic robotic arm 60 begins to function. The hydraulic robotic arm is driven by a high-performance hydraulic system, employing a closed-loop dual-pump servo system combined with a sliding film variable structure control algorithm. Upon receiving control commands, each driving hydraulic cylinder of the hydraulic robotic arm operates according to a predetermined program, precisely adjusting the posture of the hydraulic robotic arm. Its angle adjustment accuracy can reach ±0.5°, and its telescopic displacement accuracy can reach ±1mm, enabling it to accurately move the hydraulic mechanical gripper 61 to the position of the insulator to be replaced. Driven by the hydraulic mechanical arm, the hydraulic mechanical gripper approaches the insulator. Based on feedback from the pressure sensor, the hydraulic cylinder 30 of the hydraulic mechanical gripper dynamically adjusts the hydraulic cylinder flow rate through a PID algorithm, achieving a force control accuracy of 0.1N. The hydraulic mechanical gripper is made of high-strength materials, with its inner surface covered with a special anti-slip and wear-resistant material, and the joint angle of the gripper is freely adjustable. When gripping the insulator, the mechanical gripper can closely adhere to the surface of the insulator, ensuring that the insulator will not slip during handling and replacement. Simultaneously, the hydraulic telescopic device starts working, pulling both ends of the insulator to prepare for subsequent disassembly operations. After the clamping device firmly grips the damaged insulator, the replacement tool accurately pulls out the pins connecting the left and right sides of the damaged insulator, then removes the damaged insulator and places it in the storage area.

[0056] After removing the damaged insulator, the robotic arm retrieves a new insulator from storage and installs it using a combination of a six-axis robotic arm and a hydraulic robotic arm. The six-axis robotic arm, with its precise three-dimensional movement, simulates human hand movements to finely adjust the new insulator's orientation; the hydraulic robotic arm provides stable support and precise positioning, ensuring the new insulator is accurately installed in the designated location. When installing the pin, the tool robotic arm, under high-precision control, accurately inserts the pin into the corresponding hole, completing the installation of the new insulator. After installation, the six-axis robotic arm switches back to the inspection device to perform a comprehensive inspection of the replaced insulator. The inspection includes verifying the accuracy of the insulator's installation position, the security of the connections, and the normality of its electrical performance. If the inspection results indicate that the insulator is functioning correctly, the six-axis robotic arm, hydraulic telescopic device, hydraulic gripper, and other components return to their original positions according to a pre-programmed sequence. If there are more insulators to be replaced, the robot will repeat the above series of operations, including movement, inspection, and replacement. Once all insulator replacements are completed, the hydraulic angle cylinder opens, and the robot awaits being lifted back to the ground by a drone, completing the entire task. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0057] During robot operation, if a sudden fault occurs, such as a sensor failure or mechanical component jamming, the robot's multiple safety protection mechanisms and fault diagnosis system will be activated immediately. When the collision detection system detects an abnormality, the robot stops its current action to prevent collision damage. The control system quickly diagnoses the fault and determines its type and severity. If it is a minor fault, such as a temporary loss of a sensor signal, the robot continues to operate using backup sensor data and records the fault information. Repairs will be carried out after the operation is completed. If the fault is more serious, such as a hydraulic system leak, the robot will activate the emergency procedure. The hydraulic buffer device (58) will quickly play its role to buffer the equipment shaking caused by the fault. At the same time, the robot sends a fault alarm information to the operator through the communication system, detailing the fault situation. The operator can then remotely control the robot to carry out emergency handling based on the fault information. For example, the robot can be moved to a safe area to prevent the fault from escalating and affecting the safety of the power transmission line. After reaching a safe area, the robot waits for professional maintenance personnel to carry out repairs. Once the repairs are completed, the robot can be put back into operation. This new type of suspension insulator replacement robot improves the efficiency and quality of insulator replacement for transmission lines and adapts to various complex environments. Furthermore, through multiple safety protections and intelligent control, it ensures the safety and stability of the operation process, effectively reduces the risks associated with manual insulator replacement, and ensures the reliable operation of transmission lines.

[0058] Example of replacing a single string of insulators under normal conditions

[0059] In situations where the transmission line environment is favorable, with no obvious obstacles and normal insulator string spacing, single-string insulator replacement operations are performed. First, the operator starts the robot via a remote control terminal. Driven by a stepper motor 40, the robot's tracked movement device 59 rotates the drive wheels 39, causing the track plates 42 to rotate, moving the robot along the transmission line insulator towards the insulator to be replaced. During movement, the lidar 16 and millimeter-wave radar 14 scan the surrounding environment in real time, transmitting data to the control system to ensure precise robot positioning and avoidance of other components on the line. Once the robot reaches the work position, the hydraulic lifting and buffering device 57 begins operation. The hydraulic cylinder 36 of the hydraulic lifting and buffering device pushes the linkage 35, raising the lifting platform 37 and adjusting the robot's working platform to a suitable height to match the insulator's height. During the lifting process, the hydraulic buffering device 58 buffers vibrations caused by equipment movement, ensuring the robot's stability. Next, the six-axis robotic arm 62 switches to inspection mode, utilizing its six degrees of freedom to flexibly adjust the position of the inspection tools, working in conjunction with a gimbal camera and a robotic arm end-effector camera to perform a comprehensive inspection of the insulator. If insulator damage is detected, the six-axis robotic arm switches to replacement mode. Driven by a high-performance hydraulic system, the hydraulic robotic arm 60 precisely adjusts its posture according to the sliding diaphragm variable structure control algorithm. The hydraulic gripper (61), driven by the hydraulic robotic arm, approaches the insulator and, through pressure sensor feedback and a PID algorithm, achieves a force control accuracy of 0.1N, firmly gripping the insulator. The hydraulic telescopic device pulls both ends of the insulator, separating it from the line. Subsequently, the clamping device secures the damaged insulator, the replacement tool pulls out the insulator's connecting pin, removes the damaged insulator, and places it in storage. Then, the robotic arm takes out a new insulator for installation. The six-axis robotic arm and the hydraulic robotic arm work together to precisely control the position and posture of the new insulator. After the new insulator is installed, the connecting pin is installed to secure it. Finally, the six-axis robotic arm switches back to detection mode to inspect the replaced insulator. After passing the inspection, all components return to their original positions, and the robot continues to move to the next work point or waits for a retrieval command.

[0060] Examples of replacing multiple insulator strings in complex environments

[0061] When power transmission lines are in complex environments such as strong winds and low temperatures, and multiple strings of insulators need to be replaced, the robot's workflow is as follows: After starting the robot, the tracked moving device 59 moves towards the target area according to a preset path. During the movement, the robot's windproof and cold-resistant design comes into play; special materials and protective coatings resist the erosion of harsh environments, and the buffered articulated tracks and shock-resistant frame enhance stability. Upon reaching the target area, the hydraulic lifting and buffering device 57 precisely adjusts the height of the working platform according to the height of different insulator strings. After each string of insulators is inspected or replaced, the hydraulic lifting and buffering device quickly adjusts its height to adapt to the next string of insulators. For the inspection and replacement of multiple strings of insulators, the six-axis robotic arm 62, the hydraulic robotic arm 60, and the hydraulic robotic claw 61 work closely together. Each string of insulators is inspected sequentially, and if a damaged insulator is found, it is replaced as in Example 1. During the replacement process, the intelligent algorithm dynamically allocates power according to the load to ensure stable operation of the robot in complex environments. After all target insulator strings have been replaced, the robot performs an overall inspection. After confirming that there are no abnormalities, it moves to a designated position via the tracked moving device to await subsequent retrieval operations.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A suspension insulator replacement robot having multi-dimensional adaptability, characterized by, The robot is symmetrical in front and back, composed of the same main structure, divided into front and rear ends, The front and rear ends include a hexagonal shell, a hydraulic lifting buffer device (57), a track moving device (59), a hydraulic buffer device (58), a hydraulic telescopic device, a hydraulic mechanical arm (60), a hydraulic mechanical claw (61), a mechanical arm moving platform (4), a six-axis mechanical arm (62), and a quick-change device tool setting table (11), The hexagonal shell includes a left main frame (1), a right main frame (2), and two bottom frames (3). The left main frame (1) and the right main frame (2) are symmetrical to form the upper half of the hexagonal shell, and the two bottom frames (3) are symmetrical to form the lower half of the hexagonal shell. The lower ends of the left main frame (1) and the right main frame (2) are respectively hinged to the upper ends of a base frame, and are provided with an opening and closing device for controlling the bottom frame. The opening and closing device includes an opening and closing device motor drive (13) and an opening and closing device driven part (12) hinged to the opening and closing device motor drive (13). The opening and closing device motor drive (13) is installed on the outside lower part of the left main frame (1) and the right main frame (2), and the opening and closing device driven part (12) is installed on the outside upper part of the bottom frame (3). The top of the left main frame (1) is provided with a control system device bin, and the tops of the left main frame (1) and the right main frame (2) are connected by a two-stage hydraulic telescopic cylinder. The inside of the left main frame (1), the right main frame (2), and the two bottom frames (3) is respectively provided with a hydraulic lifting buffer device (57) at the hole position. The track moving device (59) is installed on the hydraulic lifting buffer device (57). The four hydraulic lifting buffer devices (57) are symmetrical in pairs. The inside upper bottom surface of the left main frame (1) and the right main frame (2) and the inside lower top surface of the two bottom frames (3) are provided with a hydraulic buffer device (58). The upper and lower hydraulic buffer devices (58) are symmetrically arranged. The outside of the left main frame (1) and the right main frame (2) is fixedly connected with a rectangular cuboid opening frame as a hydraulic telescopic device setting bin for installing the hydraulic telescopic device. The front and rear ends are connected by the hydraulic telescopic device. The upper part of the hydraulic telescopic device setting bin is fixedly connected with a square plate as a mechanical arm moving platform hydraulic telescopic cylinder fixing plate. The tail of the mechanical arm moving platform hydraulic telescopic cylinder (20) is connected thereto. The left and right sides of the mechanical arm moving platform hydraulic telescopic cylinder fixing plate are provided with guide rails (19). The guide rails (19) are provided with sliding blocks (6). The sliding blocks (6) are connected with a mechanical arm moving platform connecting piece (5). The mechanical arm moving platform connecting piece (5) is connected with the end of the mechanical arm moving platform hydraulic telescopic cylinder (20). The mechanical arm moving platform (4) is fixed to the mechanical arm moving platform connecting piece (5). The front end of the mechanical arm moving platform (4) is provided with a six-axis mechanical arm (62). The hydraulic mechanical arm (60) is installed on the bracket of the front segment of the left main frame (1) and the right main frame (2) in a concentric shaft manner. The quick-change device tool setting table (11) is installed on the side end of the mechanical arm moving platform (4).

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

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

4. The hanging insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that, The left main body frame (1) and the right main body frame (2) are six-prism frame cut quarter nested cuboid frame structures, reinforcing ribs are arranged at the corners of the segmented six-prism frame, reinforcing ribs are arranged inside the cuboid frame, and the side face is a triangular hollow structure; the segmented six-prism frame of the left main body frame (1) is inserted with a horizontal plate structure parallel to the edge thereof at a position 90mm from the top, the six-prism frame is provided with protruding right-angle structures at the front and rear ends of the outer side thereof, two symmetric cuboid columns are inserted into the segmented six-prism frame at a position 90mm from the top; the segmented six-prism frame of the right main body frame (2) is inserted with a horizontal plate structure parallel to the edge thereof at a position 90mm from the top, and a vertical plate structure is inserted into the segmented six-prism frame at a position 90mm from the top; the bottom frame (3) is composed of a complete whole by cutting a six-prism frame into a quarter shape structure and splicing a cuboid frame at the bottom, and reinforcing ribs are arranged at the corners of the segmented six-prism frame.

5. The hanging insulator replacement robot with multi-dimensional adaptability according to claim 1, characterized in that, The hydraulic mechanical arm (60) comprises a hydraulic mechanical arm primary mechanical arm (21) and a hydraulic mechanical arm primary mechanical arm driving hydraulic cylinder (24), the tail end of the hydraulic mechanical arm primary mechanical arm driving hydraulic cylinder (24) is fixed on the base of the left main frame (1) and the right main frame (2) in a concentric circle connection mode, the tail end is fixed below the round hole at the tail end of the hydraulic mechanical arm primary mechanical arm (21) in a concentric shaft connection mode; the tail end of the hydraulic mechanical arm secondary mechanical arm (22) is connected with the upper round hole at the tail end of the hydraulic mechanical arm primary mechanical arm (21) in a concentric shaft connection mode, the tail end of the hydraulic mechanical arm secondary mechanical arm driving hydraulic cylinder (25) is connected with the upper round hole at the tail end of the hydraulic mechanical arm primary mechanical arm (21) in a concentric shaft connection mode, and the tail end is connected with the third round hole at the tail end of the hydraulic mechanical arm secondary mechanical arm (22) in a concentric shaft connection mode; the tail end of the hydraulic mechanical arm tertiary mechanical arm (23) is connected with the upper round hole at the tail end of the hydraulic mechanical arm secondary mechanical arm (22) in a concentric shaft connection mode, the tail end of the hydraulic mechanical arm tertiary mechanical arm driving hydraulic cylinder (26) is connected with the upper round hole at the tail end of the hydraulic mechanical arm secondary mechanical arm (22) in a concentric shaft connection mode, and the tail end is connected with the third round hole at the tail end of the hydraulic mechanical arm tertiary mechanical arm (23) in a concentric shaft connection mode.

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