A damping controllable parallel mechanical arm for power distribution terminal maintenance

Abstract

The utility model belongs to the technical field of distribution equipment overhauling, specifically relates to a damping controllable parallel mechanical arm for distribution terminal overhauling, the utility model discloses static platform support mechanism and movable platform execution mechanism, at least two telescopic drive branch chains, at least two magnetorheological grease damper, be used for producing controllable damping force in the movement direction of telescopic drive branch chain, execution drive arrangement is used for driving corresponding telescopic drive branch chain pose adjustment, wherein, magnetorheological grease damper and telescopic drive branch chain are arranged in triangle on static platform support mechanism, and magnetorheological grease damper and telescopic drive branch chain constitute parallel drive structure, the utility model can be nimblely adapted to the overhauling demand of narrow space and complex angle component in distribution equipment, through the cooperation of magnetorheological grease damper, realized the real -time accurate control of damping force in the movement direction of telescopic drive branch chain, effectively inhibited the vibration and impact in the movement process, improved the operation stability.

Description

Technical Field

[0001] This utility model belongs to the field of power distribution equipment maintenance technology, specifically relating to a damped controllable parallel robotic arm for power distribution terminal maintenance. Background Technology

[0002] With the rapid development of the social economy, the power system, as a key infrastructure supporting industrial operations and daily life, continues to expand in scale, and the number and complexity of power distribution equipment are also increasing. Against this backdrop, power distribution maintenance operations place higher demands on automation and intelligent technologies. Currently, robotic arms used for power distribution equipment maintenance can remotely control core functions such as component gripping, bolt tightening, and mounting testing instruments, effectively freeing workers from high-risk, high-voltage on-site environments.

[0003] However, existing robotic arms still have many shortcomings when facing the specific scenario of power distribution maintenance. For example, the patent application CN112060133B, titled "A Flexible Joint for a Damped Robotic Arm," is not designed for the core scenario requirements of power distribution equipment maintenance. It only adjusts the damping by collecting piston acceleration data through an accelerometer, and cannot sense the voltage status and safe distance of surrounding live equipment. Furthermore, robotic arms for power distribution equipment maintenance typically need to operate continuously for long periods. Sedimentation of the magnetorheological fluid can lead to a reduced damping adjustment range and unstable damping force, thus affecting the control accuracy of the robotic arm. Frequent shutdowns for stirring or replacement of the magnetorheological fluid are necessary, resulting in short maintenance cycles. For example, the existing CN223108034U authorized announcement, "A Fault Detection Device for Distribution Box Maintenance", only sets a "damping spring" on one side of the vertical plate of the moving mechanism. It relies on the elastic deformation of the mechanical spring to achieve basic buffering. It cannot dynamically adjust the damping size according to the working scenario. Furthermore, it does not consider the critical risk scenario of "sudden power outage" and has no power loss protection mechanism, which poses serious safety hazards and is far from meeting the high reliability requirements of power distribution maintenance equipment.

[0004] Currently, most commonly used damped robotic arms for power distribution maintenance employ a series structure, consisting of a base, moving platform, upper arm, lower arm, and actuators. While simple, this type of structure is limited in function and lacks flexibility. Control strategies often rely solely on single-sensor algorithms or simple stacking of multiple sensors, lacking systematic optimization for complex power distribution environments. This results in poor work targeting and low maintenance efficiency. Drive methods are primarily electric motors or hydraulic systems, with weak damping design, high control difficulty, and a general lack of key degrees of freedom such as pitch and yaw. When facing narrow spaces, deep structures, or tilted components within distribution cabinets, blind spots easily arise, making it difficult to accurately reach the detection and operation points. Furthermore, under heavy loads, the robotic arm may experience structural collapse or unexpected rotation due to gravity, affecting task execution and potentially damaging the power distribution equipment and the robotic arm itself. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of poor flexibility and inaccurate damping control in the existing technology, and to provide a damped, controllable parallel robotic arm for power distribution terminal maintenance that is compact, has controllable damping, is safe and reliable, and is easy to maintain.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a damped controllable parallel robotic arm for power distribution terminal maintenance, comprising:

[0007] Static platform support structure and dynamic platform execution structure;

[0008] At least two telescopic drive chains, one end of which is rotatably connected to the static platform support mechanism via a Hooke's joint, and the other end of which is rotatably connected to the moving platform actuator via a universal joint;

[0009] At least two magnetorheological dampers are connected between the static platform support mechanism and the moving platform end effector to generate controllable damping force in the direction of motion of the telescopic drive chain;

[0010] An execution drive device is installed on the static platform support mechanism and corresponds one-to-one with the telescopic drive chain, used to drive the corresponding telescopic drive chain to adjust its position and posture.

[0011] The magnetorheological damper and the telescopic drive chain are arranged in a triangular pattern on the static platform support mechanism, and the magnetorheological damper and the telescopic drive chain form a parallel drive structure.

[0012] Furthermore, the number of the magnetorheological damper and the telescopic drive branch are both two;

[0013] The magnetorheological dampers are a first magnetorheological damper and a second magnetorheological damper; the piston rod of the first magnetorheological damper is rotatably connected to the moving platform actuator through a ball joint, and the piston rod of the second magnetorheological damper is rotatably connected to the moving platform actuator through a universal joint.

[0014] Furthermore, both the static platform support body and the dynamic platform body adopt an isosceles triangular structure;

[0015] The two telescopic drive chains are symmetrically installed at the two bottom corners of the static platform support body; the first magnetorheological damper is located at the top corner of the static platform support body; and the second magnetorheological damper is located between the two telescopic drive chains.

[0016] Furthermore, the execution drive device includes:

[0017] An axial rotation motor is fixedly mounted on the static platform support mechanism;

[0018] An axial rotating seat is rotatably mounted on the static platform support mechanism and is coaxially arranged with the output shaft of the axial rotating motor; the axial rotating motor drives the axial rotating seat to rotate around the Z-axis.

[0019] The radial pitch seat is rotatably connected to the axial rotation seat;

[0020] A radial pitch motor is mounted on the radial pitch base, and the output shaft of the radial pitch motor is coaxially arranged with the axial rotation base to drive the telescopic drive chain to perform pitch motion.

[0021] Furthermore, the magnetorheological damper includes:

[0022] Damping cylinder block;

[0023] A damping piston is disposed within the damping cylinder and is adapted to the damping cylinder.

[0024] The piston rod is fixedly connected to the damping piston;

[0025] The permanent magnet and the excitation coil are coaxially fixed inside the damping cylinder.

[0026] A magnetorheological grease composite material is filled into the damping cylinder body;

[0027] A detachable end cap is provided at the end of the damping cylinder body;

[0028] In this process, the magnetic field strength is adjusted by changing the current in the excitation coil, and the magnetorheological grease composite material switches between Newtonian fluid and solid-like state to achieve damping adjustment.

[0029] Furthermore, a buffer diaphragm is provided on the mating surface between the detachable end cap and the damping piston.

[0030] Furthermore, it also includes external sensors; the external sensors include a position sensor and / or a voltage sensor disposed on the end effector of the moving platform; and,

[0031] A current sensor is installed on the magnetorheological damper to monitor the current of the excitation coil.

[0032] Furthermore, the static platform support mechanism includes:

[0033] The static platform supports the main body;

[0034] The backup battery pack is integrated into the static platform support body;

[0035] An electromagnetic valve is installed in the power supply circuit between the backup battery pack and the excitation coil of the magnetorheological damper, and is used to control the on / off state of the circuit and the switching of the power supply.

[0036] Furthermore, the motion platform actuator includes:

[0037] Dynamic platform body;

[0038] The servo motor is mounted on the moving platform body;

[0039] An end effector is connected to the output shaft of the servo motor and is driven by the servo motor to perform operations.

[0040] Furthermore, the end effector is a replaceable tool; the replaceable tool is a three-finger gripper or an infrared detection probe.

[0041] The beneficial effects of this utility model of a damped controllable parallel robotic arm for power distribution terminal maintenance are:

[0042] This invention employs at least two telescopic drive branches and at least two magnetorheological dampers, combined with an actuator to form a parallel drive structure for the dynamic and static platforms. This enables the robotic arm to have multi-degree-of-freedom motion capabilities, flexibly adapting to the maintenance needs of narrow spaces and complex angle components within power distribution equipment. Through the cooperation of the magnetorheological dampers, real-time and precise control of the damping force in the direction of motion of the telescopic drive branches is achieved, effectively suppressing vibration and impact during movement and improving operational stability.

[0043] This utility model is equipped with external sensors, which integrate position, voltage and current sensors to form a triple anti-accidental contact protection of distance, voltage and damping. The backup battery pack installed in the static platform support body and the permanent magnet in the magnetorheological grease damper constitute a dual power failure protection, which effectively prevents the equipment from going out of control due to sudden power failure. In addition, the detachable end cover design facilitates the maintenance and replacement of magnetorheological grease, which greatly extends the maintenance cycle. At the same time, the end effector design supports the quick replacement of various working tools, which significantly improves the applicability and work efficiency of the equipment. Attached Figure Description

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0045] Figure 1 This is a first-view perspective perspective view of the damped controllable parallel robotic arm in an embodiment of this utility model.

[0046] Figure 2 This is a first-view perspective perspective view of the damped controllable parallel robotic arm in this embodiment of the utility model.

[0047] Figure 3 yes Figure 2Enlarged view of point A in the middle.

[0048] Figure 4 This is a cross-sectional view of the telescopic drive chain in an embodiment of this utility model.

[0049] Figure 5 This is a cross-sectional view of the magnetorheological damper in an embodiment of this utility model.

[0050] Figure 6 This is a structural schematic diagram of the static platform support mechanism in an embodiment of this utility model.

[0051] Figure 7 This is a schematic diagram of the structure of the dynamic platform actuator in an embodiment of this utility model.

[0052] Figure 8 This is a connection diagram of the magnetorheological damper and the moving platform actuator in an embodiment of this utility model.

[0053] Figure 9 This is a first state diagram of the damped controllable parallel robotic arm in an embodiment of this utility model.

[0054] Figure 10 This is the second state diagram of the damped controllable parallel robotic arm in this embodiment of the present invention.

[0055] In the diagram: 1. Static platform support mechanism; 11. Static platform support body; 12. Backup battery pack; 13. Solenoid valve; 2. Moving platform actuator; 21. Moving platform body; 22. Servo motor; 23. End effector; 3. Telescopic drive chain; 31. Outer cylinder; 32. Telescopic arm; 33. Brushless motor; 34. Ball screw; 35. Internal thread; 4. Magnetorheological grease damper; 41. Damping cylinder; 42. Damping piston; 43. Piston rod; 44. Permanent magnet; 45. Excitation coil; 46. Magnetorheological grease composite material; 47. Removable end cap; 48. Buffer diaphragm; 5. Actuation drive device; 51. Axial rotation motor; 52. Axial rotation seat; 53. Radial pitch seat; 54. Radial pitch motor; 6. External sensor; 61. Position sensor; 62. Voltage sensor; 63. Current sensor. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0057] like Figures 1-10The present invention provides a specific embodiment of a damped controllable parallel robotic arm for power distribution terminal maintenance, comprising a static platform support mechanism 1, a moving platform execution mechanism 2, at least two telescopic drive chains 3, at least two magnetorheological dampers 4, and an execution drive device 5. Specifically, one end of the telescopic drive chain 3 is rotatably connected to the static platform support mechanism 1 via a Hooke's joint, and the other end is rotatably connected to the moving platform execution mechanism 2 via a universal joint. The magnetorheological damper 4 is connected between the static platform support mechanism 1 and the moving platform end effector 23, and is used to generate a controllable damping force in the direction of movement of the telescopic drive chain 3. The execution drive device 5 is mounted on the static platform support mechanism 1 and corresponds one-to-one with the telescopic drive chain 3, and is used to drive the corresponding telescopic drive chain 3 to adjust its position and posture. The magnetorheological dampers 4 and the telescopic drive chains 3 are arranged in a triangular pattern on the static platform support mechanism 1, and the magnetorheological dampers 4 and the telescopic drive chains 3 form a parallel drive structure.

[0058] This embodiment employs at least two telescopic drive chains 3 and at least two magnetorheological dampers 4, combined with an execution drive device 5, to form a parallel drive structure for the dynamic and static platforms. This enables the robotic arm to have multi-degree-of-freedom motion capabilities, flexibly adapting to the maintenance needs of narrow spaces and complex angle components inside power distribution equipment. Through the cooperation of the magnetorheological dampers 4, real-time and precise control of the damping force in the motion direction of the telescopic drive chains 3 is achieved, effectively suppressing vibration and impact during the motion process and improving operational stability.

[0059] In a preferred embodiment, there are two magnetorheological dampers 4 and two telescopic drive chains 3 in this embodiment; the magnetorheological dampers 4 are a first magnetorheological damper 4 and a second magnetorheological damper 4; the piston rod 43 of the first magnetorheological damper 4 is rotatably connected to the moving platform actuator 2 through a ball joint, and the piston rod 43 of the second magnetorheological damper 4 is rotatably connected to the moving platform actuator 2 through a universal joint.

[0060] It needs to be further explained that, such as Figure 6 As shown, the static platform support mechanism 1 in this embodiment includes: a static platform support body 11, a backup battery pack 12 integrated within the static platform support body 11, and a solenoid valve 13. The solenoid valve 13 is located in the power supply circuit between the backup battery pack 12 and the excitation coil 45 of the magnetorheological damper 4, and is used to control the on / off state of the circuit and the switching of the power supply. In this embodiment, the backup battery pack 12 is a 12V / 20Ah lithium battery, and the solenoid valve 13 is a 4V210-08 model. When the power is off, it automatically switches to the backup battery circuit to maintain the current of the excitation coil 45 ≥ 0.5A, ensuring damping stability. The static platform support mechanism 1 serves as the mounting base for the entire robotic arm and can be fixed to a wall, ground, or movable slide rail using expansion bolts through the mounting holes at the bottom of its static platform support body 11 to adapt to different operating scenarios.

[0061] like Figure 7 As shown, the moving platform actuator 2 includes a moving platform body 21, a servo motor 22 mounted on the moving platform body 21, and an end effector 23. The end effector 23 is connected to the output shaft of the servo motor 22 and is driven by the servo motor 22 to perform operations. The servo motor 22 is an MG996R digital servo motor. In this embodiment, the end effector 23 is a replaceable tool, specifically a three-finger gripper or an infrared detection probe, to realize component gripping and fault detection functions. The replaceable tool can be adapted to meet actual usage requirements, thereby improving the versatility of the damped controllable parallel robotic arm for power distribution terminal maintenance.

[0062] like Figures 1 to 6 As shown, in this embodiment, both the static platform support body 11 and the dynamic platform body 21 adopt an isosceles triangular structure; two telescopic drive chains 3 are symmetrically installed at the two corners of the bottom edge of the static platform support body 11; the first magnetorheological damper 4 is located at the top corner of the static platform support body 11; and the second magnetorheological damper 4 is located between the two telescopic drive chains 3.

[0063] See Figure 7 and Figure 8 To achieve closed-loop control, the damped controllable parallel robotic arm for power distribution terminal maintenance in this embodiment also includes an external sensor 6. The external sensor 6 includes a position sensor 61 and / or a voltage sensor 62 installed on the end effector 23 of the moving platform, and a current sensor 63 installed on the magnetorheological damper 4 for monitoring the current of the excitation coil 45.

[0064] like Figure 5As shown, the magnetorheological grease damper 4 in this embodiment includes a damping cylinder 41, a damping piston 42, a piston rod 43, a permanent magnet 44, an excitation coil 45, a magnetorheological grease composite material 46, and a detachable end cap. Specifically, the damping piston 42 is disposed inside the damping cylinder 41 and is adapted to the damping cylinder 41, and the piston rod 43 is fixedly connected to the damping piston 42; the permanent magnet 44 and the excitation coil 45 are coaxially fixed inside the damping cylinder 41; the magnetorheological grease composite material 46 is filled inside the damping cylinder 41; and the detachable end cap 47 is disposed at the end of the damping cylinder 41. The magnetic field strength is adjusted by changing the current of the excitation coil 45, so that the magnetorheological grease composite material 46 can switch between Newtonian fluid and solid-like state to adjust the damping. A buffer diaphragm 48 is provided on the mating surface between the detachable end cap 47 and the damping piston 42. The damping piston 42 and piston rod 43 of the magnetorheological grease damper 4 are coaxially fixed by a retainer. The permanent magnet 44 and excitation coil 45 are coaxially fixed in the cylinder groove. The magnetorheological grease composite material 46 is filled in the liquid pipeline and the throttling orifice. The diaphragm is used to buffer pressure fluctuations. It should be understood that in this embodiment, the power line is also connected to the excitation coil 45 through the wire conduit on the detachable end cover 47 and the guide hole on the piston rod 43. The detachable end cover 47 can be detached during use so as to replace the magnetorheological grease. That is, the robotic arm does not need to be disassembled when replacing the magnetorheological grease, which greatly reduces the difficulty and cost of operation and maintenance.

[0065] In actual operation, the change in current of the excitation coil 45 alters the magnetic field strength, and the magnetorheological grease composite material 46 switches between Newtonian fluid and solid-like state, achieving damping adjustment. When power is off, the permanent magnet 44 maintains the basic magnetic field to prevent a sudden drop in damping. It should be further noted that the magnetorheological grease composite material 46 in this embodiment uses materials that are easily obtained by those skilled in the art. Alternatively, antioxidants and dispersants can be added to a relatively conventional magnetorheological grease composite material 46 to suspend the magnetic particles in the grease base, preventing sedimentation and stratification, which can extend its maintenance cycle to more than 5 years. This embodiment only modifies the internal structure of the magnetorheological grease damper 4 and does not protect against changes to its magnetorheological grease composite material 46.

[0066] In actual installation, position sensor 61 and voltage sensor 62 are respectively installed on the upper and lower sides of the end effector of the moving platform. Position sensor 61 is a laser rangefinder sensor, model VL53L0X, with a measurement range of 0-2m, which can monitor the distance between the end effector and the power distribution equipment in real time. Voltage sensor 62 is a non-contact voltage sensing module, which can detect the energized status of the power distribution equipment and avoid accidental contact with energized parts. Current sensor 63 is an ACS712-5A, coaxially installed at the end cap of magnetorheological damper 4, and connected in series in the power supply circuit of excitation coil 45. It can monitor the current of excitation coil 45 in real time, provide feedback on the damping adjustment status, and ensure the accuracy of damping control.

[0067] See Figure 4 In this embodiment, the telescopic drive chain 3 includes an outer cylinder 31, a telescopic arm 32 fitted inside the outer cylinder 31, a brushless motor 33 installed inside the outer cylinder 31, a ball screw 34 connected to the output shaft of the brushless motor 33 via a coupling, and an internal thread 35 formed inside the telescopic arm 32 to engage with the ball screw 34. The telescopic arm 32 is slidably disposed along the outer cylinder 31, and the ball screw 34 is rotatably mounted inside the telescopic arm 32 via bearings. The ball screw 34 passes through the interior of the telescopic arm 32 and is connected to the telescopic arm 32 via threads. Specifically, the ball screw 34 is installed inside the telescopic arm 32, and the internal thread on the inner wall of the telescopic arm 32 drives the ball screw 34 to rotate, causing the telescopic arm 32 to extend and retract axially. The telescopic arm 32 compensates for the angular deviation of the moving platform through a universal joint to ensure stable power transmission. In this embodiment, the brushless motor 33 is a 60BLDC-200W model, and the ball screw 34 has a lead of 10mm and a positioning accuracy of ±0.05mm, meeting the precise control requirements for power distribution maintenance. In this embodiment, the permanent magnet 44 provides basic damping, the backup battery pack 12 maintains emergency power supply, and the ball screw 34 has a built-in self-locking mechanism. The combination of these three features can prevent heavy-load falls after power failure, solving the safety hazards of power failure in existing robotic arms.

[0068] The execution drive device 5 in this embodiment includes: an axial rotation motor 51, an axial rotation seat 52, a radial pitch seat 53, and a radial pitch motor 54, which are fixedly installed on the static platform support mechanism 1. The axial rotation seat 52 is rotatably installed on the static platform support mechanism 1 and is coaxially arranged with the output shaft of the axial rotation motor 51. The axial rotation motor 51 drives the axial rotation seat 52 to rotate around the Z-axis, which is the axial axis of the axial rotation motor 51. The radial pitch seat 53 is rotatably connected to the axial rotation seat 52. The radial pitch motor 54 is installed on the radial pitch seat 53. The output shaft of the radial pitch motor 54 is coaxially arranged with the axial rotation seat 52 and is used to drive the telescopic drive chain 3 to perform pitching motion.

[0069] like Figure 4 As shown, the axial rotation motor 51 drives the axial rotation seat 52 to rotate along the Z-axis, and the radial pitch motor 54 drives the radial pitch seat 53 to rotate on the plane, thereby driving the telescopic drive chain 3 to pitch. Both the axial rotation motor 51 and the radial pitch motor 54 are 40 servo motors with a control accuracy of ±0.01°, which can realize the movement coverage of the robotic arm in the horizontal 360° and the pitch from -45° to 145°, and are suitable for the maintenance of power distribution equipment in different locations.

[0070] It should be understood that the damped controllable parallel robotic arm in this embodiment has two modes: manual remote control and automatic operation. The manual remote control mode of the actuator 5 is achieved through wireless communication, and the movement angles of its axial rotation seat 52 and radial pitch seat 53 can be set by the user according to their needs. After the automatic operation mode is activated, the axial rotation motor 51 and the radial pitch motor 54 will automatically work according to the pre-set parameters.

[0071] When the moving platform actuator 2 tilts upward, the magnetorheological grease composite material 46 in one of the magnetorheological grease dampers 4 changes its state by changing the current magnitude, thereby increasing the damping and causing it to be subjected to pressure. Meanwhile, the corresponding lower magnetorheological grease damper 4 is subjected to tension through the same process. The specific state changes are as follows: Figure 9 and Figure 10 As shown, this invention adds dual power-off protection for the permanent magnet 44 in the magnetorheological damper 4 and the backup battery pack 12 in the static platform base, combined with the unique self-locking mechanism of the ball screw 34 to prevent the robotic arm from falling, ensuring reliable operation. A groove is provided on the part of the moving platform body 21 that connects to the universal joint to prevent motion interference.

[0072] It should be understood that the specific model described above, as well as obvious variations or modifications derived from the spirit of this utility model, are still within the protection scope of this utility model.

Claims

1. A damped, controllable parallel robotic arm for power distribution terminal maintenance, characterized in that, include: Static platform support mechanism (1) and dynamic platform actuator (2); At least two telescopic drive chains (3), one end of which is rotatably connected to the static platform support mechanism (1) via a Hooke joint, and the other end of which is rotatably connected to the moving platform actuator (2) via a universal joint; At least two magnetorheological dampers (4) are connected between the static platform support mechanism (1) and the dynamic platform end effector (23) to generate controllable damping force in the direction of motion of the telescopic drive chain (3); An execution drive device (5) is set on the static platform support mechanism (1) and corresponds one-to-one with the telescopic drive branch (3) to drive the corresponding telescopic drive branch (3) to adjust its position. The magnetorheological damper (4) and the telescopic drive branch (3) are arranged in a triangular pattern on the static platform support mechanism (1), and the magnetorheological damper (4) and the telescopic drive branch (3) form a parallel drive structure.

2. The damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 1, characterized in that: The number of magnetorheological dampers (4) and telescopic drive branches (3) are both two; The magnetorheological dampers (4) are a first magnetorheological damper (4) and a second magnetorheological damper (4); the piston rod (43) of the first magnetorheological damper (4) is rotatably connected to the moving platform actuator (2) through a ball joint, and the piston rod (43) of the second magnetorheological damper (4) is rotatably connected to the moving platform actuator (2) through a universal joint.

3. The damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 1, characterized in that, The execution drive device (5) includes: An axial rotation motor (51) is fixedly installed on the static platform support mechanism (1); An axial rotating seat (52) is rotatably mounted on the static platform support mechanism (1) and is coaxially arranged with the output shaft of the axial rotating motor (51); the axial rotating motor (51) drives the axial rotating seat (52) to rotate around the Z-axis; The radial pitch seat (53) is rotatably connected to the axial rotation seat (52); A radial pitch motor (54) is mounted on the radial pitch seat (53). The output shaft of the radial pitch motor (54) is coaxially arranged with the axial rotation seat (52) and is used to drive the telescopic drive chain (3) to perform pitch motion.

4. The damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 1, characterized in that, The magnetorheological damper (4) includes: Damping cylinder (41); A damping piston (42) is disposed inside the damping cylinder (41) and is adapted to the damping cylinder (41); The piston rod (43) is fixedly connected to the damping piston (42); The permanent magnet (44) and the excitation coil (45) are coaxially fixed inside the damping cylinder (41); Magnetorheological grease composite material (46) is filled inside the damping cylinder (41); A detachable end cap (47) is provided at the end of the damping cylinder (41); In this process, the magnetic field strength is adjusted by changing the current of the excitation coil (45), so that the magnetorheological grease composite material (46) can switch between Newtonian fluid and solid-like state to achieve damping adjustment.

5. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 4, characterized in that: A buffer diaphragm (48) is provided on the mating surface between the detachable end cap (47) and the damping piston (42).

6. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 4, characterized in that: It also includes external sensors (6); the external sensors (6) include a position sensor (61) and / or a voltage sensor (62) disposed on the end effector (23) of the moving platform; and, A current sensor (63) is installed on the magnetorheological damper (4) for monitoring the current of the excitation coil (45).

7. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 2, characterized in that, The static platform support mechanism (1) includes: Static platform supports the main body (11); A backup battery pack (12) is integrated within the static platform support body (11); The solenoid valve (13) is located in the power supply circuit between the backup battery pack (12) and the excitation coil (45) of the magnetorheological damper (4) and is used to control the opening and closing of the circuit and the switching of the power supply.

8. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 7, characterized in that, The moving platform actuator (2) includes: Dynamic platform body (21); A servo motor (22) is mounted on the moving platform body (21); The end effector (23) is connected to the output shaft of the servo motor (22) and is driven by the servo motor (22) to perform operations.

9. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 8, characterized in that: Both the static platform support body (11) and the dynamic platform body (21) adopt an isosceles triangular structure; The two telescopic drive chains (3) are symmetrically installed at the two bottom corners of the static platform support body (11); the first magnetorheological damper (4) is located at the top corner of the static platform support body (11); and the second magnetorheological damper (4) is located between the two telescopic drive chains (3).

10. A damped controllable parallel robotic arm for power distribution terminal maintenance according to claim 8, characterized in that: The end effector (23) is a replaceable tool; the replaceable tool is a three-finger gripper or an infrared detection probe.

Images