Obstacle crossing mechanism for hot-line work robot

Abstract

The obstacle crossing mechanism comprises a mechanical arm and a clamping device, the mechanical arm is provided with a plane moving pair, and the part, connected with the clamping device, of the mechanical arm is provided with a first rotating pair and a first angle pair; a reachable area of the space flexible conductor is constructed through the plane moving pair, the first rotating pair and the first angle pair; one end of the displacement adjusting mechanism is connected with the mechanical arm through a second rotating pair, the other end of the displacement adjusting mechanism is provided with a second rotating pair, and the displacement adjusting mechanism further comprises a plane pair capable of moving telescopically and second angle pairs located at the two ends of the plane pair; the displacement adjusting mechanism adjusts the angles and the positions of the mechanical arm and the plane pair relative to the hot-line work robot through the rotation freedom degree of the first rotation pair connected with the mechanical arm, the telescopic movement of the plane pair capable of conducting telescopic movement of the displacement adjusting mechanism and adjustment of the second angle pair. According to the invention, the position transfer of the hot-line work robot between different wires or obstacles is realized, and the line-crossing / obstacle-crossing action is automatically completed.

Description

Technical Field

[0001] The present application relates to the technical field of live-line robots, and in particular to an obstacle-crossing mechanism for live-line working robots. Background Art

[0002] With the continuous development of the economy and the updating of social needs, higher requirements are placed on the continuity of power supply in the distribution network. The reliability of transmission lines depends on two aspects: initial installation and subsequent maintenance. Most of the subsequent maintenance requires live work to ensure continuous power transmission.

[0003] High-voltage and ultra-high-voltage overhead transmission lines are often laid across regions, such as high mountains and long rivers. This makes inspection and maintenance of these lines challenging in the event of severe weather conditions such as typhoons, hail, and heavy snow. During operation, certain factors (such as foreign objects or broken strands) can create hidden dangers in the lines, preventing power outages and necessitating timely energization to correct the anomaly. Traditional live-line operations in distribution networks rely on operators standing on insulated boom trucks. These operators face the threat of strong electromagnetic fields and high voltages, as well as the impact of limited space, harsh conditions, intense mental stress, and labor intensity, which can easily lead to various safety incidents.

[0004] With the development of artificial intelligence and its control technology, live-line working robots are being used in applications such as wire repair robots, hardware defect removal robots (such as bolt tightening robots), and wire foreign body removal robots. Their primary control methods have gradually evolved from human-controlled to semi-autonomous and finally to fully autonomous. The research progress of live-line working robots is focused on high-level, intelligent, and multifunctional capabilities. They utilize technologies such as multi-sensor fusion perception and recognition, scene reconstruction, and machine vision / force feedback servo closed-loop control. They perform live-line working tasks through autonomous planning, intelligent optimization and decision-making, big data behavior correction, and other methods, while also ensuring electromagnetic compatibility in high-voltage environments.

[0005] The main ways to upload live working robots from the ground to the wires are through drone assistance, rope pulling, manual methods, etc., but they all have problems such as difficult operation and low safety factor; live working robots mainly walk on one or two wires and carry related software and hardware devices, actuators, etc. to perform inspection, maintenance, and repair tasks.

[0006] However, the inventors have discovered that there are at least the following technical problems in the related art: the live working robot cannot perform walking operations across the conductor in the same area or across obstacles on the same conductor. Summary of the Invention

[0007] One purpose of the present application is to provide an obstacle-crossing mechanism for a live-working robot, at least to solve the above-mentioned problem.

[0008] To achieve the above objectives, some embodiments of the present application provide an obstacle-crossing mechanism for a live-working robot, comprising:

[0009] The robot arm and the clamping device are provided with a planar translation pair, and the connection part with the clamping device is provided with a first rotation pair and a first angular pair, so that the planar translation pair, the first rotation pair and the first angular pair can construct a reachable area of ​​the spatial flexible wire to achieve positioning and clamping of the wire;

[0010] A displacement adjustment mechanism, one end of which is connected to the mechanical arm via a second rotation pair, and the other end of which is provided with a second rotation pair, further comprising a telescopically movable plane pair and second angle pairs located at both ends of the plane pair;

[0011] Among them, the displacement adjustment mechanism adjusts the angle and position of the robotic arm and the plane pair relative to the live working robot through the rotational freedom of the first rotating pair connected to the robotic arm, the telescopic movement of the plane pair that can move telescopically itself, and the adjustment of the second angle pair, so as to support the live working robot, separate the live working robot from the wire, and transfer it to the target connection position; or when the live working robot is fixed, drive the robotic arm to perform a reverse movement to cross the obstacle.

[0012] Compared with the related art, in the solution provided by the embodiment of the present application,

[0013] In the robotic arm and clamping device, the combination of the planar moving pair, the first rotating pair and the first angular pair constructs a flexible spatial reachable area for flexible wires. Compared with the traditional fixed structure, it can accurately adapt to wires of different directions and positions, achieve fast and stable positioning and clamping, and significantly improve the adaptability to complex line environments; the displacement adjustment mechanism relies on the coordinated operation of the second rotating pair, the retractable planar pair and the second angular pair to give the obstacle-crossing mechanism powerful adjustment capabilities.

[0014] When the live-working robot needs to be separated from the conductor and transferred to the target connection location, the displacement adjustment mechanism can utilize the degrees of freedom of the rotational pair and the telescopic extension of the planar pair to flexibly adjust the angle and position of the robotic arm and planar pair relative to the robot, reliably supporting the robot to complete the transfer. This avoids operational risks caused by collisions or instability during the transfer process and improves operational safety and efficiency. When the live-working robot is fixed, the mechanism can drive the robotic arm to perform reverse motion, achieving obstacle-crossing motion through the linkage of the various kinematic pairs, effectively overcoming obstacles in the line. This breaks through the motion limitations of traditional live-working robots in complex line scenarios, enabling the robot to operate freely in a wider range of live-working scenarios, greatly expanding the application range of live-working robots and demonstrating significant technological advancement and practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0016] Figure 1 is a schematic structural diagram of an obstacle-crossing mechanism provided by an embodiment of the present disclosure;

[0017] Figure 2 This is a structural diagram of the barrier-crossing mechanism provided by an embodiment of the present disclosure from another perspective;

[0018] Figure 3 is a schematic diagram of a partial structure of an obstacle-crossing mechanism provided in an embodiment of the present disclosure;

[0019] Figure 4 is a schematic diagram of a partial structure of an obstacle-crossing mechanism provided in an embodiment of the present disclosure;

[0020] Figure 5 is a structural schematic diagram of a first clamping device provided in an embodiment of the present disclosure;

[0021] Figure 6 1 is a schematic diagram of the assembly of the obstacle-crossing mechanism and the live-line working robot provided in an embodiment of the present disclosure;

[0022] Figure 7 This is a schematic diagram of a single-conductor obstacle crossing operation provided by an embodiment of the present disclosure;

[0023] Figure 8 is a schematic diagram of a dual-conductor operation provided by an embodiment of the present disclosure;

[0024] Figure 9 This is a schematic diagram of the operation of the live working robot, drone, and conductor provided in the embodiment of the present disclosure.

[0025] Reference numerals:

[0026] 10: Robotic arm; 101: Main rod; 102: Base; 103: Groove; 104: Lead screw; 105: Second drive motor;

[0027] 20: First clamping device; 201: First connecting rod; 2011: First rod portion; 2012: Second rod portion; 202: First electric push rod; 203: First clamping block; 204: Second connecting rod; 205: Second clamping block; 206: Wire trough; 207: First drive motor;

[0028] 30: second clamping device; 40: first rotating motor;

[0029] 50: Angle adjustment device; 501: First plate; 5011: Through hole; 502: Second plate; 503: Second electric push rod;

[0030] 60: displacement adjustment mechanism; 601: slider; 602: second rotary motor; 603: connecting rod; 604: third rotary motor; 605: third electric push rod; 606: fourth electric push rod;

[0031] 70: Live working robot; 80: Drone; 90: Intermediate platform; 100: Upper hanging rope; 200: Lower hanging rope; 300: Conducting wire. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] In the description and claims of the embodiments of the present disclosure, as well as in the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar items and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to describe the embodiments of the present disclosure herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0034] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to having a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0035] Furthermore, the terms "disposed," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a removable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediary, or an internal connection between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the embodiments of this disclosure based on the specific circumstances.

[0036] Unless otherwise stated, the term "plurality" means two or more.

[0037] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0038] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0040] Combine Figures 1 to 9 As shown, the obstacle-crossing mechanism for a live-working robot provided in an embodiment of the present disclosure includes: a robotic arm and a clamping device, the robotic arm is provided with a planar moving pair, and the part connected to the clamping device is provided with a first rotating pair and a first angular pair, so as to construct a reachable area of ​​a spatial flexible conductor through the planar moving pair, the first rotating pair and the first angular pair, thereby realizing positioning and clamping of the conductor; a displacement adjustment mechanism, one end of which is connected to the robotic arm through a second rotating pair, and the other end is provided with a second rotating pair, and also includes a telescopic plane pair and a second angular pair located at both ends of the plane pair; wherein the displacement adjustment mechanism adjusts the angle and position of the robotic arm and the plane pair relative to the live-working robot through the rotational freedom of the first rotating pair connected to the robotic arm, the telescopic movement of its own telescopic plane pair, and the adjustment of the second angular pair, so as to realize support for the live-working robot, separate the live-working robot from the conductor, and transfer it to the target connection position; or when the live-working robot is fixed, drives the robotic arm to perform a reverse motion obstacle-crossing action.

[0041] In the robotic arm and clamping device, the combination of the planar moving pair, the first rotating pair and the first angular pair constructs a flexible spatial reachable area for flexible wires. Compared with the traditional fixed structure, it can accurately adapt to wires of different directions and positions, achieve fast and stable positioning and clamping, and significantly improve the adaptability to complex line environments; the displacement adjustment mechanism relies on the coordinated operation of the second rotating pair, the retractable planar pair and the second angular pair to give the obstacle-crossing mechanism powerful adjustment capabilities.

[0042] When the live-working robot needs to be separated from the conductor and transferred to the target connection location, the displacement adjustment mechanism can utilize the degrees of freedom of the rotational pair and the telescopic extension of the planar pair to flexibly adjust the angle and position of the robotic arm and planar pair relative to the robot, reliably supporting the robot to complete the transfer. This avoids operational risks caused by collisions or instability during the transfer process and improves operational safety and efficiency. When the live-working robot is fixed, the mechanism can drive the robotic arm to perform reverse motion, achieving obstacle-crossing motion through the linkage of the various kinematic pairs, effectively overcoming obstacles in the line. This breaks through the motion limitations of traditional live-working robots in complex line scenarios, enabling the robot to operate freely in a wider range of live-working scenarios, greatly expanding the application range of live-working robots and demonstrating significant technological advancement and practical value.

[0043] The robotic arm is provided with a clamping device at each end. For ease of distinction and description, the two clamping devices are defined as a first clamping device and a second clamping device. Specifically, the robotic arm 10 is provided with a first clamping device 20 and a second clamping device 30 at each end, each of which is used to clamp and secure the conductor 300. A displacement adjustment mechanism 60 is rotatably connected to the robotic arm 10 and is retractable to adjust the distance between the robotic arm 10 and the live-line working robot 70. The displacement adjustment mechanism 60 drives the robotic arm 10 to adjust the position of the first clamping device 20 and / or the second clamping device 300 with respect to the conductor 300, thereby supporting the live-line working robot 70, separating the live-line working robot 70 from the conductor 300, and shifting the connection position.

[0044] By adopting the obstacle-crossing mechanism provided in the embodiment of the present disclosure, the first clamping device 20 and the second clamping device 30 at both ends of the robotic arm 10 are respectively clamped and fixed to the conductor 300, and combined with the retractable and rotatable displacement adjustment mechanism 60, a "clamping-separation-transfer" obstacle-crossing execution logic is formed, breaking through the traditional single conductor 300 fixing mode, and realizing the position transfer of the live working robot 70 between different conductors 300 or obstacles; the line-crossing / obstacle-crossing action can be completed autonomously without relying on manual or drone assistance 80, shortening the operation time and improving the automation level of distribution network maintenance.

[0045] The live working robot 70 can be completely separated from the original conductor 300 by adjusting the first clamping position and the second clamping device 30 respectively, avoiding the mechanical risk of directly climbing obstacles. It is particularly suitable for long-distance high-voltage line operations in complex terrain (such as mountains and river areas).

[0046] The telescopic and rotational design of the displacement adjustment mechanism 60 , in conjunction with the robotic arm 10 , can gradually adjust the connection position while maintaining the stability of the live working robot 70 .

[0047] Optionally, the first clamping device 20 / the second clamping device 30 includes: a first connecting rod 201, which is connected to the first end of the robotic arm 10 and is provided with a first clamping block 203; a second connecting rod 204, which is rotatably connected to the second connecting rod 204 and is provided with a second clamping block 205; wherein the first clamping block 203 and / or the second clamping block 205 are constructed with a wire groove 206 to accommodate the fixing of the wire 300.

[0048] The wire trough 206 conforms to the contour of the conductor 300, enhancing clamping stability through mechanical clamping to prevent operational interruptions or safety incidents caused by swaying conductor 300. The connecting rod structure simplifies the connection between the clamping device and the robotic arm 10, facilitating modular design and enabling rapid adaptation to different models of live-line working robots 70.

[0049] Optionally, the first connecting rod 201 includes a first rod portion 2011 and a second rod portion 2012 that are perpendicular to each other, and the second connecting rod 204 is rotatably connected to the second rod portion 2012; the first clamping device 20 also includes: a first electric push rod 202, one end of which is rotatably connected to the first rod portion 2011, and the other end is rotatably connected to the second connecting rod 204, so as to drive the second connecting rod 204 to rotate relative to the second rod portion 2012 when the first electric push rod 202 is extended, thereby adjusting the position of the second clamping block 205 relative to the first clamping block 203.

[0050] The first electric push rod 202 precisely controls the opening and closing angles of the second clamping block 205 through mechanical transmission. This allows for dynamic adjustment of the clamping force based on the diameter of the conductor 300 (e.g., high-voltage / ultra-high-voltage lines), preventing damage to the conductor 300 from excessive compression or loosening due to insufficient clamping, while also ensuring friction during movement. Furthermore, the first electric push rod 202 exhibits a fast linear motion response, enabling rapid clamping and release in complex operating environments (e.g., strong winds and electromagnetic interference), improving barrier-crossing efficiency.

[0051] Optionally, the first clamping device 20 / the second clamping device 30 further includes: a first driving motor 207, which is provided on the second connecting rod 204 and is drivingly connected to the second clamping block 205, for driving the second clamping block 205 to rotate, so that the second clamping block 205 moves along the wire 300.

[0052] The first drive motor 207 directly drives the second clamping block 205 to rotate, and drives the obstacle crossing mechanism to move autonomously along the wire 300 through the friction with the wire 300, without relying on the power of the live working robot 70 body, reducing overall energy consumption and improving the independence of the robotic arm 10.

[0053] Optionally, the electric push rod is a guided propulsion structure, not limited to the form and drive form.

[0054] In a single-conductor 300 obstacle crossing scenario, the rotation of the second clamping block 205 can assist the robotic arm 10 in "climbing" the obstacle, reducing dependence on the obstacle crossing mechanism of the live-working robot 70 itself.

[0055] Optionally, the first rotating pair includes: a first rotating motor 40, which is provided at the end of the robot arm 10 and connected to the first connecting rod 201, for driving the first connecting rod 201 to rotate, thereby driving the first clamping block 203 and the second clamping block 205 to rotate.

[0056] The 360-degree rotation function allows the clamping device to be adjusted to any angle, adapting to conductors 300 with different orientations (such as horizontal and tilted conductors 300), expanding the working range. Before working across a conductor 300, the clamping device is rotated to adjust the robot arm 10's posture to ensure alignment with the target conductor 300, reducing collision risk and improving positioning accuracy.

[0057] Optionally, the first angle pair includes: an angle adjustment device 50, which is provided between the first rotary motor 40 and the robotic arm 10, and is used to drive the first rotary motor 40 to swing and adjust the angle between the first rotary motor 40 and the robotic arm 10.

[0058] Combining the 360° rotation of the rotary motor and the swing of the angle adjustment device 50, a "rotation + pitch" compound motion is formed, so that the clamping device can fit the spatial angle of complex obstacles, improve the success rate of obstacle crossing, and achieve multi-dimensional posture adjustment.

[0059] In addition, by precisely adjusting the angle of the clamping device, equipotential connection can be gradually established when crossing wires 300 with different potentials, avoiding arc discharge caused by excessive potential difference and enhancing operation safety.

[0060] Optionally, the angle adjustment device 50 also includes: a first sheet 501, fixedly connected to the end of the robotic arm 10 and configured with a through hole 5011; a second sheet 502, fixedly connected to the end of the first rotating motor 40, and hinged to the first sheet 501 at the edge; a second electric push rod 503, embedded in the robotic arm 10, and its push rod portion passes through the through hole 5011 and is rotatably connected to the second sheet 502 through a connecting piece; wherein, when the second electric push rod 503 extends, it pushes the second sheet 502 to open relative to the first sheet 501, drives the first rotating motor 40 to rotate relative to the robotic arm 10, and adjusts the position of the first clamping device 20 / the second clamping device 30.

[0061] The second electric push rod 503 is embedded within the robotic arm 10, reducing externally exposed components, lowering the risk of electromagnetic interference in high-voltage environments, and enhancing the overall strength of the robotic arm 10. Furthermore, the linear displacement of the second electric push rod 503 is precisely controlled by a servo system, achieving angular adjustment accuracy and ensuring that the alignment error between the clamping device and the wire 300 is less than a safety threshold.

[0062] Optionally, the robotic arm 10 includes: a main rod 101, with a first clamping device 20 and a second clamping device 30 at both ends respectively; a base 102, connected to the main rod 101, and arranged along the axial direction of the main rod 101; the base 102 is constructed with a groove 103, and a screw 104 is provided in the groove 103; a second drive motor 105, which is arranged on the base 102 and is driven and connected to the screw 104 to form a planar moving pair, which is used to drive the screw 104 to rotate in the base 102; wherein, the displacement adjustment mechanism 60 is connected to the screw 104 to adjust the connection position of the robotic arm 10 and the displacement adjustment mechanism 60.

[0063] The screw 104 transmission has high rigidity and low return clearance characteristics, and the second drive motor 105 can accurately control the axial displacement of the robot arm 10 along the main rod 101 (such as adjusting the spacing when crossing the double wires 300) to ensure the lateral alignment error between the clamping device and the target wire 300.

[0064] Optionally, the main rod 101 is an electric push rod structure and is retractable. Optionally, the length of the main rod 101 is greater than the length of the base 102.

[0065] The extended main pole 101 increases the lateral span of the first and second clamping devices 20 and 30, allowing them to accommodate dual conductors 300 with varying spacing, adapting to a variety of line scenarios without requiring replacement equipment. Furthermore, the longer main pole 101 allows for bypassing low obstacles (such as tree branches and tower components) by enabling direct adjustment of the clamping position via the displacement adjustment mechanism 60, reducing direct contact between the robotic arm 10 and obstacles.

[0066] Optionally, the displacement adjustment mechanism 60 includes: a slider 601, connected to the screw 104; a second rotary motor 602, which is a second rotary pair, provided on the slider 601, for driving the slider 601 to rotate; a connecting rod 603, which is a plane pair, one end of which is hinged to the second rotary motor 602 to adapt to the relative angle and position with the robotic arm 10; wherein, the connecting rod 603 is a telescopic structure, and when the connecting rod 603 performs telescopic movement, it drives the robotic arm 10 to move to adjust the distance from the robotic arm 10 to the live working robot 70.

[0067] The slider 601 moves along the lead screw 104 to adjust the displacement of the robotic arm 10 along its axial direction; the second rotary motor 602 drives the slider 601 to rotate to adjust the relative angle between the robotic arm 10 and the connecting rod 603; when the connecting rod 603 makes telescopic movement, it drives the robotic arm 10 to move and adjusts the distance from the robotic arm 10 to the live working robot 70, forming a multi-directional linkage to realize full-space planning of the obstacle-crossing path.

[0068] Optionally, the displacement adjustment mechanism 60 also includes: a third rotary motor 604, which is a third rotary pair, which is hinged to the other end of the connecting rod 603 and is configured to be installed on the live working robot 70 to drive the displacement adjustment mechanism 60 to rotate relative to the live working robot 70.

[0069] The third rotary motor 604, along with the first rotary motor 40 at the end of the robotic arm 10, forms a "two-end drive" configuration. This allows for synchronous adjustment of the robotic arm 10 and its end gripper during obstacle crossing, making it suitable for complex wire 300 layouts. After the obstacle is crossed, the third rotary motor 604 quickly resets the displacement adjustment mechanism 60 to its initial state, saving time for subsequent operations.

[0070] Optionally, the second angle pair includes: a third electric push rod 605 , one end of which is hinged to the side wall of the connecting rod 603 , and the other end of which is hinged to the side wall of the third rotary motor 604 , for supporting and adjusting the offset angle of the connecting rod 603 .

[0071] The rigid support provided by the third electric push rod 605 offsets wind disturbances during high-altitude operations, ensuring the correct angle of the connecting rod 603 and preventing clamping failure due to shaking. Furthermore, if an abnormal electromagnetic signal (such as a precursor to a discharge) is detected during obstacle crossing, the third electric push rod 605 can quickly adjust the angle of the connecting rod 603, allowing the robotic arm 10 to urgently escape the danger zone.

[0072] Optionally, the displacement adjustment mechanism 60 further includes: a fourth electric push rod 606 , one end of which is hinged to the side wall of the connecting rod 603 , and the other end of which is hinged to the side wall of the second rotary motor 602 , so as to support and adjust the offset angle of the connecting rod 603 .

[0073] Optionally, the third electric push rod 605 and the fourth electric push rod 606 are respectively provided at both ends of the connecting rod 603. Moreover, the third electric push rod 605 and the fourth electric push rod 606 are not in the same plane.

[0074] The non-coplanar dual electric actuator design independently controls the pitch and roll angles of the connecting rod 603, enabling fine-tuning of the robot arm 10's posture in three-dimensional space (e.g., rotation around the X, Y, and Z axes), and adapting to more complex obstacle-crossing paths (e.g., scenarios where wires 300 cross). Furthermore, the dual actuator structure provides mechanical redundancy. If one actuator fails, the other can temporarily assume the load, preventing single-point failures that could lead to interruptions or equipment crashes and improving system reliability.

[0075] This embodiment systematically solves the problems of low obstacle crossing efficiency, insufficient safety and poor environmental adaptability of the existing live working robot 70 by combining multi-dimensional motion mechanism design (rotation, extension and swing) with precise control logic (electric push rod, lead screw 104 transmission, motor drive).

[0076] Obstacle-crossing mechanisms are provided at both ends of the live-line working robot 70.

[0077] For example, the live working robot 70 adjusts the obstacle crossing mechanisms at both ends to the upward state, and the clamping wires 300 structures corresponding to the first clamping devices 20 and the second clamping devices 30 of the two obstacle crossing mechanisms are closed, connected to the four lifting rings hanging below the intermediate platform 90 and clamped; the upper and lower lifting rope structures of the intermediate platform 90 are adjusted to be as short as possible; the intermediate platform 90 and its lifting ropes are made of non-metallic heat-resistant high-resistance materials to connect and adapt the robot's plane width to the width of the drone 80's lifting plate; the upper and lower lifting rope structures are both equipped with pressure sensors, and when the pressure sensor data of one of the four lifting points on the intermediate platform 90 is greater than the threshold, the corresponding section of the rope is released. Similarly, the four lifting points on the intermediate platform 90 are also equipped with pressure sensors. Similarly, when the pressure sensor data of a certain lifting point is greater than the threshold, the corresponding section of the rope is released. In this way, it is ensured that during the lifting and flying process, the working robot avoids excessive shaking and excessive tilting at high altitudes due to volume and weight issues; at the same time, during the process of going online, the angles of the working robot and the conductor 300 when entering the groove can be appropriately adjusted to ensure safe and secure entry into the groove.

[0078] While the live-line working robot 70 is inserting the conductor 300 into the trench, the drone 80 carrying the robot is positioned above the conductor 300, while the drone 80 remains in a safe area. The upper suspension rope 100 on the intermediate platform 90 is slowly extended. The drone 80 adjusts its position in the plane and lowers the lower suspension rope 200, aligning the live-line working robot 70 laterally with the conductor 300. The conductor 300 is now locked into the trench of the live-line working robot 70, securing it.

[0079] After the wire 300 enters the groove, the live working robot 70 clamps the wire 300. The first clamping block 203 and the second clamping block 205 of the obstacle crossing mechanism clamp the open circular ring at the lower end of the lower suspension rope 200. At this time, one of the obstacle crossing mechanisms at the front and rear ends (both ends) of the live working robot 70 drives the second clamping block 205 to move in an open state relative to the first clamping block 203, and the corresponding lower suspension rope 200 structure releases a section of rope, allowing the second clamping block 205 to detach from the open circular ring at the lower end of the lower suspension rope 200, and then drives the first clamping device 20 and the second clamping device 30 to rotate, that is, adjust the angles of the first clamping block 203 and the second clamping block 205, so that the first clamping device 20 and the second clamping device 30 are completely detached from the open circular ring of the lower suspension rope 200. Then, the displacement adjustment mechanism 60 drives the robot arm 10 to rotate not only longitudinally downward but also laterally, so that the robot arm 10 is located between the two wires 300 and the first clamping device 20 of the robot arm 10 is parallel to one of the two wires 300 .

[0080] The positions of the second clamping device 30, displacement adjustment mechanism 60, and robotic arm 10 are then adjusted so that the second clamping device 30 clamps the wire 300 into the wire groove 206 of the first clamping block 203 and the second clamping block 205 and secures it. This process is repeated to secure the other obstacle-crossing mechanism onto the other parallel wire 300. The drone 80 then flies away, and the live-line working robot 70 is securely connected to the wire 300.

[0081] When dismantling the live working robot 70, the drone 80 first carries the intermediate platform 90 and lands above the live working robot 70. One of the obstacle-crossing mechanisms at the front and rear ends of the live working robot 70 is first detached from the wire 300. Through the displacement adjustment mechanism 60, the first clamping device 20 of the obstacle-crossing mechanism detached from the wire 300 is clamped and connected to the open circular ring at the bottom of the lower suspension rope 200. The other lower suspension rope 200 mechanism at the corresponding position is then adjusted to connect to the second clamping device 30 of the detached obstacle-crossing mechanism. Similarly, the other obstacle-crossing mechanism is detached, connecting it to the open circular ring at the bottom of the lower suspension rope 200. Finally, the clamping-related structures of the live working robot 70 are released, and the drone 80 quickly flies away from the magnetic flux line area of ​​the wire 300.

[0082] After the live-working robot 70 and its obstacle-crossing mechanism safely land on the conductor 300, the front and rear obstacle-crossing mechanisms clamp onto the two conductors 300 at four points (clamping blocks) to ensure the live-working robot 70's balance. The live-working robot 70 itself also has two clamping points to ensure a certain level of clamping force. The coordination of at least six clamping points ensures the overall balance and stability of the live-working robot 70 when operating on a single conductor 300. In some applications, the live-working robot 70 can secure the conductor 300 using only the first clamping device 20 of one obstacle-crossing mechanism and the second clamping device 30 of the other obstacle-crossing mechanism.

[0083] When the live working robot 70 needs to walk, the clamping force of the walking wheel is controlled by the pressure sensor data of the elastic material at the rear of each walking wheel of the live working robot 70 contacting the wire 300, and the length of the main pole 101 of the robotic arm 10 of the obstacle crossing mechanism is adjusted, such as extending the length of the main pole 101 to adapt to the width error caused by the long wire 300 sagging due to gravity, and ensuring that the two obstacle crossing mechanisms can carry the live working robot 70 to walk autonomously; combined with the single wire 300 walking ability of the live working robot 70 itself, it can walk safely and autonomously at high altitudes.

[0084] The displacement adjustment mechanism 60 of the obstacle-crossing mechanism is retractable as a whole. Both ends of the connecting rod 603 of the displacement adjustment mechanism 60 are driven by 360-degree rotating motors. At the same time, the relative angle between the connecting rod 603 and the third rotating motor 604 and the second rotating motor can be adjusted through the third electric push rod 605 and the fourth electric push rod 606. When the third electric push rod 605 at one end of the connecting rod 603 adjusts the angle, the fourth electric push rod 606 at the other end adjusts its push rod, and its push rod adaptability is free to extend and retract.

[0085] The main rod 101 of the robotic arm 10 is extendable and retractable to adjust the distance between its ends. The second drive motor 105, the lead screw 104, and the slider 601 cooperate to drive the displacement adjustment mechanism 60 to move integrally along the axial direction of the lead screw 104. The first and second clamping devices 20 and 30 at each end of the robotic arm 10 are capable of 360-degree rotation. The angle adjustment device 50 can adjust the first and second clamping devices 30 to within 90 degrees relative to the robotic arm 10, thereby facilitating the insertion of wires 300 into the wire grooves 206 of the first and second clamping blocks 203 and 205, respectively, depending on the situation.

[0086] If there are only one conductor 300 and no parallel conductors 300, first adjust the displacement adjustment mechanism 60 of one obstacle-crossing mechanism to align the robotic arm 10 with the conductor 300. Then, adjust the angle adjustment mechanism 50 and the first rotary motor 40 to coordinately allow the conductor 300 to enter the wire groove 206 of the first clamping block 203 and the second clamping block 205 of the clamping device at one end (e.g., the first clamping device 20). Then, fine-tune the position of the robotic arm 10 to allow the conductor 300 to enter the wire groove 206 of the first clamping block 203 and the second clamping block 205 of the clamping device at the other end (e.g., the second clamping device 30). Repeat the above steps for the other obstacle-crossing mechanism.

[0087] When the live working robot 70 needs to move from one conductor 300 to another, the clamping structure of the live working robot 70 is released, and the displacement adjustment mechanisms 60 of the two obstacle-crossing mechanisms are activated, lifting the live working robot 70 so that it is first free from the conductor 300 and is in the air. The second drive motors 105 of the two obstacle-crossing mechanisms are then driven to rotate the lead screw 104, causing the slider 601 to move along the lead screw 104 to the other end, thereby moving the displacement adjustment mechanism 60. The displacement adjustment mechanism 60 is then driven to adjust the angle of the robotic arm 10, so that the live working robot 70 lands on the conductor 300 and the conductor 300 enters the slot of the live working robot 70. If the live working robot 70 needs to move to a third conductor 300, the two obstacle-crossing mechanisms are first activated to clamp the second and third conductors 300, constructing the basic mobile chassis, and then repeating the above steps. That is, the live working robot 70 is first lifted up to separate from the wire 300 and be in the air, and the displacement adjustment mechanism 60 drives the angle and distance of the live working robot 70 relative to the robotic arm 10, so that the live working robot 70 falls on the wire 300 and the wire 300 enters the groove of the live working robot 70.

[0088] When the dual conductors 300 cross an obstacle, one obstacle-crossing mechanism crosses the obstacle and clamps onto the dual conductors 300. Then, the two obstacle-crossing mechanisms and the live working robot 70 move forward as a whole to a suitable position. The two obstacle-crossing mechanisms then lift the live working robot 70 over the obstacle and clamp the conductors 300 into the slot of the live working robot 70. Then, they move forward a certain position and adjust the other obstacle-crossing mechanism to cross the obstacle.

[0089] When navigating obstacles on a single conductor 300, the same process as for navigating obstacles on two conductors 300 is followed. If there is an obstacle above the single conductor 300 that cannot be surmounted, the live working robot 70 can be positioned below the conductor 300, and the two robotic arms 10 can be adjusted to a downward-hanging configuration. The robot can then be advanced from below to overcome the obstacle, and then repositioned above the conductor 300.

[0090] According to different obstacle conditions, a single-wire 300 obstacle crossing method or a double-wire 300 obstacle crossing method is implemented, or the single-wire 300 obstacle crossing method or the double-wire 300 obstacle crossing method is implemented after changing the line, so as to expand the operating area of ​​the live working robot 70 as much as possible.

[0091] In some embodiments, the robot is equipped with multiple sensors as needed, and intelligent algorithms autonomously control its posture and movement speed during operation to ensure safe operation. When crossing lines, the phase voltage difference between the two high-voltage lines is large. Therefore, during movement, electromagnetic equipotential processing is implemented at any time based on sparks and internal electromagnetic induction, or circuit processing is implemented based on different potentials. Movement is resumed only after equipotential equilibrium or overall safety is achieved. In extremely dangerous situations, such as contact, the motor's movement is accelerated to establish equilibrium.

[0092] Except for the necessary metal parts, the entire structural parts of the robot are processed or cast from heat-resistant and pressure-resistant non-metallic materials (such as epoxy resin, ceramics, etc.), and the external structure is interconnected to establish an equipotential body of the shell.

[0093] The above description and accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. An obstacle-crossing mechanism for a live-working robot, characterized in that: include: The robot arm and the clamping device are provided with a planar translation pair, and the connection part with the clamping device is provided with a first rotation pair and a first angular pair, so that the planar translation pair, the first rotation pair and the first angular pair can construct a reachable area of ​​the spatial flexible wire to achieve positioning and clamping of the wire; A displacement adjustment mechanism, one end of which is connected to the mechanical arm via a second rotation pair, and the other end of which is provided with a second rotation pair, further comprising a telescopically movable plane pair and second angle pairs located at both ends of the plane pair; Among them, the displacement adjustment mechanism adjusts the angle and position of the robotic arm and the plane pair relative to the live working robot through the rotational freedom of the first rotating pair connected to the robotic arm, the telescopic movement of the plane pair that can move telescopically itself, and the adjustment of the second angle pair, so as to support the live working robot, separate the live working robot from the wire, and transfer it to the target connection position; or when the live working robot is fixed, drive the robotic arm to perform a reverse movement to cross the obstacle.

2. The obstacle-crossing mechanism according to claim 1, characterized in that: The clamping device includes: a first connecting rod connected to the first end of the robotic arm and provided with a first clamping block; a second connecting rod, rotatably connected to the second connecting rod and provided with a second clamping block; The first clamping block and / or the second clamping block are configured with a wire groove to accommodate and fix the wire.

3. The obstacle-crossing mechanism according to claim 2, characterized in that: The first connecting rod includes a first rod portion and a second rod portion that are perpendicular to each other, and the second connecting rod is rotatably connected to the second rod portion; the clamping device also includes: One end of the first electric push rod is rotatably connected to the first rod portion, and the other end is rotatably connected to the second connecting rod, so that when the first electric push rod extends, the second connecting rod is driven to rotate relative to the second rod portion to adjust the position of the second clamping block relative to the first clamping block.

4. The obstacle-crossing mechanism according to claim 2, characterized in that: The first rotation pair includes: The first rotary motor is provided at the end of the robot arm and connected to the first connecting rod, and is used for driving the first connecting rod to rotate, thereby driving the first clamping block and the second clamping block to rotate.

5. The obstacle-crossing mechanism according to claim 1, characterized in that: The first angle pair includes: The angle adjustment device is provided between the first rotary motor and the mechanical arm, and is used to drive the first rotary motor to swing and adjust the angle between the first rotary motor and the mechanical arm.

6. The obstacle-crossing mechanism according to claim 5, characterized in that: The angle adjustment device comprises: The first sheet is fixed to the end of the robot arm and is configured with a through hole; The second sheet is fixedly connected to the end of the first rotating motor and is hinged to the first sheet at an edge; The second electric push rod is embedded in the mechanical arm, and its push rod portion passes through the through hole and is rotatably connected to the second piece through a connecting piece; When the second electric push rod extends, it pushes the second sheet to open relative to the first sheet, drives the first rotary motor to rotate relative to the mechanical arm, and adjusts the position of the first clamping device / the second clamping device.

7. The obstacle-crossing mechanism according to claim 1, characterized in that: The robotic arm includes: A main rod, with a first clamping device and a second clamping device respectively provided at both ends; The base is connected to the main rod and is arranged along the axial direction of the main rod; the base is structured with a groove, and the groove is provided with a lead screw; A second drive motor is provided on the base and is drivingly connected to the lead screw to form a planar moving pair for driving the lead screw to rotate within the base; The displacement adjustment mechanism is connected to the lead screw to adjust the connection position between the robotic arm and the displacement adjustment mechanism.

8. The obstacle-crossing mechanism according to claim 7, characterized in that: The displacement adjustment mechanism includes: Slider, connected to the lead screw; The second rotary motor is a second rotary pair, provided on the slider, and is used to drive the slider to rotate; The connecting rod is a planar pair, one end of which is hinged to the second rotating motor; Among them, the connecting rod is a telescopic structure. When the connecting rod performs telescopic movement, it drives the robotic arm to move to adjust the distance between the robotic arm and the live working robot.

9. The obstacle-crossing mechanism according to claim 8, characterized in that: The displacement adjustment mechanism also includes: The third rotating motor is a third rotating pair, which is hinged to the other end of the connecting rod and is configured to be installed on the live working robot to drive the displacement adjustment mechanism to rotate relative to the live working robot.

10. The obstacle-crossing mechanism according to claim 9, characterized in that: The second angle pair includes: A third electric push rod, one end of which is hinged to the side wall of the connecting rod and the other end of which is hinged to the side wall of the third rotary motor, for supporting and adjusting the offset angle of the connecting rod; and / or, The fourth electric push rod has one end hinged to the side wall of the connecting rod and the other end hinged to the side wall of the second rotary motor to support and adjust the offset angle of the connecting rod.

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