Obstacle crossing mechanism for live-line robot

Abstract

This application relates to live-line robots and discloses an obstacle-crossing mechanism for live-line working robots, including: a robotic arm and a gripping device. The robotic arm has a planar prismatic joint, and the portion connected to the gripping device has a first rotary joint and a first angular joint, so as to construct the reachable area of ​​a spatial flexible conductor through the planar prismatic joint, the first rotary joint, and the first angular joint; a displacement adjustment mechanism is connected to the robotic arm at one end through a second rotary joint, and has a second rotary joint at the other end, and also includes a retractable planar joint and second angular joints located at both ends of the planar joint; wherein, the displacement adjustment mechanism adjusts the angle and position of the robotic arm and the planar joint relative to the live-line working robot through the rotational degree of freedom of the first rotary joint connected to the robotic arm, the extension and retraction of its own retractable planar joint, and the adjustment of the second angular joint. This application enables the live-line working robot to transfer its position between different conductors or obstacles and autonomously complete line-crossing / obstacle-crossing actions.

Description

Technical Field

[0001] This application relates to the field of live-line robot technology, and more particularly to obstacle-crossing mechanisms for live-line working robots. Background Technology

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

[0003] High-voltage and ultra-high-voltage overhead transmission lines are typically laid across vast areas, including high mountains and long rivers. During severe weather events such as typhoons, hail, and heavy snow, inspection and maintenance of these lines face significant challenges. During operation, factors such as foreign objects or broken strands can cause potential hazards in the lines, making power outages impossible and necessitating timely energization to resolve the anomalies. Traditional live-line work in distribution networks relies on workers standing on insulated boom trucks to perform various operations. These workers face threats from strong electromagnetic fields and high voltage, and are susceptible to various safety accidents due to spatial constraints, harsh conditions, high levels of stress, and strenuous labor.

[0004] With the development of artificial intelligence and its control technology, the applications of live-line working robots include wire repair robots, hardware defect elimination robots (such as bolt tightening robots), and foreign object removal robots. Their main control methods have gradually progressed from human control to semi-autonomous and then to fully autonomous control. The research progress of live-line working robots aims for high starting point, intelligence, and multi-functionality. It employs technologies such as multi-sensor fusion perception and recognition, scene reconstruction, and machine vision / force feedback servo closed-loop control. These robots perform live-line working tasks while also considering electromagnetic compatibility in high-voltage environments through autonomous planning, intelligent optimization decision-making, and big data behavior correction.

[0005] The main methods for loading live-line working robots from the ground onto the power lines are drone assistance, rope pulling, and manual labor, but all of these methods have problems such as difficult operation and low safety factor. Live-line working robots mainly travel on one or two power lines while carrying relevant software and hardware devices, actuators, etc. to carry out inspection, maintenance, and repair tasks.

[0006] However, the inventors discovered at least the following technical problems in the relevant technology: the live-line working robot cannot perform walking operations across the same section of the conductor or across obstacles on the same conductor. Summary of the Invention

[0007] One object of this application is to provide an obstacle-crossing mechanism for live-line working robots, which at least solves the above-mentioned problems.

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

[0009] The robotic arm and gripping device are provided. The robotic arm is provided with a planar prismatic joint, and the part connected to the gripping device is provided with a first rotary joint and a first angular joint, so as to construct the reachable area of ​​the spatial flexible wire through the planar prismatic joint, the first rotary joint and the first angular joint, so as to realize the positioning and gripping of the wire.

[0010] The displacement adjustment mechanism is connected to the robotic arm at one end via a second rotary joint, and is provided with a second rotary joint at the other end. It also includes a telescopic planar joint and second angular joints located at both ends of the planar joint.

[0011] The displacement adjustment mechanism adjusts the angle and position of the robotic arm and the planar joint relative to the live-line working robot by means of the rotational degree of freedom of the first rotary joint connected to the robotic arm, the extension and retraction of the planar joint that can extend and retract, and the adjustment of the second angle joint. This enables the support of the live-line working robot, allowing it to separate from the wire and transfer to the target connection position; or, when the live-line working robot is fixed, it drives the robotic arm to perform an obstacle-crossing action in reverse motion.

[0012] Compared with related technologies, the solution provided in the embodiments of this application,

[0013] In the robotic arm and gripping device, the combination of planar sliding joint, first rotary joint and first angular joint creates a flexible spatial reachable area for the flexible conductor. Compared with the traditional fixed structure, it can accurately adapt to conductors with different directions and positions, achieve fast and stable positioning and gripping, and significantly improve the adaptability to complex line environments. The displacement adjustment mechanism, with the coordinated operation of the second rotary joint, the telescopic planar joint and the second angular joint, gives the obstacle-crossing mechanism a powerful adjustment capability.

[0014] When a live-line working robot needs to be separated from the conductor and transferred to the target connection location, the displacement adjustment mechanism can flexibly adjust the angle and position of the robotic arm and the planar joint relative to the robot by utilizing the degrees of freedom of the rotary joint and the extension and retraction of the planar joint. This reliably supports the robot in completing the transfer action, avoiding operational risks caused by collisions or instability during the transfer process, and improving the safety and efficiency of the operation. When the live-line working robot is fixed, the mechanism can drive the robotic arm to perform reverse motion, achieving obstacle-crossing actions through the linkage of various kinematic joints. This effectively overcomes obstacles in the line, breaking through the movement limitations of traditional live-line working robots in complex line scenarios. The robot can now operate freely in a wider range of live-line working scenarios, greatly expanding the application scope of live-line working robots and demonstrating significant technological progress and practical value. Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0016] Figure 1 This is a schematic diagram of the obstacle-crossing mechanism provided in the embodiments of this disclosure;

[0017] Figure 2 This is a schematic diagram of the obstacle-crossing mechanism provided in another embodiment of the present disclosure;

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

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

[0020] Figure 5 This is a schematic diagram of the structure of the first clamping device provided in the embodiments of this disclosure;

[0021] Figure 6 This is an assembly diagram of the obstacle-crossing mechanism and the live-line working robot provided in the embodiments of this disclosure;

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

[0023] Figure 8 This is a schematic diagram of a two-wire operation provided in an embodiment of this disclosure;

[0024] Figure 9 This is a schematic diagram of the operation of a live-line working robot, drone, and wire provided in the embodiments of this disclosure.

[0025] Figure label:

[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 part; 2012: Second rod part; 202: First electric push rod; 203: First clamping block; 204: Second connecting rod; 205: Second clamping block; 206: Wire groove; 207: First drive motor;

[0028] 30: Second clamping device; 40: First rotary motor;

[0029] 50: Angle adjustment device; 501: First piece; 5011: Through hole; 502: Second piece; 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-line working robot; 80: Drone; 90: Intermediate platform; 100: Upper hoisting rope; 200: Lower hoisting rope; 300: Wire. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0034] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0035] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

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

[0037] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it 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, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0040] Combination Figures 1 to 9 As shown in the embodiments of this disclosure, the obstacle-crossing mechanism for a live-line working robot includes: a robotic arm and a gripping device. The robotic arm is provided with a planar sliding joint, and the portion connected to the gripping device is provided with a first rotary joint and a first angular joint, so as to construct an accessible area for a spatial flexible conductor through the planar sliding joint, the first rotary joint, and the first angular joint, thereby achieving positioning and gripping of the conductor; a displacement adjustment mechanism, one end of which is connected to the robotic arm through a second rotary joint, and the other end of which is provided with a second rotary joint, and also includes a retractable planar joint and second angular joints located at both ends of the planar joint; wherein, the displacement adjustment mechanism adjusts the angle and position of the robotic arm and the planar joint relative to the live-line working robot through the rotational degree of freedom of the first rotary joint connected to the robotic arm, the extension and retraction of its own retractable planar joint, and the adjustment of the second angular joint, so as to support the live-line working robot, separate the live-line working robot from the conductor, and transfer it to the target connection position; or when the live-line working robot is fixed, drive the robotic arm to perform an obstacle-crossing action in reverse motion.

[0041] In the robotic arm and gripping device, the combination of planar sliding joint, first rotary joint and first angular joint creates a flexible spatial reachable area for the flexible conductor. Compared with the traditional fixed structure, it can accurately adapt to conductors with different directions and positions, achieve fast and stable positioning and gripping, and significantly improve the adaptability to complex line environments. The displacement adjustment mechanism, with the coordinated operation of the second rotary joint, the telescopic planar joint and the second angular joint, gives the obstacle-crossing mechanism a powerful adjustment capability.

[0042] When a live-line working robot needs to be separated from the conductor and transferred to the target connection location, the displacement adjustment mechanism can flexibly adjust the angle and position of the robotic arm and the planar joint relative to the robot by utilizing the degrees of freedom of the rotary joint and the extension and retraction of the planar joint. This reliably supports the robot in completing the transfer action, avoiding operational risks caused by collisions or instability during the transfer process, and improving the safety and efficiency of the operation. When the live-line working robot is fixed, the mechanism can drive the robotic arm to perform reverse motion, achieving obstacle-crossing actions through the linkage of various kinematic joints. This effectively overcomes obstacles in the line, breaking through the movement limitations of traditional live-line working robots in complex line scenarios. The robot can now operate freely in a wider range of live-line working scenarios, greatly expanding the application scope of live-line working robots and demonstrating significant technological progress and practical value.

[0043] The robotic arm is equipped with gripping devices at both ends. For ease of distinction and description, the two gripping devices are defined as the first gripping device and the second gripping device. That is, the robotic arm 10 is equipped with a first gripping device 20 and a second gripping device 30 at both ends. Both the first gripping device 20 and the second gripping device 30 are used to grip the wire 300 for fixation. The displacement adjustment mechanism 60 is rotatably connected to the robotic arm 10 and can extend and retract 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 move and adjust the position of the first gripping device 20 and / or the second gripping device 30 gripping the wire 300 to support the live-line working robot 70, so that the live-line working robot 70 can be separated from the wire 300 and the connection position can be transferred.

[0044] The obstacle-crossing mechanism provided in this embodiment uses the first clamping device 20 and the second clamping device 30 at both ends of the robotic arm 10 to clamp and fix it to the conductor 300. Combined with the telescopic and rotatable displacement adjustment mechanism 60, it forms an obstacle-crossing execution logic of "clamping-separation-transfer". This breaks through the traditional single conductor 300 fixed mode and realizes the position transfer of the live-line working robot 70 between different conductors 300 or obstacles. It can autonomously complete the line crossing / obstacle crossing action without relying on manual or drone 80 assistance, shorten the operation time and improve the automation level of power distribution network maintenance.

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

[0046] The telescopic and rotational design of the displacement adjustment mechanism 60, in conjunction with the robotic arm 10, allows for gradual adjustment of the connection position while maintaining the stability of the live-lined robot 70.

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

[0048] The cable tray 206 is designed to fit the contour of the conductor 300, and its mechanical clamping mechanism enhances clamping stability, preventing work interruptions or safety accidents caused by conductor 300 swaying. The linkage structure simplifies the connection between the clamping device and the robotic arm 10, facilitating modular design and allowing for quick 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 further includes: a first electric push rod 202, one end of which is rotatably connected to the first rod portion 2011 and the other end of which is rotatably connected to the second connecting rod 204, so that when the first electric push rod 202 extends, it drives the second connecting rod 204 to rotate relative to the second rod portion 2012, thereby adjusting the position of the second clamping block 205 relative to the first clamping block 203.

[0050] The first electric actuator 202 precisely controls the opening and closing angle of the second clamping block 205 through mechanical transmission. It can dynamically adjust the clamping force according to the diameter of the conductor 300 (e.g., high-voltage / ultra-high-voltage lines), preventing excessive compression that could damage the conductor 300 or loose clamping that could lead to detachment, while ensuring friction during movement. Furthermore, the first electric actuator 202 has a fast linear motion response speed, enabling it to quickly complete clamping or releasing actions in complex working environments (e.g., strong winds, electromagnetic interference), improving obstacle-crossing efficiency.

[0051] Optionally, the first clamping device 20 / second clamping device 30 further includes: a first drive motor 207, disposed on the second connecting rod 204 and drivenly 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. Through the friction with the wire 300, the obstacle crossing mechanism is driven to move autonomously along the wire 300. This eliminates the need to rely on the power of the live-line working robot 70, reducing overall energy consumption and improving the independence of the robotic arm 10.

[0053] Optionally, the electric actuator is a guided propulsion structure, which is not limited to its form and drive type.

[0054] In the single-wire 300 obstacle crossing scenario, the rotation of the second gripping block 205 can assist the robotic arm 10 in "climbing" the obstacle, reducing the reliance on the obstacle crossing mechanism of the live-line working robot 70.

[0055] Optionally, the first rotary joint includes: a first rotary motor 40, located at the end of the robotic arm 10 and connected to the first link 201, for driving the first link 201 to rotate, thereby causing the first clamping block 203 and the second clamping block 205 to rotate.

[0056] The 360° rotation function allows the gripping device to be adjusted to any angle to adapt to different orientations of the conductor 300 (such as horizontal and inclined conductors 300), expanding the operating coverage. Before operating across the conductor 300, the posture of the robotic arm 10 is adjusted by rotating the gripping device to ensure alignment with the target conductor 300, reducing the risk of collision and improving positioning accuracy.

[0057] Optionally, the first angle pair includes: an angle adjustment device 50, disposed between the first rotary motor 40 and the robotic arm 10, for driving the first rotary motor 40 to swing and adjusting the angle between the first rotary motor 40 and the robotic arm 10.

[0058] By combining the 360° rotation of the rotary motor with the swing of the angle adjustment device 50, a compound motion of "rotation + pitch" is formed, which allows the clamping device to conform to the spatial angle of complex obstacles, improve the success rate of obstacle crossing, and achieve multi-dimensional attitude adjustment.

[0059] In addition, by precisely adjusting the angle of the clamping device, an equipotential connection can be gradually established when crossing conductors with different potentials by 30°, avoiding arc discharge caused by excessive potential difference and enhancing operational safety.

[0060] Optionally, the angle adjustment device 50 further includes: a first plate 501, fixed to the end of the robotic arm 10, and having a through hole 5011; a second plate 502, fixed to the end of the first rotary motor 40, and hinged to the first plate 501 at its edge; and a second electric push rod 503, embedded in the robotic arm 10, with its push rod portion passing through the through hole 5011 and rotatably connected to the second plate 502 via a connector; wherein, when the second electric push rod 503 extends, it pushes the second plate 502 to open relative to the first plate 501, drives the first rotary motor 40 to rotate relative to the robotic arm 10, and adjusts the position of the first clamping device 20 / second clamping device 30.

[0061] The second electric actuator 503 is embedded inside the robotic arm 10, reducing exposed external components, lowering the risk of electromagnetic interference under high-voltage conditions, and improving the overall strength of the robotic arm 10. Furthermore, the linear displacement of the second electric actuator 503 can be precisely controlled by a servo system to achieve accurate angle adjustment, ensuring that the alignment error between the clamping device and the wire 300 is less than the 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 respectively at both ends; a base 102 connected to the main rod 101 and arranged along the axial direction of the main rod 101; the base 102 has a groove 103, and a lead screw 104 is provided in the groove 103; a second drive motor 105 is provided on the base 102 and drivenly connected to the lead screw 104 to form a planar sliding pair, used to drive the lead screw 104 to rotate within the base 102; wherein, a displacement adjustment mechanism 60 is connected to the lead screw 104 to adjust the connection position between the robotic arm 10 and the displacement adjustment mechanism 60.

[0063] The lead screw 104 transmission has high rigidity and low backlash characteristics. The displacement of the robotic arm 10 along the main rod 101 axis can be precisely controlled by the second drive motor 105 (such as the spacing adjustment when crossing the double guide wire 300), ensuring the lateral alignment error between the clamping device and the target guide wire 300.

[0064] Optionally, the main rod 101 is an electrically operated and telescopic push rod. Optionally, the length of the main rod 101 is greater than the length of the base 102.

[0065] The extended main rod 101 allows for a larger lateral span between the first clamping device 20 and the second clamping device 30, enabling it to accommodate double conductors 300 with different spacings and adapt to various line scenarios without requiring equipment replacement. Furthermore, the longer main rod 101 can bypass some low obstacles (such as tree branches or tower components), allowing the clamping position to be adjusted directly 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 a lead screw 104; a second rotary motor 602, which is a second rotary joint, located on the slider 601, for driving the slider 601 to rotate; and a connecting rod 603, which is a planar joint, with one end 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, thereby adjusting the distance between the robotic arm 10 and the live-lined robot 70.

[0067] The slider 601 moves along the lead screw 104 to adjust the displacement of the robotic arm 10 along its axis; the second rotary motor 602 drives the slider 601 to rotate, adjusting the relative angle between the robotic arm 10 and the connecting rod 603; while the connecting rod 603 is extending and retracting, it drives the robotic arm 10 to move, adjusting the distance between the robotic arm 10 and the live-lined robot 70, forming multi-directional linkage, and realizing full-space planning of the obstacle-crossing path.

[0068] Optionally, the displacement adjustment mechanism 60 further includes a third rotary motor 604, which is a third rotary joint and is hinged to the other end of the connecting rod 603. It is configured to be mounted on the live-line working robot 70 and drive the displacement adjustment mechanism 60 to rotate relative to the live-line working robot 70.

[0069] The third rotary motor 604 and the first rotary motor 40 at the end of the robotic arm 10 form a "two-end drive" mode, which can synchronously adjust the posture of the robotic arm 10 and its end gripping device when crossing obstacles, and is suitable for complex scenarios with wire 300 layout. After crossing the obstacle, the third rotary motor 604 quickly resets the displacement adjustment mechanism 60 to the initial state, saving preparation 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 of the third electric actuator 605 can counteract wind disturbances during high-altitude operations, ensuring the offset angle of the connecting rod 603 and preventing clamping failure due to swaying. In addition, if abnormal electromagnetic signals (such as discharge precursors) are detected during obstacle crossing, the angle of the connecting rod 603 can be quickly adjusted via the third electric actuator 605, allowing the robotic arm 10 to escape the danger zone in an emergency.

[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 actuator 605 and the fourth electric actuator 606 are respectively located at both ends of the connecting rod 603. Furthermore, the third electric actuator 605 and the fourth electric actuator 606 are not on the same plane.

[0074] The non-coplanar dual-electric actuator design allows independent control of the pitch and tilt angles of the connecting rod 603, enabling fine-tuning of the robotic arm 10's posture in three-dimensional space (such as rotation around the X, Y, and Z axes), and adapting to more complex obstacle-crossing paths (such as scenarios where the conductor 300 crosses). Furthermore, the dual-actuator structure provides mechanical redundancy; if one actuator fails, the other can temporarily bear the load, preventing work interruptions or equipment falls due to single-point failure and improving system reliability.

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

[0076] The live-line working robot 70 is equipped with obstacle-crossing mechanisms at both ends.

[0077] For example, the live-line working robot 70 adjusts the obstacle-crossing mechanisms at both ends to an upward state. The clamping wires 300 corresponding to the first clamping device 20 and the second clamping device 30 of the two obstacle-crossing mechanisms are closed and connected to and secured to the four lifting rings suspended from the intermediate platform 90. The upper and lower suspension ropes of the intermediate platform 90 are adjusted to be as short as possible. The intermediate platform 90 and its suspension ropes are made of non-metallic, heat-resistant, high-resistance material to connect and adapt to the width of the robot's plane and the width of the lifting platform of the drone 80. Both the upper and lower suspension ropes are equipped with pressure sensors. When the pressure sensor data at one of the four lifting points on the intermediate platform 90 exceeds a threshold, the corresponding section of rope is released. Similarly, the four lifting points on the intermediate platform 90 are also equipped with pressure sensors. Likewise, when the pressure sensor data at one lifting point exceeds a threshold, the corresponding section of rope is released. In this way, the robot can avoid excessive swaying or tilting at high altitudes during the lifting and flight process due to its size and weight. At the same time, the angle between the robot and the 300mm guide wire can be adjusted appropriately during the loading process to ensure safe placement and fixation.

[0078] When the live-line working robot 70 is positioned above the conductor 300 in the slot, the drone 80, carrying the robot, is positioned above the conductor 300 in a safe area. The upper suspension rope 100 on the intermediate platform 90 is slowly extended. The drone 80, through planar position adjustment combined with the lower suspension rope 200, aligns the live-line working robot 70 with the conductor 300 in the lateral direction. At this point, the conductor 300 is secured and inserted into the slot of the live-line working robot 70.

[0079] After the wire 300 is inserted into the groove, the live-line working robot 70 clamps the wire 300. Meanwhile, the first clamping block 203 and the second clamping block 205 of the obstacle-crossing mechanism clamp the open loop 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-line working robot 70 drives the second clamping block 205 to move in an open state relative to the first clamping block 203. Correspondingly, the lower suspension rope 200 structure releases a section of rope, causing the second clamping block 205 to disengage from the open loop at the lower end of the lower suspension rope 200. Then, the first clamping device 20 and the second clamping device 30 are driven to rotate, that is, to adjust the angle 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 disengaged from the open loop of the lower suspension rope 200. Then, the displacement adjustment mechanism 60 drives the robotic arm 10 to rotate not only vertically downwards but also horizontally, so that the robotic arm 10 is located in the middle of the two wires 300, and the first clamping device 20 of the robotic arm 10 is parallel to one of the two wires 300.

[0080] The positions of the second clamping device 30, the displacement adjustment mechanism 60, and the 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 clamps it tightly; then, following the same steps, the obstacle-crossing mechanism is clamped onto another parallel wire 300. Then, the drone 80 flies away, and the live-line working robot 70 is safely connected to the wire 300.

[0081] When dismantling the live-line working robot 70, the drone 80 first lands above the live-line working robot 70 carrying the intermediate platform 90. One of the obstacle-crossing mechanisms at the front and rear ends of the live-line working robot 70 first detaches from the conductor 300. Through the displacement adjustment mechanism 60, the first clamping device 20 of the obstacle-crossing mechanism detached from the conductor 300 is clamped and connected to the open ring at the lower part of the lower suspension rope 200. Then, the other lower suspension rope 200 mechanism is adjusted to connect with the second clamping device 30 of the detached obstacle-crossing mechanism. Similarly, the other obstacle-crossing mechanism is detached, so that the other obstacle-crossing mechanism is connected to the open ring at the lower part of the lower suspension rope 200. Finally, the clamping structure of the live-line working robot 70 is released, and the drone 80 quickly flies away from the magnetic field line area of ​​the conductor 300.

[0082] After the live-line working robot 70 and the obstacle-crossing mechanism safely land on the conductor 300, the front and rear obstacle-crossing mechanisms clamp the robot 70 at four points (clamping blocks) on both conductors 300 to ensure its balance during operation. The live-line working robot 70 itself also has two clamping points to ensure a certain clamping force. The cooperation of at least six clamping points ensures the overall balance and stability of the live-line working robot 70 when operating on a single conductor 300. In some application scenarios, when the live-line working robot 70 is operating on a single conductor 300, the conductor 300 can be fixed by clamping it with only the first clamping device 20 of one obstacle-crossing mechanism and the second clamping device 30 of another obstacle-crossing mechanism.

[0083] When the live-line working robot 70 needs to move, the clamping force of the wheels is controlled by the pressure sensor data at the rear of the elastic material of the contact surface between each wheel of the live-line working robot 70 and the conductor 300. The length of the main rod 101 of the obstacle-crossing mechanism is adjusted, such as by extending the length of the main rod 101 to accommodate the width error caused by the drooping of the long conductor 300 due to gravity, and to ensure that the two obstacle-crossing mechanisms can carry the live-line working robot 70 to move autonomously. In conjunction with the single conductor 300 walking capability of the live-line working robot 70 itself, it can move safely and autonomously at high altitudes.

[0084] The displacement adjustment mechanism 60 of the obstacle crossing mechanism is telescopic. 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 one end of the connecting rod 603 adjusts the angle of the third electric push rod 605, the fourth electric push rod 606 at the other end adjusts its push rod. The push rod can freely extend and retract to adapt to the situation.

[0085] The main rod 101 of the robotic arm 10 can extend and retract to adjust the distance between its two ends. The second drive motor 105, lead screw 104, and slider 601 cooperate to drive the displacement adjustment mechanism 60 to move as a whole along the axial direction of the lead screw 104. The first clamping device 20 and the second clamping device 30 at both ends of the robotic arm 10 can rotate 360 ​​degrees, and the angle adjustment device 50 can adjust the first / second clamping device 30 to be at ±90 degrees with the robotic arm 10, thereby facilitating the insertion of the wire 300 into the wire groove 206 of the first clamping block 203 and the second clamping block 205 under different conditions.

[0086] When there is only one guide wire 300 instead of parallel guide wires 300, first adjust the displacement adjustment mechanism 60 of one obstacle-crossing mechanism to make the robotic arm 10 parallel to the guide wire 300. Then adjust the angle adjustment device 50 and the first rotary motor 40 to allow the guide wire 300 to enter the wire groove 206 of the first clamping block 203 and the second clamping block 205 of the clamping device (such as the first clamping device 20) at one end. Then fine-tune the position of the robotic arm 10 so that the guide wire 300 enters the wire groove 206 of the first clamping block 203 and the second clamping block 205 of the clamping device (such as the second clamping device 30) at the other end of the robotic arm 10. The other obstacle-crossing mechanism is also performed according to the above steps.

[0087] When the live-line working robot 70 needs to be moved from one wire 300 to another, the clamping structure of the live-line working robot 70 is released, and the displacement adjustment mechanisms 60 of the two obstacle-crossing mechanisms are activated. The robot 70 is lifted up, first detaching from the wire 300 and placing itself in the air. Then, the second drive motors 105 of the two obstacle-crossing mechanisms drive the lead screw 104 to rotate, causing the slider 601 to move along the lead screw 104 to the other end. This moves the displacement adjustment mechanism 60, which then adjusts the angle of the robotic arm 10, allowing the live-line working robot 70 to land on the wire 300 and for the wire 300 to enter the slot of the live-line working robot 70. If the live-line working robot 70 needs to be moved to a third wire 300, the two obstacle-crossing mechanisms first clamp the second and third wires 300 to form a basic moving base surface, and then the above actions are repeated. The robot is lifted up so that it first detaches from the conductor 300 and is in the air. The displacement adjustment mechanism 60 drives the angle and distance of the robot 70 relative to the robotic arm 10, so that the robot 70 lands on the conductor 300 and the conductor 300 enters the slot of the robot 70.

[0088] When the double conductor 300 crosses an obstacle, one obstacle-crossing mechanism crosses the obstacle and clamps onto the double conductor 300. Then, the two obstacle-crossing mechanisms and the live-line working robot 70 move forward together to a suitable position. The two obstacle-crossing mechanisms then lift the live-line working robot 70 to cross the obstacle and clamp the conductor 300 into the slot of the live-line working robot 70. After moving forward a certain position, the other obstacle-crossing mechanism is adjusted to cross the obstacle.

[0089] When a single conductor 300 overcomes an obstacle, the process is the same as that for a double conductor 300. If there is an obstacle above the single conductor 300 that cannot be overcome, the live-line working robot 70 can be adjusted to be below the conductor 300, and then the two robotic arms 10 can be adjusted to a downward-hanging position. The robot can then advance from below and overcome the obstacle in the same way as from above, and then be adjusted to be above the conductor 300.

[0090] Depending on the different obstacle conditions, the robot can implement single-wire 300 obstacle crossing methods, double-wire 300 obstacle crossing methods, or switch wires and then implement single-wire or double-wire 300 obstacle crossing methods to maximize the working area of ​​the live-line working robot 70.

[0091] In some embodiments, the robot is equipped with various necessary sensors and autonomously controls its posture and movement speed through intelligent algorithms during operation to ensure safe operation. When crossing power lines, the phase voltage difference between the two high-voltage lines is significant. Therefore, during movement, electromagnetic equipotential processing is implemented based on electrical sparks and internal electromagnetic induction, or circuit processing is performed based on different potentials. Action is taken only after equipotential balance or overall safety. In extremely dangerous situations such as contact, the motor's movement needs to be accelerated to establish a balanced state.

[0092] Apart from the necessary metal parts, the robot's overall structural components are all made of heat-resistant and pressure-resistant non-metallic materials (such as epoxy resin, ceramics, etc.), and the entire external structure is interconnected to jointly establish an equipotential body for the outer shell.

[0093] The foregoing description and accompanying drawings fully illustrate 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. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. 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 its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. An obstacle-crossing mechanism for a live-line working robot, characterized in that, include: The robotic arm and gripping device are provided. The robotic arm is provided with a planar prismatic joint, and the part connected to the gripping device is provided with a first rotary joint and a first angular joint, so as to construct the reachable area of ​​the wire through the planar prismatic joint, the first rotary joint and the first angular joint, so as to realize the positioning and gripping of the wire. The displacement adjustment mechanism is connected to the robotic arm at one end via a second rotary joint and at the other end via a third rotary joint. It also includes a telescopic planar joint and second angular joints located at both ends of the planar joint. The displacement adjustment mechanism adjusts the angle and position of the robotic arm and the planar joint relative to the live-line working robot through the rotational degree of freedom of the second rotary joint connected to the robotic arm, the extension and retraction of the planar joint that can extend and retract, and the adjustment of the second angle joint. This enables the support of the live-line working robot, allowing it to separate from the wire and transfer to the target connection position; or, when the live-line working robot is fixed, it drives the robotic arm to perform an obstacle-crossing action in reverse motion. The clamping device includes: a first link connected to a first end of a robotic arm and provided with a first clamping block; a second link rotatably connected to the first link and provided with a second clamping block; wherein the first clamping block and / or the second clamping block are constructed with wire grooves to accommodate and fix wires; The first rotary joint includes: a first rotary motor, located at the end of the robotic arm and connected to the first link, for driving the first link to rotate, thereby causing the first clamping block and the second clamping block to rotate; The first angle pair includes: an angle adjustment device, located between the first rotary motor and the robotic arm, used to drive the first rotary motor to swing and adjust the angle between the first rotary motor and the robotic arm; The angle adjustment device includes: a first plate, fixed to the end of the robotic arm and having a through hole; a second plate, fixed to the end of the first rotary motor and hinged to the first plate at its edge; and a second electric push rod, embedded in the robotic arm, with its push rod portion passing through the through hole and rotatably connected to the second plate via a connector; wherein, when the second electric push rod extends, it pushes the second plate to open relative to the first plate, driving the first rotary motor to rotate relative to the robotic arm, thereby adjusting the position of the clamping device.

2. The obstacle-crossing mechanism according to claim 1, characterized in that, The first link includes a first rod portion and a second rod portion that are perpendicular to each other, and the second link is rotatably connected to the second rod portion; the clamping device also includes: The first electric push rod has one end rotatably connected to the first rod section and the other end rotatably connected to the second connecting rod. When the first electric push rod extends, it drives the second connecting rod to rotate relative to the second rod section, thereby adjusting the position of the second clamping block relative to the first clamping block.

3. The obstacle-crossing mechanism according to claim 1, characterized in that, The robotic arm includes: The main rod is equipped with a first clamping device and a second clamping device at both ends; The base is connected to the main rod and is arranged along the axial direction of the main rod; the base has a groove and a lead screw is installed in the groove. The second drive motor is located on the base and is connected to the lead screw to form a planar sliding pair, which drives 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.

4. The obstacle-crossing mechanism according to claim 3, characterized in that, The displacement adjustment mechanism includes: The slider is connected to the lead screw. The second rotary motor, which is the second rotary joint, is located on the slider and is used to drive the slider to rotate; The connecting rod is a planar joint, with one end hinged to the second rotary motor; The connecting rod is a telescopic structure. When the connecting rod moves in a telescopic motion, it drives the robotic arm to move, thereby adjusting the distance between the robotic arm and the live-lined robot.

5. The obstacle-crossing mechanism according to claim 4, characterized in that, The displacement adjustment mechanism also includes: The third rotary motor, which is the third rotary joint, is hinged to the other end of the connecting rod and is configured to be mounted on the live-line working robot to drive the displacement adjustment mechanism to rotate relative to the live-line working robot.

6. The obstacle-crossing mechanism according to claim 5, characterized in that, The second angle sub-angle includes: The third electric push rod is hinged at one end to the side wall of the connecting rod and at the other end to the side wall of the third rotary motor, and is used to support and adjust the offset angle of the connecting rod. And / or, The fourth electric push rod is hinged at one end to the side wall of the connecting rod and at the other end to the side wall of the second rotary motor to support and adjust the offset angle of the connecting rod.

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