A substation live-line working robot and system

Abstract

This invention relates to the field of transmitter technology, and in particular to a substation live-line working robot and system. The robot includes: a magnetic fixing component fixed to a tool, the surface of which has multiple raised limiting portions with slots; a magnetic movable component fixed to a robotic arm; a magnetic component fixed inside the magnetic movable component; a drive ring that slides axially along the magnetic movable component under the magnetic force of the magnetic component; and a rotating assembly including an upper rotating part and a lower rotating part, movably disposed within the magnetic movable component, with fixing portions installed on the outer sides of both the upper and lower rotating parts. The beneficial effect of this invention is that by controlling the axial sliding of the drive ring through the magnetic component, the upper and lower rotating parts of the rotating assembly rotate in opposite directions, allowing the first and second inserts to be precisely inserted into the slots of the limiting portions of the magnetic fixing component, forming a stable mechanical locking connection, significantly enhancing the stability and vibration resistance of the connection.

Description

Technical Field

[0001] This invention relates to the field of live-line working robots, and in particular to a live-line working robot and system for substations. Background Technology

[0002] Electrical equipment requires frequent testing, inspection, and maintenance during long-term operation. Live-line work effectively avoids power outages for maintenance, ensuring electrical safety. Live-line work refers to testing, inspection, and maintenance of electrical equipment while it is energized. This method reduces the impact of power outages, avoids maintenance shutdowns, and ensures normal power supply, especially in hospitals, factories, and other locations highly dependent on electricity where unpredictable power cuts are unacceptable. The objects of live-line work include substation electrical equipment, overhead transmission lines, distribution lines, and distribution equipment. Key tasks include replacing line tower insulators under energized conditions, cleaning and replacing insulators, flushing insulators with water, crimping and repairing conductors and overhead ground wires, inspecting faulty insulators, testing and replacing disconnect switches and surge arresters, and testing transformer temperature rise and dielectric loss values. In short, substations require live-line work to ensure the continuity and safety of power supply. Although the operation is highly dangerous, strict safety measures and technical methods can effectively reduce the risks.

[0003] Live-line work is inherently dangerous. Traditional manual live-line work is highly risky and prone to causing personal injury or death, thus requiring strict safety measures. These measures include using insulating equipment such as insulating rods, insulating gloves, and insulating clothing, as well as wearing shielding suits to prevent electric shock. Furthermore, live-line work tools must be safe, reliable, structurally sound, and of sufficient strength, and live-line work is prohibited in inclement weather. Therefore, manual live-line work not only requires personnel to reach the work location (most of which are at height, requiring manual climbing and descent), but also necessitates wearing or carrying cumbersome work clothes and tools, placing a significant burden on workers and consuming considerable time. Live-line work is inherently unsafe and cannot be carried out promptly in inclement weather. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that: manual live-line work not only requires people to go to the live-line work location (most of the live-line work locations are at high altitudes, requiring people to climb up and down), but also requires wearing or carrying cumbersome work clothes and tools, which causes a great workload for the workers.

[0005] The above-mentioned technical problems are solved by the following technical solution: This invention proposes a substation live-line working robot, which includes a magnetic fixing component fixed to a tool, the surface of the magnetic fixing component having multiple protruding limiting parts, and the limiting parts having slots; a magnetic moving component fixed to a robotic arm; a magnetic component fixed inside the magnetic moving component; a drive ring that slides along the axial direction of the magnetic moving component under the magnetic force of the magnetic component; a rotating assembly including an upper rotating part and a lower rotating part, which are respectively movably disposed inside the magnetic moving component, and fixing parts are installed on the outer sides of the upper rotating part and the lower rotating part; the drive ring has multiple pressing blocks that move with the sliding of the drive ring and push the upper rotating part and the lower rotating part to rotate and separate, causing the fixing parts to insert into the slots of the limiting parts.

[0006] In a preferred embodiment of the substation live-line working robot of the present invention: a guide groove is provided in the middle of the magnetic fixing part; a guide block corresponding to and matching the guide groove is provided in the middle of the magnetic moving part; and multiple limiting grooves corresponding to and movably inserted into the limiting part are opened on the surface of the magnetic moving part.

[0007] In a preferred embodiment of the substation live-line working robot of the present invention: the drive ring is disposed above the magnetic component and connected to the magnetically absorbing movable component through a reset spring; the drive ring slides along the axial direction of the magnetically absorbing movable component under the magnetic force of the magnetic component; the fixed part includes a first insert block and a second insert block, the first insert block is fixed on the outer periphery of the upper rotating part, and the second insert block is fixed on the outer periphery of the lower rotating part.

[0008] In a preferred embodiment of the substation live-line working robot of the present invention: the first contact block and the second contact block are respectively fixed on the upper rotating part and the lower rotating part, and the upper rotating part and the lower rotating part rotate in different directions when the first contact block and the second contact block are separated.

[0009] In a preferred embodiment of the substation live-line working robot of the present invention: it further includes: an annular piston, movably connected to the bottom of the drive ring, forming a cavity for containing a medium between the annular piston and the drive ring, the cavity being filled with a medium; a compression spring, fixed in the cavity, used to pull the annular piston to reset; and multiple blocking blocks, slidably connected to the outside of the squeezing block, the blocking blocks being connected to the medium in the cavity through pipes.

[0010] In a preferred embodiment of the substation live-line working robot of the present invention: the robotic arm includes a base arm, rotatably mounted on a mechanical platform; a connecting arm; a first arm section, rotatably connected to the base arm via the connecting arm; a second arm section, rotatably connected to the first arm section via the connecting arm; a tool arm, rotatably connected to the second arm section via the connecting arm, and a magnetically attached movable component fixed to the tool arm;

[0011] In a preferred embodiment of the substation live-line working robot of the present invention, it further includes: a mechanical platform, a robotic arm fixed on the mechanical platform, the mechanical platform having multiple tool mounting holes and limiting posts, the tool mounting holes for placing tools, and the limiting posts for fixing tools; and a camera fixed on the mechanical platform for monitoring the docking process between the robotic arm and the tools.

[0012] In a preferred embodiment of the substation live-line working robot of the present invention, it further includes:

[0013] The lifting assembly is fixed to the bottom of the mechanical platform. The lifting assembly includes a first telescopic rod and a second telescopic rod. The first telescopic rod is connected to the bottom of the mechanical platform, and the second telescopic rod is connected to the bottom of the first telescopic rod. The first telescopic rod is inclined, and the second telescopic rod is inclined in the opposite direction to the first telescopic rod.

[0014] In a preferred embodiment of the substation live-line working robot of the present invention, it further includes: a conveyor vehicle located below the second telescopic rod, the conveyor vehicle moving by means of tracks; a connecting column fixed to the bottom of the second telescopic rod and rotatably connected to the conveyor vehicle; and a controller fixed on the conveyor vehicle for controlling the movement of the conveyor vehicle, the lifting assembly, and the robotic arm; wherein, the conveyor vehicle drives the mechanical platform to move by means of tracks, the connecting column rotates to adjust the orientation of the mechanical platform, and the controller coordinates the movement of the conveyor vehicle, the lifting assembly, and the robotic arm to achieve precise docking of the magnetically attached movable parts and the magnetically attached fixed parts.

[0015] To address the aforementioned technical problems, the present invention also provides the following technical solution: a substation live-line working robot system, comprising a substation live-line working robot, and a system that controls a conveyor vehicle to travel to the work position and adjusts the orientation of the mechanical platform by means of track drive and connecting column rotation; activates a lifting assembly, and adjusts the height and angle of the robotic arm through the coordinated action of a first telescopic rod and a second telescopic rod, so that the magnetic movable part at the end of the robotic arm aligns with the magnetic fixing part on the target tool, completing the precise connection between the magnetic movable part and the magnetic fixing part; monitors the docking status of the robotic arm and the tool in real time through a camera, and coordinates the movement of the conveyor vehicle, the lifting assembly, and the robotic arm by a controller to ensure the stability and safety of the operation process.

[0016] The beneficial effects of this invention are as follows: by controlling the drive ring to slide axially through a magnetic component, the upper and lower rotating parts of the rotating assembly rotate in opposite directions, allowing the first and second insert blocks to be precisely inserted into the limiting slot of the magnetic fixing component, forming a stable mechanical locking connection. Compared to traditional connection methods that rely solely on magnetic force, this mechanism significantly enhances the stability and vibration resistance of the connection through the synergistic effect of magnetic force and mechanical locking.

[0017] By setting an annular piston and a compression spring at the bottom of the drive ring and filling the cavity with a medium, when the magnetic component is suddenly de-energized, the compression spring drives the annular piston to reset, and the compression medium pushes the blocking block out, preventing the compression block from resetting. This keeps the first and second inserts locked in the slot, ensuring the continuous stability of the connection in the event of a power outage and significantly reducing the risk of the tool falling off.

[0018] Through multi-stage rotational connections of the base arm, first arm section, second arm section, and tool arm, a flexible motion chain is formed, driving the magnetic moving parts to precisely approach the magnetic fixed parts, achieving efficient tool connection and replacement. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0020] Figure 1 A 3D view of the robotic arm of a substation live-line working robot is shown;

[0021] Figure 2 A schematic diagram of the magnetic moving parts of a substation live-line working robot is shown.

[0022] Figure 3 A 3D view of the magnetic fixing component of the substation live-line working robot is shown;

[0023] Figure 4 An exploded cross-sectional view of the magnetic moving parts of a substation live-line working robot is shown.

[0024] Figure 5 A partial structural diagram of the upper and lower rotating parts of the substation live-line working robot is shown.

[0025] Figure 6 This illustrates a live-line working robot for substations. Figure 5 Enlarged view of a portion of point A in the middle;

[0026] Figure 7 A diagram showing the connection between the magnetic fixing parts and the magnetic moving parts of the substation live-line working robot is provided.

[0027] Figure 8 A three-dimensional view of the drive ring of a substation live-line working robot is shown;

[0028] Figure 9 A three-dimensional view of the extrusion block of a substation live-line working robot is shown;

[0029] Figure 10 A three-dimensional view of the substation live-line working robot is shown.

[0030] In the diagram: 1. Magnetic fixing component; 11. Tool component; 12. Limiting part; 13. Slot; 14. Guide groove; 15. Guide block; 16. Limiting groove; 2. Magnetic moving component; 21. Robotic arm; 211. Seat arm; 212. Connecting arm; 213. First arm section; 214. Second arm section; 215. Tool arm; 3. Magnetic component; 4. Drive ring; 41. Pressing block; 42. Return spring; 5. Rotating assembly; 51. Upper rotation 52. Lower rotating part; 53. Fixed part; 531. First insert block; 532. Second insert block; 533. First contact block; 534. Second contact block; 535. Elastic component; 61. Annular piston; 62. Compression spring; 63. Blocking block; 7. Mechanical platform; 71. Tool mounting hole; 72. Camera; 8. Lifting assembly; 81. First telescopic rod; 82. Second telescopic rod; 91. Conveyor vehicle; 92. Connecting column. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0032] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0033] Reference Figures 1 to 4 This embodiment provides a substation live-line working robot and system, including a magnetic fixing component 1, fixed to a tool component 11, the surface of the magnetic fixing component 1 having multiple protruding limiting portions 12, and the limiting portions 12 having slots 13; a magnetic movable component 2, fixed to a robotic arm 21; a magnetic component 3, fixed inside the magnetic movable component 2; a drive ring 4, which slides along the axial direction of the magnetic movable component 2 under the magnetic force of the magnetic component 3; a rotating assembly 5, including an upper rotating portion 51 and a lower rotating portion 52, respectively movably disposed inside the magnetic movable component 2, with fixing portions 53 installed on the outer sides of both the upper rotating portion 51 and the lower rotating portion 52; the drive ring 4 has multiple pressing blocks 41, which move with the sliding of the drive ring 4, and push the upper rotating portion 51 and the lower rotating portion 52 to rotate and separate, causing the fixing portions 53 to insert into the slots 13 of the limiting portions 12.

[0034] In this embodiment, the magnetic fastener 1 is a component fixed on the tool 11, and its surface is provided with a plurality of protruding limiting parts 12, each limiting part 12 having a slot 13.

[0035] The limiting part 12 and the slot 13 provide interfaces for positioning and locking.

[0036] The protruding structure of the limiting part 12 cooperates with the limiting groove 16 of the magnetic moving part 2 to achieve initial positioning; the slot 13 serves as the interface for mechanical locking and cooperates with the fixing part 53 (first insert 531 and second insert 532) to form a stable mechanical connection.

[0037] The magnetic movable part 2 moves with the robotic arm 21, the guide block 15 docks with the guide groove 14 of the magnetic fixing part 1, and the limiting groove 16 is inserted into the limiting part 12.

[0038] The corresponding cooperation between the guide block 15 and the guide groove 14 enables the rapid and accurate positioning of the magnetic moving part 2 and the magnetic fixing part 1; the insertion of the limiting groove 16 and the limiting part 12 enhances the stability of the initial connection.

[0039] The magnetic component 3 (such as an electromagnet) is fixed inside the magnetically movable component 2, and the magnetic force can be controlled by turning on or off the power.

[0040] The magnetic component 3 drives the drive ring 4 to move through magnetic force, indirectly controlling the action of the rotating assembly 5 and providing a power source for mechanical locking.

[0041] The drive ring 4 is located above the magnetic component 3 and is connected to the magnetically movable component 2 via a reset spring 42. Multiple pressing blocks 41 are provided on its surface.

[0042] Under the magnetic force of the magnetic component 3, the drive ring 4 slides along the axial direction of the magnetically attracted movable component 2; when the power is off, the reset spring 42 pulls the drive ring 4 to reset.

[0043] The sliding of the drive ring 4 causes the extrusion block 41 to move, and the extrusion block 41 pushes the upper rotating part 51 and the lower rotating part 52 of the rotating assembly 5 to rotate and separate.

[0044] The rotating assembly 5 includes an upper rotating part 51 and a lower rotating part 52, which are movably disposed within the magnetic attraction movable part 2. A first insert block 531 and a second insert block 532 are fixed to the outer periphery of the two rotating parts, and a first contact block 533 and a second contact block 534 are fixed to their surfaces, respectively.

[0045] The squeezing block 41 pushes the first contact block 533 and the second contact block 534 to separate, causing the upper rotating part 51 and the lower rotating part 52 to rotate in opposite directions, thereby driving the first insert block 531 and the second insert block 532 to insert into or disengage from the slot 13 of the limiting part 12.

[0046] The reverse rotation of the upper rotating part 51 and the lower rotating part 52 enables the first insert block 531 and the second insert block 532 to be inserted into or disengaged from the slot 13, and cooperates with the pressing block 41 of the drive ring 4 and the slot 13 of the magnetic fastener 1 to form a mechanical locking or unlocking.

[0047] The fixing part 53 (first insert 531 and second insert 532) is fixed to the outer periphery of the upper rotating part 51 and the lower rotating part 52 respectively, and its shape matches the slot 13 of the limiting part 12.

[0048] As the upper rotating part 51 and the lower rotating part 52 rotate, the first insert block 531 and the second insert block 532 are inserted into or disengaged from the slot 13; an elastic element 535 (such as a spring or elastic rope) can be connected between the first insert block 531 and the second insert block 532 to assist in the reset of the insert blocks.

[0049] When the magnetic movable part 2 on the robotic arm 21 approaches the magnetic fixed part 1 on the tool part 11, the guide block 15 inserts into the guide groove 14 to achieve rapid and accurate positioning, while the limiting part 12 inserts into the limiting groove 16 to complete the initial fixation. After the magnetic part 3 is activated, the generated magnetic force drives the drive ring 4 to slide axially, driving the pressing block 41 to move. The pressing block 41 pushes the first contact block 533 and the second contact block 534 to separate, driving the upper rotating part 51 and the lower rotating part 52 to rotate in opposite directions, so that the first insert block 531 and the second insert block 532 are inserted into the slot 13 of the limiting part 12, forming a mechanical locking force and enhancing the connection stability. When the magnetic part 3 is closed, the return spring 42 pulls the drive ring 4 to return to its original position, and the elastic part 535 assists the first insert block 531 and the second insert block 532 to disengage from the slot 13, releasing the lock and facilitating quick tool replacement.

[0050] refer to Figures 2 to 7 As an optional embodiment, the magnetic fixing member 1 has a guide groove 14 in the middle; the magnetic moving member 2 has a guide block 15 in the middle that corresponds to and matches the guide groove 14, and the surface of the magnetic moving member 2 has a plurality of limiting grooves 16 that correspond to and are movably inserted into the limiting part 12. The driving ring 4 is disposed above the magnetic member 3 and connected to the magnetic moving member 2 through a return spring 42. The driving ring 4 slides along the axial direction of the magnetic moving member 2 under the magnetic force of the magnetic member 3; the fixing part 53 includes a first insert 531 and a second insert 532. The first insert 531 is fixed to the outer periphery of the upper rotating part 51, and the second insert 532 is fixed to the outer periphery of the lower rotating part 52. The first contact block 533 and the second contact block 534 are respectively fixed to the upper rotating part 51 and the lower rotating part 52. When the first contact block 533 and the second contact block 534 are separated, the upper rotating part 51 and the lower rotating part 52 rotate in different directions.

[0051] In this embodiment, when the magnetic movable part 2 approaches the magnetic fixed part 1, the guide block 15 is inserted into the guide groove 14 to achieve docking, and the limiting part 12 is inserted into the limiting groove 16 to achieve initial fixation. After the magnetic part 3 is activated, the drive ring 4 slides to drive the pressing block 41 to move. The pressing block 41 pushes the first contact block 533 and the second contact block 534 to separate, driving the upper rotating part 51 and the lower rotating part 52 to rotate, so that the first insert block 531 and the second insert block 532 are inserted into the slot 13 to form a mechanical locking force.

[0052] When the magnetic component 3 is closed, the return spring 42 pulls the drive ring 4 to reset, and the elastic component 535 pulls the first insertion block 531 and the second insertion block 532 out of the slot 13, releasing the lock. The guide groove 14 and guide block 15 achieve rapid and precise positioning of the magnetic movable component 2 and the magnetic fixed component 1. The limiting part 12 and limiting groove 16 achieve initial fixation, enhancing connection stability. After the magnetic component 3 is activated, the drive ring 4 slides under magnetic force, driving the pressing block 41 to move. This, in turn, separates the first contact block 533 and the second contact block 534, driving the upper rotating part 51 and the lower rotating part 52 to rotate in opposite directions, causing the first insertion block 531 and the second insertion block 532 to insert into the slot 13 of the limiting part 12, forming a mechanical locking force that effectively resists vibration and impact. The return spring 42 and elastic component 535 ensure the stable reset of the drive ring 4 and the insertion blocks, facilitating quick tool replacement. Compared to fixing methods that rely solely on magnetic force, this device significantly improves the stability and safety of the connection through mechanical locking, eliminating the risk of falling due to insufficient or unstable magnetic force.

[0053] refer to Figures 2 to 9 In one embodiment of the present invention, it further includes an annular piston 61, movably connected to the bottom of the drive ring 4, forming a cavity for containing a medium (such as liquid or gas) between the annular piston 61 and the drive ring 4, the cavity being filled with the medium; a compression spring 62, fixed in the cavity, for pulling the annular piston 61 to reset; and a plurality of blocking blocks 63, slidably connected to the outside of the squeezing block 41, the blocking blocks 63 communicating with the medium in the cavity through pipes.

[0054] In this embodiment, during normal use, the magnetic force of the magnetic component 3 weakens, the drive ring 4 is stably reset by the reset spring 42, and the annular piston 61 subsequently resets, ensuring smooth tool replacement. In the event of a sudden power outage, the compression spring 62 quickly pulls the annular piston 61 to reset, squeezing the medium in the cavity and pushing the blocking block 63 out, preventing the squeezing block 41 from resetting, thereby maintaining the locked state of the first insertion block 531 and the second insertion block 532 in the slot 13. This mechanism, through medium conduction and the sliding action of the blocking block 63, ensures that the locked state of the magnetically moving component 2 and the magnetically fixed component 1 is not released when power is lost, significantly improving the safety of the device in the event of a sudden power outage and preventing equipment damage or safety hazards caused by the tool component 11 falling.

[0055] It should be noted that the reset speed of the annular piston 61 can be adjusted by adjusting the magnetic force of the annular piston 61 and the elastic coefficient of the compression spring 62. For example, if the elastic coefficient of the compression spring 62 is greater than that of the reset spring 42, and the magnetic force generated on the annular piston 61 when the magnetic component 3 is energized is stronger, the reset control effect of the annular piston 61 can be achieved. In addition, the damping layer can also dampen the reset of the drive ring 4, thus achieving the effect of delayed reset.

[0056] refer to Figure 1 In some embodiments, the robotic arm 21 includes a base arm 211, rotatably mounted on the mechanical platform 7; a connecting arm 212; a first arm segment 213, rotatably connected to the base arm 211 via the connecting arm 212; a second arm segment 214, rotatably connected to the first arm segment 213 via the connecting arm 212; and a tool arm 215, rotatably connected to the second arm segment 214 via the connecting arm 212. The magnetically attached movable component 2 is fixed to the tool arm 215. The base arm 211, the first arm segment 213, the second arm segment 214, and the tool arm 215 are rotatably connected in sequence via the connecting arm 212, driving the magnetically attached movable component 2 to move closer to or away from the magnetically attached fixed component 1, thereby enabling the connection or replacement of the tool component 11.

[0057] In this embodiment, the robotic arm 21 forms a flexible kinematic chain through a multi-stage rotational connection of the base arm 211, the first arm segment 213, the second arm segment 214, and the tool arm 215. The tool arm 215 drives the magnetically movable component 2 to precisely approach the magnetically fixed component 1, realizing the docking of the guide block 15 with the guide groove 14 and the insertion of the limiting part 12 with the limiting groove 16. The rotational connection structure gives the robotic arm 21 a high degree of freedom, adapting to the tool changing needs in different working scenarios. The magnetically movable component 2 is fixed to the end of the tool arm 215 and works in conjunction with the locking mechanism of the magnetically fixed component 1 to ensure the stability of the connection.

[0058] Furthermore, drive motors are installed inside the tool arm 215, connecting arm 212, and seat arm 211 to achieve power drive.

[0059] refer to Figure 1 and Figure 10 In some embodiments, the system further includes a mechanical platform 7, on which the robotic arm 21 is fixed. The mechanical platform 7 is provided with multiple tool mounting holes 71 and limiting posts. The tool mounting holes 71 are used to place the tool 11, and the limiting posts are used to fix the tool 11. A camera 72 is fixed on the mechanical platform 7 and is used to monitor the docking process between the robotic arm 21 and the tool 11. The mechanical platform 7 positions the tool 11 through the tool mounting holes 71 and the limiting posts, and the camera 72 assists the robotic arm 21 in adjusting the docking position between the magnetic movable part 2 and the magnetic fixed part 1.

[0060] In this embodiment, the mechanical platform 7 uses tool mounting holes 71 and limiting posts to fix and position the tool component 11, ensuring the stable placement of the magnetic fixing component 1 and facilitating precise docking of the robotic arm 21. The camera 72 monitors the docking process between the magnetic moving component 2 and the magnetic fixing component 1 in real time, assisting the robotic arm 21 in adjusting its position and improving the docking accuracy of the guide block 15 and guide groove 14, as well as the limiting part 12 and limiting groove 16. Through the synergistic effect of the mechanical platform 7 and the camera 72, the storage and docking efficiency of the tool component 11 is optimized, reducing connection failures caused by misalignment and improving the reliability and automation of the operation.

[0061] refer to Figure 10 In some embodiments, a lifting assembly 8 is also included, which is fixed to the bottom of the mechanical platform 7. The lifting assembly 8 includes a first telescopic rod 81 and a second telescopic rod 82. The first telescopic rod 81 is connected to the bottom of the mechanical platform 7, and the second telescopic rod 82 is connected to the bottom of the first telescopic rod 81. The first telescopic rod 81 is inclined, and the second telescopic rod 82 is inclined in the opposite direction to the first telescopic rod 81. The first telescopic rod 81 and the second telescopic rod 82 extend and retract in sequence to adjust the height of the mechanical platform 7 and drive the robotic arm 21 to approach the tool 11.

[0062] In this embodiment, the first telescopic rod 81 is a telescopic rod structure, which is usually driven by a hydraulic, pneumatic or electric telescopic mechanism (such as a hydraulic cylinder, a lead screw mechanism or a pneumatic push rod).

[0063] The top of the first telescopic rod 81 is directly fixed to the bottom of the mechanical platform 7, and is secured by bolts, welding or other rigid connection methods.

[0064] The first telescopic rod 81 extends and retracts along the axial direction and is set at an angle. The angle of inclination is relative to the bottom surface of the mechanical platform 7 and forms a certain angle (such as 30°-60°, the specific angle depends on the design requirements).

[0065] The height of the mechanical platform 7 is changed by the telescopic movement, providing an initial height adjustment for the subsequent movement of the second telescopic rod 82, and forming a stable support structure in conjunction with the mechanical platform 7.

[0066] The second telescopic rod 82 is also a telescopic rod structure, and its driving method is the same as or complementary to that of the first telescopic rod 81.

[0067] The top of the second telescopic rod 82 is connected to the bottom of the first telescopic rod 81, and the relative movement between the two is achieved through hinges, fixed seats or other movable connecting parts.

[0068] The second telescopic rod 82 extends and retracts axially, and its tilt direction is opposite to that of the first telescopic rod 81 (for example, if the first telescopic rod 81 tilts to the left, the second telescopic rod 82 tilts to the right).

[0069] The first telescopic rod 81 and the second telescopic rod 82 achieve height adjustment by extending and retracting in sequence. The first telescopic rod 81 moves first to provide coarse height adjustment; the second telescopic rod 82 moves subsequently to achieve fine adjustment.

[0070] The extension and retraction of both rods are performed sequentially to avoid structural instability caused by simultaneous movement. For example, the first extension rod 81 is extended and then fixed, while the second extension rod 82 extends and retracts as needed, gradually changing the height of the mechanical platform 7.

[0071] The lifting assembly 8 directly affects the movement trajectory of the robotic arm 21 by adjusting the height of the mechanical platform 7, enabling the robotic arm 21 to approach the tool 11 (such as a clamp, cutter, or sensor) more accurately, and ensuring spatial matching between the robotic arm 21 and the tool 11.

[0072] The first telescopic rod 81 and the second telescopic rod 82 are inclined to adapt to different working environments. For example, when lifting vertically, if there are obstacles (such as cables), the first telescopic rod 81 and the second telescopic rod 82 can be inclined to bypass the obstacles and achieve the effect of lifting operation.

[0073] refer to Figure 10 In some embodiments, it also includes a conveyor 91 located below the second telescopic rod 82, the conveyor 91 moving by track; a connecting column 92 fixed to the bottom of the second telescopic rod 82 and rotatably connected to the conveyor 91; and a controller fixed to the conveyor 91 for controlling the movement of the conveyor 91, the lifting assembly 8 and the robotic arm 21.

[0074] In this embodiment, the conveyor 91 drives the mechanical platform 7 to move via the track, the connecting column 92 rotates to adjust the position of the mechanical platform 7, and the controller coordinates the movement of the conveyor 91, the lifting assembly 8 and the robotic arm 21 to achieve precise docking between the magnetic moving part 2 and the magnetic fixing part 1.

[0075] The conveyor 91 drives the mechanical platform 7 via tracked movement. The rotation of the connecting column 92 adjusts the orientation of the mechanical platform 7. The controller coordinates the movement of the conveyor 91, the lifting assembly 8, and the robotic arm 21 to ensure precise docking of the magnetic movable part 2 and the magnetic fixed part 1. Tracked movement and rotational connection give the device high mobility and flexibility, adapting to different operating scenarios. The controller optimizes the coordination efficiency of each component through centralized control, enabling the device to quickly change and stably connect tool parts 11 in mobile and complex environments, improving the level of automation and safety of operations.

[0076] In the substation live-line working robot system, at the start of the operation, the controller controls the conveyor vehicle 91 to start and, according to the preset route or on-site guidance information, drives the tracked system to move the entire working device, including the mechanical platform 7 and the robotic arm 21, to the designated work point. Upon arrival, the mechanical platform 7 is rotated and adjusted by the connecting column 92 at the bottom of the conveyor vehicle 91, which is connected to the platform, so that the mechanical platform 7 is aligned with the target working direction, providing an accurate posture for subsequent docking.

[0077] Next, the control system activates the lifting assembly 8 located at the bottom of the platform. This assembly consists of a first telescopic rod 81 and a second telescopic rod 82, which work together to change the height and tilt angle of the entire mechanical platform 7. The first telescopic rod 81 and the second telescopic rod 82 are arranged in opposite tilt positions, which allows for a wider range of height adjustment and angle fine-tuning, enabling the magnetic movable part 2 at the end of the robotic arm 21 to be precisely aligned with the magnetic fixing part 1 located on the tool part 11.

[0078] When the magnetic movable component 2 aligns with the magnetic fixed component 1, the magnetic component 3 embedded inside the magnetic movable component 2 begins to operate, generating a directional magnetic field. The magnetic field acts on the drive ring 4, causing the drive ring 4 to slide downwards along the axial direction of the magnetic movable component 2. During this process, multiple pressing blocks 41 mounted on the drive ring 4 move along with the sliding motion, applying a thrust to the upper rotating part 51 and the lower rotating part 52 inside the machine, causing the upper rotating part 51 and the lower rotating part 52 to begin rotating and separating in opposite directions.

[0079] During the separation and rotation of the upper rotating part 51 and the lower rotating part 52, they respectively drive the first insertion block 531 and the second insertion block 532 connected to their outer peripheries. These two insertion blocks, under rotation, precisely insert into the preset limiting part 12 slot 13 on the magnetic fixing member 1, achieving mechanical locking and electrical connection between the magnetic moving part 2 and the magnetic fixing member 1. This design ensures a stable and reliable docking process, preventing loosening or misalignment and meeting the safety requirements for live-line work.

[0080] The entire docking process is monitored in real time by a camera 72 installed on the mechanical platform 7. Images from the camera 72 are transmitted back to the controller, which combines image analysis with mechanical feedback information to intelligently adjust the movement of the conveyor 91, platform steering, lifting height, and the position of the robotic arm 21, achieving closed-loop system control. Through a software coordination mechanism, high precision, high reliability, and safety throughout the entire operation are ensured, meeting the practical requirements of live-line operation in substations.

[0081] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A substation live-line working robot, characterized in that: include, A magnetic fastener (1) is fixed on a tool (11). The surface of the magnetic fastener (1) is provided with a limiting part (12), and a slot (13) is provided on the limiting part (12). The magnetic movable part (2) is fixed on the robotic arm (21); Magnetic component (3) is fixed inside the magnetic attraction component (2); The driving ring (4) slides axially under the magnetic force of the magnetic component (3); The rotating assembly (5) includes an upper rotating part (51) and a lower rotating part (52), which are respectively movably disposed in the magnetic attraction movable part (2). A fixing part (53) is installed on the outer side of both the upper rotating part (51) and the lower rotating part (52). The drive ring (4) is provided with a pressing block (41). The pressing block (41) moves with the drive ring (4) and pushes the upper rotating part (51) and the lower rotating part (52) to rotate. The magnetic fastener (1) has a guide groove (14) in the middle. The magnetic movable part (2) is provided with a guide block (15) in the middle that corresponds to and matches the guide groove (14), and the surface of the magnetic movable part (2) is provided with a limiting groove (16) that corresponds to and is movably inserted into the limiting part (12). The drive ring (4) is positioned above the magnetic component (3) and connected to the magnetically attached movable component (2) via a return spring (42); The fixing part (53) includes a first insert (531) and a second insert (532) located below the first insert (531). The first insert (531) is fixed to the outer periphery of the upper rotating part (51), and the second insert (532) is fixed to the outer periphery of the lower rotating part (52). An elastic member (535) is connected between the first insert (531) and the second insert (532). It also includes a first contact block (533) and a second contact block (534), which are fixed to the upper rotating part (51) and the lower rotating part (52) respectively. When the first contact block (533) and the second contact block (534) are separated, the upper rotating part (51) and the lower rotating part (52) rotate in different directions.

2. The substation live-line working robot according to claim 1, characterized in that: It also includes, An annular piston (61) is movably connected to the bottom of the drive ring (4), and a cavity for containing the medium is formed between the annular piston (61) and the drive ring (4); Compression spring (62) is fixed inside the cavity; The blocking block (63) is slidably connected to the outside of the squeezing block (41).

3. The substation live-line working robot according to claim 2, characterized in that: The robotic arm (21) includes, Seat arm (211); Connecting arm (212); The first arm section (213) is rotatably connected to the seat arm (211) via the connecting arm (212); The second arm section (214) is rotatably connected to the first arm section (213) via the connecting arm (212); The tool arm (215) is rotatably connected to the second arm section (214) via the connecting arm (212), and the magnetic movable part (2) is fixed on the tool arm (215).

4. The substation live-line working robot according to claim 1, characterized in that: It also includes, The mechanical platform (7) is fixed to the mechanical platform (7), and the mechanical arm (21) is provided with multiple tool mounting holes (71) and limiting posts; The camera (72) is fixed on the mechanical platform (7).

5. The substation live-line working robot according to claim 4, characterized in that: It also includes, The lifting assembly (8) includes a first telescopic rod (81) and a second telescopic rod (82). The first telescopic rod (81) is connected to the bottom of the mechanical platform (7), and the second telescopic rod (82) is connected to the bottom of the first telescopic rod (81). The first telescopic rod (81) is inclined, and the second telescopic rod (82) is inclined in the opposite direction to the first telescopic rod (81).

6. The substation live-line working robot according to claim 5, characterized in that: It also includes, The conveyor (91) is located below the second telescopic rod (82); The connecting column (92) is fixed to the bottom of the second telescopic rod (82) and rotatably connected to the conveyor vehicle (91); The controller is fixed on the conveyor (91) and is used to control the movement of the conveyor (91), the lifting assembly (8) and the robotic arm (21).

7. A substation live-line working robot system, characterized in that: Including a substation live-line working robot as described in any one of claims 1 to 6, and, Control the conveyor vehicle to travel to the work position, and adjust the orientation of the mechanical platform by driving the track and rotating the connecting column; The lifting assembly is activated, and the height and angle of the robotic arm are adjusted in coordination by the first and second telescopic rods, so that the magnetic movable part at the end of the robotic arm is aligned with the magnetic fixed part on the target tool, thus completing the connection between the magnetic movable part and the magnetic fixed part.

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