Working arm and hot-line work robot

Abstract

The invention relates to the technical field of hot-line work robots, in particular to a work arm and a hot-line work robot. The operation arm comprises a manipulator, a first rotating mechanism, a second rotating mechanism and a telescopic mechanism. The first rotating mechanism is used for driving the manipulator to rotate along an axis parallel to the first direction; the second rotating mechanism is used for driving the first rotating mechanism to drive the manipulator to rotate along the axis parallel to the second direction; and the telescopic mechanism is used for driving the first rotating mechanism through the output end of the second rotating mechanism to drive the manipulator to reciprocate in the second direction. According to the working arm, flexible positioning of the manipulator in a three-dimensional space can be achieved, movement flexibility and working efficiency of the manipulator are improved, and working procedures of workers can be simulated, so that working positions and modes of different positions, angles and states are adapted, the manipulator serves as a direct working execution component, operators do not need to be close to a high-voltage wire, and working efficiency is improved. And electric shock hidden troubles are avoided.

Description

Technical Field

[0001] This application relates to the field of live-line working robot technology, and in particular to working arms and live-line working robots. Background Technology

[0002] High-voltage transmission lines constitute a large portion of my country's power grid, undertaking crucial energy transmission tasks and requiring regular maintenance of the lines and their associated equipment. Bolts, with their simple structure and low cost, have become widely used connecting components on transmission lines. Because transmission lines are located outdoors, complex weather conditions can cause vibrations, expansion, or contraction, leading to bolt loosening. Currently, the solution is to use drones to inspect the lines, locate loose bolts, and then manually tighten them at the points on the towers.

[0003] Currently, live-line working robots are commonly used to tighten bolts. However, because existing working arms only include the upward and downward movements of the robotic arms and the movement of the output ends of the two robotic arms moving closer or further apart, it is difficult for the working arm to be aligned with the bolt to be tightened, resulting in low work efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a working arm and a live-line working robot to address the problem that it is difficult to align the working arm with the bolt to be tightened, resulting in low work efficiency.

[0005] A working arm, comprising:

[0006] The robotic arm is configured to perform work tasks;

[0007] A first rotating mechanism, with its output end connected to the robotic arm, is configured to drive the robotic arm to rotate along an axis parallel to a first direction.

[0008] The second rotating mechanism has its output end connected to the first rotating mechanism. The second rotating mechanism is configured to drive the first rotating mechanism to rotate the robot arm along an axis parallel to a second direction, where the second direction is perpendicular to the first direction.

[0009] The telescopic mechanism has its output end inserted into and connected to the output end of the second rotating mechanism. The telescopic mechanism is configured to drive the first rotating mechanism to move the robot arm back and forth along the second direction via the output end of the second rotating mechanism.

[0010] This robotic arm can rotate along both the first and second directions, and also extend and retract along the second direction. This enables flexible three-dimensional positioning of the robotic arm, allowing it to align with the work area. It solves the problems of limited range of motion and difficulty in adapting to different conductor layouts found in traditional robotic tools, improving the flexibility and efficiency of the robotic arm. It can simulate worker workflows, adapting to different positions, angles, and states. When applied in live-line working robots, the robotic arm acts as the direct execution component, replacing manual labor in tasks such as conductor inspection, bolt tightening, and foreign object removal. Workers do not need to approach high-voltage conductors, avoiding the risk of electric shock associated with close-range operation while wearing insulated equipment in traditional live-line work.

[0011] In one embodiment, the second rotating mechanism includes:

[0012] First driving component;

[0013] A first output shaft extends along the second direction and is connected to the output end of the first drive member;

[0014] The first lead screw nut is connected to the first output shaft, and the first lead screw nut is also connected to the first rotating mechanism.

[0015] In this way, the rotation angle of the first rotating mechanism can be precisely controlled, thereby enabling the robot arm to be accurately positioned and its angle adjusted in a plane perpendicular to the first direction, meeting the precise requirements for the robot arm's angle in different work scenarios.

[0016] In one embodiment, the telescopic mechanism includes:

[0017] Second drive unit;

[0018] The first transmission assembly includes a first driving wheel, a first driven wheel, and a first belt. The first driving wheel is connected to the output end of the first driving member. The first driving wheel and the first driven wheel are parallel and spaced apart. The first driving wheel and the first driven wheel together tension the first belt.

[0019] The second lead screw nut has one end passing through the first driving member and connected to the first driven wheel, and the other end connected to the first lead screw nut.

[0020] The second drive component of this telescopic mechanism can be arranged parallel to the first drive component, which helps save space, improves the compactness of the robot structure, and is suitable for compact installation spaces. Meanwhile, the telescopic mechanism employs a combination design of the second drive component, the first driving wheel, the first driven wheel, the first belt, and the second lead screw nut. Through the synergistic effect of the flexible transmission of the belt and the rigid drive of the second lead screw nut, efficient, precise, and stable extension and retraction of the working arm along the second direction is achieved.

[0021] In one embodiment, the first lead screw nut includes:

[0022] The first nut is connected to the first output shaft;

[0023] The first lead screw passes through the first nut and is threadedly connected to the first nut. The first lead screw is connected to the first drive mechanism.

[0024] The second lead screw nut includes:

[0025] The second lead screw passes through the first driving member and is connected to the first driven wheel. The second lead screw passes through the first lead screw and is coaxially arranged with the first lead screw.

[0026] The second nut is fitted onto the second lead screw, and the second nut is fixedly connected to the first lead screw.

[0027] This second lead screw and nut structure enables the second drive component to drive the second nut to reciprocate along the second direction on one side of the output end of the first drive component, and to drive the first rotating mechanism to perform telescopic movement through the first lead screw. Compared with the conventional setting where the first and second rotating mechanisms are integrated at the output end of the telescopic mechanism, this telescopic mechanism is fully integrated with the second rotating mechanism in structure, which is beneficial to the overall size of the working arm along the second direction, simplifies the overall structure of the working arm, and reduces costs.

[0028] In one embodiment, the robotic arm includes:

[0029] The first mounting bracket is connected to the first rotating mechanism;

[0030] The first working component is connected to the first mounting bracket;

[0031] The second working component is connected to the first mounting bracket. The output ends of the first working component and the second working component can move closer to or further away from each other, and the output ends of the first working component and the second working component can rotate relatively independently.

[0032] This robotic arm structure, in conjunction with the first rotating mechanism, the second rotating mechanism, and the telescopic mechanism, drives the first and second working components of the robotic arm to interact, enabling fast, safe, and efficient bolt tightening. The first and second working components are close together to fix the bolt and nut at both ends, and their relatively independent rotational movements are used to tighten the bolts, thus simulating manual bolt tightening.

[0033] In one embodiment, the first job component and the second job component each include:

[0034] The third driving component is mounted on the first mounting bracket;

[0035] The second transmission component is connected to the output end of the third driving component;

[0036] The third lead screw nut includes a third lead screw and a third nut. The third lead screw is connected to the second transmission assembly. The third nut is sleeved on the third lead screw and threadedly connected to the third lead screw. The axis of the third lead screw extends along the first direction.

[0037] The fourth driving component is connected to the third nut, and the third driving component drives the fourth driving component to reciprocate along the first direction through the second transmission assembly and the third lead screw nut;

[0038] An output component is connected to the output end of the fourth driving component, which is configured to drive the output component to rotate.

[0039] The output end of the fourth drive of the first working component is disposed opposite to the output end of the fourth drive of the second working component.

[0040] The structure of the first and second working components helps to reduce the structural dimensions in their output direction, and the third lead screw and nut structure can ensure the accuracy of the execution position of the third driving component and the output component, thereby ensuring the working accuracy of the robot.

[0041] In one embodiment, the robotic arm further includes:

[0042] The fifth driving component is mounted on the robotic arm;

[0043] The third transmission component is connected to the output end of the fifth driving component;

[0044] The fourth lead screw nut includes a fourth lead screw and a fourth nut. The fourth lead screw is connected to the third transmission assembly, and the fourth nut is sleeved on the fourth lead screw and threadedly connected to the fourth lead screw. The fourth nut is connected to the first rotating mechanism.

[0045] A first guide assembly is disposed between the fourth nut and the first mounting bracket. The fifth drive member is used to drive the fourth nut to move the first mounting bracket back and forth along the first direction. The first guide assembly is configured to provide guidance for the movement of the first mounting bracket along the first direction.

[0046] The fifth drive component drives the first mounting bracket to reciprocate along the first direction, which helps to expand the range of motion of the first and second working components.

[0047] A live-line working robot, comprising:

[0048] ontology;

[0049] The hoisting unit is configured to drive the main body to rise or fall.

[0050] A traveling unit, connected to the hoisting unit, is configured to travel on a conductor;

[0051] A potential transfer unit is connected to the walking unit, and the potential transfer unit is configured to transfer equipotential between the body and the wire.

[0052] The working arm, as described above, is connected to the hoisting unit and is configured to operate on the guide wire.

[0053] This live-line working robot utilizes the coordinated operation of its working arm, hoisting unit, walking unit, and potential transfer unit. The hoisting unit launches the robot onto the power line, the walking unit moves it along the line, and the potential transfer unit transfers the robot to the correct electrical potential. A first rotating mechanism, a second rotating mechanism, and a telescopic mechanism work together to drive the first and second working components of the robot arm, simulating manual operation to tighten bolts. This live-line working robot can move quickly and efficiently on high-voltage power lines, rapidly tightening loose bolts, reducing the labor intensity of manual maintenance, and improving operational efficiency. Furthermore, the robot boasts a high degree of intelligence and structural reliability.

[0054] In one embodiment, the hoisting unit includes:

[0055] Hoist drive components;

[0056] The first hoist drive assembly is connected to the output end of the hoist drive component;

[0057] A rope reel is connected to the winch drive assembly, and the winch drive is configured to drive the rope reel to rotate.

[0058] The second hoist drive assembly has its input shaft connected to the output end of the first hoist drive assembly.

[0059] The winch screw nut assembly is connected to the output shaft of the second winch drive assembly;

[0060] An insulating rope is fixed at one end to the winch unit, and its free end passes through the output end of the winch screw nut assembly. The winch drive unit releases or winds the insulating rope by driving the rope reel to rotate.

[0061] This winch unit is used to drive the live-line working robot to rise or fall as a whole.

[0062] In one embodiment, the walking unit includes:

[0063] A walking assembly includes a walking drive and a walking wheel, the walking drive being configured to drive the walking wheel to rotate, the axis of the walking wheel being parallel to a first direction;

[0064] A clamping assembly includes a clamping drive and a clamping wheel. The clamping drive is configured to drive the clamping wheel to move closer to or away from the traveling wheel in a direction perpendicular to the first direction. When the clamping wheel moves closer to the traveling wheel, the clamping wheel and the traveling wheel together clamp the wire.

[0065] The walking assembly and clamping assembly can be attached to the conductor, and the clamping wheel of the clamping assembly and the walking wheel together clamp the conductor to fix it, thereby ensuring the stability and safety of the live-line working robot during operation.

[0066] In one embodiment, the walking unit further includes a second mounting bracket and a swing arm assembly, the swing arm assembly comprising:

[0067] A rotating seat is connected to the clamping assembly, and the rotating seat is rotatably mounted on the second mounting bracket;

[0068] The swing arm drive component is connected to the second mounting bracket;

[0069] A push rod is disposed at the output end of the swing arm drive and the second mounting bracket. The swing arm drive is configured to push the clamping assembly to rotate relative to the rotating seat through the telescopic movement of the push rod, so that the traveling assembly swings relative to the guide wire.

[0070] When the live-line working robot rises directly below the conductor, its wheels cannot directly attach to the conductor because their positions are not aligned with the conductor's position. To enable the wheels to attach to the conductor, the swing arm assembly pushes the wheels to a preset angle, allowing them to avoid the conductor. Then, when the wheels are above the conductor, they are pulled back to their initial position. The winch drive unit then lowers the entire live-line working robot to a certain height, allowing the wheels to attach to the conductor. At this point, the clamping drive pushes the clamping wheel upwards, causing the clamping wheel and the wheels to jointly grip the conductor, facilitating the live-line working robot's movement and operation on the conductor.

[0071] In one embodiment, the potential transfer unit includes:

[0072] Potential transfer rod;

[0073] The clamping assembly is configured to clamp or release the potential transfer rod;

[0074] A wire-hanging assembly is connected to the clamping assembly, and the wire-hanging assembly is configured to drive the clamping assembly to rotate.

[0075] This potential transfer unit, through the coordinated action of the clamping component and the hanging component, controls the clamping and rotation of the potential transfer rod to achieve stable connection of the potential transfer rod, which helps to improve the stability and controllability of the connection process. At the same time, the overall structure of this potential transfer unit is compact, making it easy to integrate into live-line working robots. Attached Figure Description

[0076] Figure 1 This is a schematic diagram of the structure of the working arm provided in one embodiment of this application.

[0077] Figure 2 This is a cross-sectional structural diagram of the second rotating mechanism and the telescopic mechanism provided in one embodiment of this application.

[0078] Figure 3 This is a schematic diagram of the structure of a robotic arm provided in one embodiment of this application.

[0079] Figure 4 This is a schematic diagram of the structure of the first operating component provided in one embodiment of this application.

[0080] Figure 5 This is a schematic diagram of the structure of a live-line working robot provided in one embodiment of this application.

[0081] Figure 6 This is a schematic diagram of the structure of a hoisting unit provided in one embodiment of this application. Figure 1 .

[0082] Figure 7 This is a schematic diagram of the structure of a hoisting unit provided in one embodiment of this application. Figure 2 .

[0083] Figure 8 This is a schematic diagram of the structure of a walking unit provided in one embodiment of this application.

[0084] Figure 9 This is a schematic diagram of the structure of a potential transfer unit provided in one embodiment of this application.

[0085] Explanation of reference numerals in the attached figures:

[0086] 1000-working arm;

[0087] 100-Manipulator; 110-First mounting bracket; 111-Horizontal frame; 112-First support; 113-Second support; 120-First working component; 121-Third drive component; 122-Second transmission component; 1221-Second driving wheel; 1222-Second driven wheel; 123-Third lead screw nut; 1231-Third lead screw; 1232-Third nut; 124-Fourth drive component; 125-Output component; 126-Second guide component; 1261-Second guide rail; 1262-Second slider; 130-Second working component; 140-Translation mechanism; 141-Fifth drive component; 142-Third transmission component; 143-Fourth lead screw nut; 1431-Fourth lead screw; 1432-Fourth nut; 144-First guide component; 1441-First guide rail; 1442-First slider;

[0088] 200 - First rotating mechanism;

[0089] 300 - Second rotating mechanism; 210 - First driving component; 220 - First output shaft; 230 - First lead screw nut; 231 - First nut; 232 - First lead screw;

[0090] 400 - Telescopic mechanism; 410 - Second driving component; 420 - First transmission assembly; 421 - First driving wheel; 422 - First driven wheel; 423 - First belt; 430 - Second lead screw nut; 431 - Second lead screw; 432 - Second nut;

[0091] 2000-hoisting unit;

[0092] 2001 - Winch drive assembly; 2002 - First winch transmission assembly; 2002a - Fourth drive pulley; 2002b - Fourth driven pulley; 2002c - Fourth belt; 2002d - Worm gear; 2002e - Worm; 2003 - Rope reel; 2004 - Second winch transmission assembly; 2004a - Fifth drive pulley; 2004b - Fifth driven pulley; 2004c - Fifth belt; 2005 - Winch screw and nut assembly; 2005a - Winch screw; 2005b - Winch nut; 2006 - Insulating rope;

[0093] 3000-walking unit;

[0094] 3001-Walking assembly; 3001a-Walking drive component; 3001a-Walking wheel; 3002-Tightening assembly; 3002a-Tightening drive component; 3002a1-Third mounting bracket; 3002a2-Tightening drive unit; 3002a3-Fifth drive wheel; 3002a4-Fifth driven wheel; 3002a5-Tightening screw; 3002a6-Tightening nut; 3002b-Tightening wheel; 3003-Second mounting bracket; 3004-Swing arm assembly; 3004a-Rotating seat; 3004b-Swing arm drive component; 3004c-Push rod;

[0095] 4000-potential transfer unit;

[0096] 4001-Potential transfer rod; 4002-Clamping assembly; 4002a-Clamping frame; 4002b-Clamping drive; 4002c-Clamping component; 4003-Hanging wire assembly. Detailed Implementation

[0097] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0098] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0099] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0100] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0101] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0102] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0103] See Figure 1 , Figure 1 A schematic diagram of the structure of the working arm 1000 provided in one embodiment of this application is shown.

[0104] like Figure 1As shown, the working arm 1000 includes a robotic arm 100, a first rotating mechanism 200, a second rotating mechanism 300, and a telescopic mechanism 400. The robotic arm 100 is configured to perform a work task; the output end of the first rotating mechanism 200 is connected to the robotic arm 100, and the first rotating mechanism 200 is configured to drive the robotic arm 100 to rotate along an axis parallel to a first direction; the output end of the second rotating mechanism 300 is connected to the first rotating mechanism 200, and the second rotating mechanism 300 is configured to drive the first rotating mechanism 200 to rotate the robotic arm 100 along an axis parallel to a second direction, the second direction being perpendicular to the first direction; the output end of the telescopic mechanism 400 passes through and is connected to the output end of the second rotating mechanism 300, and the telescopic mechanism 400 can drive the first rotating mechanism 200 through the output end of the second rotating mechanism 300, causing the first rotating mechanism 200 to reciprocate along the second direction. The robotic arm 1000 can rotate along a first and second direction, and also extend and retract along the second direction, enabling flexible three-dimensional positioning of the robotic arm 100. This allows it to align with the work area, solving the problems of limited range of motion and difficulty in adapting to different conductor layouts in traditional work equipment. It improves the flexibility and efficiency of the robotic arm 100, and can simulate worker workflows, adapting to different positions, angles, and states. When applied in live-line working robots, the robotic arm 100, as the direct execution component, can replace manual labor in tasks such as conductor inspection, bolt tightening, and foreign object removal. Workers do not need to approach high-voltage conductors, avoiding the risk of electric shock associated with close-range operation while wearing insulated equipment in traditional live-line work.

[0105] Specifically, in this embodiment, the working arm 1000 is used to perform bolt tightening operations.

[0106] like Figure 1 and Figure 2 As shown, as an optional embodiment, the second rotating mechanism 300 includes a first driving member 210, a first output shaft 220, and a first lead screw nut 230. The first output shaft 220 extends along a second direction and is connected to the output end of the first driving member 210; the first lead screw nut 230 is connected to the first output shaft 220 and also to the first rotating mechanism 200. The first driving member 210 provides power to drive the first output shaft 220 to extend and rotate along the second direction. The first lead screw nut 230, connected to the first output shaft 220, converts the rotational motion of the first output shaft 220 into linear motion, thereby driving the first rotating mechanism 200 to rotate.

[0107] In this way, the rotation angle of the first rotating mechanism 200 can be precisely controlled, thereby achieving precise positioning and angle adjustment of the robot arm 100 in a plane perpendicular to the first direction, meeting the precise requirements of the robot arm 100 angle under different operating scenarios.

[0108] The first lead screw nut 230 mechanism has good transmission accuracy and stability, ensuring smooth rotation of the first rotating mechanism 200 and reducing vibration and sway. This helps improve the stability of the robot arm 100 during operation, ensuring the reliability and safety of the operation, and avoiding operational errors or equipment damage caused by instability in the mechanical structure.

[0109] The design of the second rotating mechanism 300 facilitates integration with an automated control system. By controlling the operation of the first driving component 210, automated control of the first rotating mechanism 200 can be achieved, thereby enabling precise control of the movement of the robotic arm 100. This allows the live-line working robot to perform its tasks more effectively according to preset programs and instructions, improving work efficiency and quality, reducing manual intervention, and lowering labor intensity.

[0110] Optionally, the first drive unit 210 is a rotary motor to output rotational motion.

[0111] Specifically, the first lead screw nut 230 includes a first lead screw 232 and a first nut 231, which can be a ball screw and a ball nut. The first nut 231 is connected to the first output shaft 220, the first lead screw 232 passes through the first nut 231 and is threadedly connected to the first nut 231, and the first lead screw 232 is connected to the first drive mechanism, so that when the first drive member 210 drives the first output shaft 220 to rotate, the first nut 231 rotates with the first output shaft 220, driving the first lead screw 232 to rotate, and driving the first rotating mechanism 200 to rotate, thereby driving the robot arm 100 to rotate.

[0112] Optionally, the telescopic mechanism 400 includes a second driving member 410, a first transmission assembly 420, and a second lead screw nut 430. The first transmission assembly 420 includes a first driving wheel 421, a first driven wheel 422, and a first belt 423. The first driving wheel 421 is connected to the output end of the first driving member 210. The first driving wheel 421 and the first driven wheel 422 are arranged parallel and spaced apart. The first driving wheel 421 and the first driven wheel 422 together tension the first belt 423. One end of the second lead screw nut 430 passes through the first driving member 210 and is connected to the first driven wheel 422, and the other end is connected to the first lead screw nut 430.

[0113] The second drive component 410 of the telescopic mechanism 400 can be arranged parallel to the first drive component 210, which helps save space and improves the compactness of the robot arm 100 structure, making it suitable for compact installation spaces. Simultaneously, the telescopic mechanism 400 employs a combined design of the second drive component 410, the first driving wheel 421, the first driven wheel 422, the first belt 423, and the second lead screw nut 430. Through the synergistic effect of the flexible transmission of the belt and the rigid drive of the second lead screw nut 430, the working arm 1000 achieves efficient, precise, and stable extension and retraction along the second direction.

[0114] Optionally, the second lead screw nut 430 includes a second lead screw 431 and a second nut 432. The second lead screw 431 passes through the first driving member 210 and is connected to the first driven wheel 422. The second lead screw 431 also passes through the first lead screw 232 and is coaxially arranged with the first lead screw 232. The second nut 432 is sleeved on the second lead screw 431 and is fixedly connected to the first lead screw 232. This structure of the second lead screw nut 430 enables the second driving member 410 to drive the second nut 432 to reciprocate along the second direction on one side of the output end of the first driving member 210, and to drive the first rotating mechanism 200 to perform telescopic movement through the first lead screw 232. Compared with the conventional arrangement of placing the first rotating mechanism 200 and the second rotating mechanism 300 as a whole at the output end of the telescopic mechanism 400, this telescopic mechanism 400 is structurally fully integrated with the second rotating mechanism 300, which is beneficial to the overall size of the working arm 1000 along the second direction, simplifies the overall structure of the working arm 1000, and reduces costs.

[0115] like Figure 3 As shown, in one embodiment, the robotic arm 100 includes a first mounting frame 110, a first working component 120, and a second working component 130. The first mounting frame 110 is connected to a first rotating mechanism 200, the first working component 120 is connected to the first mounting frame 110, and the second working component 130 is connected to the first mounting frame 110. The output ends of the first working component 120 and the second working component 130 can move closer to or further away from each other, and the output ends of the first working component 120 and the second working component 130 can rotate relatively independently. This robotic arm 100 structure cooperates with the first rotating mechanism 200, the second rotating mechanism 300, and the telescopic mechanism 400 to drive the first working component 120 and the second working component 130 of the robotic arm 100 to move relative to each other, enabling fast, safe, and efficient completion of bolt tightening work. The first working component 120 and the second working component 130 moving closer together can fix bolts and nuts at both ends, and their relatively independent rotational movement is used to tighten bolts, thereby simulating manual bolt tightening.

[0116] Furthermore, such as Figure 4As shown, the first working component 120 and the second working component 130 respectively include a third driving component 121, a second transmission component 122, a third lead screw nut 123, a fourth driving component 124, and an output component 125. The third drive member 121 is disposed on the first mounting bracket 110. The second transmission assembly 122 is connected to the output end of the third drive member 121. The third lead screw nut 123 includes a third lead screw 1231 and a third nut 1232. The third lead screw 1231 is connected to the second transmission assembly 122. The third nut 1232 is sleeved on the third lead screw 1231 and threadedly connected to the third lead screw 1231. The axis of the third lead screw 1231 extends along the first direction. The fourth drive member 124 is connected to the third nut 1232. The third drive member 121 drives the fourth drive member 124 to reciprocate along the first direction through the second transmission assembly 122 and the third lead screw nut 123. The output member 125 is connected to the output end of the fourth drive member 124. The fourth drive member 124 is configured to drive the output member 125 to rotate. The output end of the fourth drive member 124 of the first working assembly 120 is disposed opposite to the output end of the fourth drive member 124 of the second working assembly 130. The structure of the first working component 120 and the second working component 130 is conducive to reducing the structural size in their output direction, and the structure of the third lead screw nut 123 can ensure the accuracy of the execution position of the third drive component 121 and the output component 125, thereby ensuring the working accuracy of the robot 100.

[0117] Optionally, the third drive unit 121 and the fourth drive unit 124 are rotary motors.

[0118] The second transmission assembly 122 includes a second driving wheel 1221 and a second driven wheel 1222. The second driving wheel 1221 is connected to the output end of the third driving member 121, and the second driven wheel 1222 meshes with the second driving wheel 1221. The two cooperate with each other to output the output torque of the third driving member 121 from the second transmission assembly 122. This results in high transmission efficiency, low power loss, small transmission gap, and fast motion response, which is beneficial for improving positioning accuracy and dynamic response. At the same time, the transmission between the second driving wheel 1221 and the second driven wheel 1222 can change the output direction of the third driving member 121, so that the third driving member 121 is arranged parallel to the third lead screw 1231, thereby reducing the size of the robot 100.

[0119] Furthermore, the first working component 120 and the second working component 130 also include a second guide component 126. The second guide component 126 is disposed between the fourth driving member 124 and the first mounting bracket 110, providing guidance for the fourth driving member 124 to move along the guiding direction of the second guide component 126, avoiding jamming, and improving the stability of the movement of the fourth driving component.

[0120] Specifically, the second guide assembly 126 includes a second guide rail 1261 and a second slider 1262. The second guide rail 1261 is disposed on the first mounting bracket 110, and the second slider 1262 is disposed on the fourth drive member 124. The second guide rail 1261 and the second slider 1262 are in sliding engagement.

[0121] Specifically, the first mounting bracket 110 includes a horizontal frame 111, a first support 112, and a second support 113. The horizontal frame 111 is connected to the first rotating mechanism 200. The first support 112 and the second support 113 are disposed on the horizontal frame 111, and are perpendicularly connected to the horizontal frame 111, and are arranged parallel to and spaced apart from each other. The first support 112 and the second support 113 are respectively used to mount the first working component 120 and the second working component 130.

[0122] In addition, the robotic arm 100 also includes a translation mechanism 140, which includes a fifth drive member 141, a third transmission assembly 142, a fourth lead screw nut 143, and a first guide assembly 144. The fifth drive component 141 is mounted on the robot arm 100, specifically on the crossbeam 111 of the robot arm 100. The third transmission assembly 142 is connected to the output end of the fifth drive component 141. The fourth lead screw nut 143 includes a fourth lead screw 1431 and a fourth nut 1432. The fourth lead screw 1431 is connected to the third transmission assembly 142, and the fourth nut 1432 is sleeved on the fourth lead screw 1431 and threadedly connected to it. The fourth nut 1432 is connected to the first rotating mechanism 200. The first guide assembly 144 is disposed between the fourth nut 1432 and the first mounting bracket 110. The fifth drive component 141 drives the fourth nut 1432 to reciprocate the first mounting bracket 110 along a first direction. The first guide assembly 144 is configured to provide guidance for the first mounting bracket 110 to move along the first direction. By driving the first mounting bracket 110 to reciprocate along the first direction, the fifth drive component 141 helps to expand the range of motion of the first working assembly 120 and the second working assembly 130.

[0123] Specifically, the third transmission assembly 142 includes a third driving wheel and a third driven wheel. The third driving wheel is connected to the fifth driving member 141, and the third driven wheel meshes with the third driving wheel, thereby changing the output direction of the fifth driving member 141. Simultaneously, the fifth driving member 141, the third driving wheel, and the third driven wheel can utilize the structure of the first mounting bracket 110. The fifth driving member 141 is disposed in one of the first bracket 112 and the second bracket 113, and the third driving wheel and the third driven wheel are disposed in the crossbeam 111, so that the third transmission assembly 142 does not require additional space. Furthermore, the third driving wheel and the third driven wheel are both helical gears, and the meshing of the two helical gears changes the output direction.

[0124] The first guide assembly 144 includes a first guide rail 1441 and a first slider 1442. The first guide rail 1441 is disposed on the crossbeam 111 of the first mounting frame 110, and the first slider 1442 is disposed on the first rotating mechanism 200. By utilizing the sliding cooperation of the first guide rail 1441 and the first slider 1442, the reciprocating motion of the first mounting frame 110 along the first direction is guided.

[0125] The fifth driving component 141 is a rotary motor.

[0126] This embodiment also provides a live-line working robot, which includes a body and a hoisting unit 2000, the hoisting unit 2000 being configured to drive the body to rise or fall.

[0127] The hoisting unit 2000 includes a hoisting drive component 2001, a first hoisting transmission assembly 2002, a rope reel 2003, a second hoisting transmission assembly 2004, a hoisting screw and nut assembly 2005, and an insulating rope 2006. The first hoisting transmission assembly 2002 is connected to the output end of the hoisting drive component 2001; the rope reel 2003 is connected to the hoisting transmission assembly, and the hoisting drive component 2001 is configured to drive the rope reel 2003 to rotate; the input shaft of the second hoisting transmission assembly 2004 is connected to the output end of the first hoisting transmission assembly 2002; the hoisting screw and nut assembly 2005 is connected to the output shaft of the second hoisting transmission assembly 2004; one end of the insulating rope 2006 is fixed to the hoisting unit 2000, and the free end passes through the output end of the hoisting screw and nut assembly 2005. The hoisting drive component 2001 drives the rope reel 2003 to rotate to release or wind the insulating rope 2006. The 2000 hoisting unit is used to drive the live-line working robot to rise or fall as a whole.

[0128] Furthermore, the first hoisting transmission assembly 2002 includes a fourth driving pulley 2002a, a fourth driven pulley 2002b, and a fourth belt 2002c. The fourth driving pulley 2002a is connected to the hoisting drive component 2001, and the fourth driven pulley 2002b is parallel to and spaced apart from the fourth driving pulley 2002a. Both pulleys tension the fourth belt 2002c together, thereby achieving transmission and realizing the first change in output direction. Simultaneously, the diameter of the fourth driven pulley 2002b is larger than that of the fourth driving pulley 2002a, giving the connection between the fourth driving pulley 2002a and the fourth driven pulley 2002b a speed reduction effect, causing the rope reel 2003 to rotate at a low speed and increasing the hoisting torque.

[0129] Furthermore, the first hoisting transmission assembly 2002 also includes a worm gear 2002d and a worm 2002e. The worm 2002e is connected to the fourth driven wheel 2002b, and the worm gear 2002d is connected to the rope reel 2003. This first hoisting transmission assembly 2002 achieves a second change in transmission direction through the worm gear 2002d and worm 2002e transmission structure, thereby achieving a reasonable overall structural layout of the hoisting unit 2000 and reducing its size. Simultaneously, the worm gear 2002d and worm 2002e structure has a self-locking function, enabling the live-line working robot to stably stop at any height position, improving the safety and stability of the live-line working robot's operation.

[0130] The second hoist transmission assembly 2004 includes a fifth driving pulley 3002a3, a fifth driven pulley 3002a4, and a fifth belt 2004c. The fifth driving pulley 3002a3 is connected to the hoist drive component 2001. The fifth driven pulley 3002a4 is parallel to and spaced apart from the fifth driving pulley 3002a3, and both pulleys tension the fifth belt 2004c together, thereby achieving transmission. This causes the hoist screw nut assembly 2005 to rotate synchronously with the rope reel 2003, winding the insulating rope 2006 around the corresponding position on the rope reel 2003.

[0131] The winch screw and nut assembly 2005 includes a winch screw 2005a, a winch nut 2005b, a winch frame, a winch guide rod, and a winch slider. The winch screw 2005a is connected to the fifth driven pulley 3002a4. The winch nut 2005b is sleeved on the winch screw 2005a and is positioned on the winch slider. The winch guide rod is parallel to the winch screw 2005a and is mounted on the winch frame. The insulating rope 2006 passes through the winch slider. This winch screw and nut structure allows the winch slider to reciprocate along the axial direction of the winch screw 2005a under the drive of the winch nut 2005b, thereby causing the insulating rope 2006 to be uniformly wound around the rope reel 2003 axially.

[0132] The live-line working robot includes a walking unit 3000, which is connected to a hoisting unit 2000. The walking unit 3000 is configured to walk on the conductor.

[0133] The traveling unit 3000 includes a traveling assembly 3001 and a clamping assembly 3002. The traveling assembly 3001 includes a traveling drive 3001a and a traveling wheel 3001a. The traveling drive 3001a is configured to drive the traveling wheel 3001a to rotate, and the axis of the traveling wheel 3001a is parallel to a first direction. The clamping assembly 3002 includes a clamping drive 3002a and a clamping wheel 3002b. The clamping drive 3002a is configured to drive the clamping wheel 3002b to approach or move away from the traveling wheel 3001a in a direction perpendicular to the first direction. When the clamping wheel 3002b approaches the traveling wheel 3001a, the clamping wheel 3002b and the traveling wheel 3001a together clamp the wire. The walking component 3001 and the clamping component 3002 can be hung on the conductor, and the clamping wheel 3002b of the clamping component 3002 and the walking wheel 3001a together clamp the conductor to fix it, thereby ensuring the stability and safety of the live-line working robot during operation.

[0134] For example, the walking drive 3001a is a rotary motor to drive the walking wheel 3001a to rotate, so that the walking unit 3000 can drive the entire live-line working robot to walk on the conductor.

[0135] The clamping drive component 3002a is a linear motor, such as a linear cylinder.

[0136] The walking unit 3000 also includes a second mounting bracket 3003 and a swing arm assembly 3004. The swing arm assembly 3004 includes a rotating base 3004a, a swing arm drive member 3004b, and a push rod 3004c. The rotating base 3004a is connected to the clamping assembly 3002 and is rotatably mounted on the second mounting bracket 3003. The swing arm drive member 3004b is connected to the second mounting bracket 3003. The push rod 3004c is located at the output end of the swing arm drive member 3004b and on the support of the second mounting bracket 3003. The swing arm drive member 3004b is configured to push the clamping assembly 3002 to rotate relative to the rotating base 3004a through the telescopic movement of the push rod 3004c, so that the walking assembly 3001 swings relative to the conductor. Because when the live-line working robot rises directly below the conductor, the walking wheels 3001a correspond to the position of the conductor and cannot be directly attached to the conductor. To ensure that the walking wheel 3001a is hooked onto the conductor, the swing arm assembly 3004 pushes the walking wheel 3001a to a preset angle, causing it to avoid the conductor. Then, when the walking wheel 3001a is above the conductor, it is pulled back to its initial position. The winch drive unit then lowers the entire live-line working robot to a certain height, allowing the walking wheel 3001a to hook onto the conductor. At this point, the clamping drive component 3002a pushes the clamping wheel 3002b upwards, causing the clamping wheel 3002b and the walking wheel 3001a to jointly clamp the conductor, facilitating the live-line working robot's movement and operation on the conductor.

[0137] Optionally, the swing arm drive component 3004b is a linear motor, such as a linear cylinder.

[0138] Furthermore, the clamping drive 3002a includes a third mounting bracket 3002a1, a clamping drive part 3002a2, a fifth driving wheel 3002a3, a fifth driven wheel 3002a4, a clamping screw 3002a5, and a clamping nut 3002a6. The third mounting bracket 3002a1 is connected between the traveling drive 3001a and the second mounting bracket 3003, and the rotating seat 3004a is connected to the third mounting bracket 3002a1 and rotatably connected to the second mounting bracket 3003. The clamping drive part 3002a2 is located in the third mounting bracket 3002a1, and its output end is connected to the fifth driving wheel 3002a3. The fifth driving wheel 3002a3 meshes with the fifth driven wheel 3002a4, thereby realizing the conversion of the output direction. This allows the clamping drive 3002a to be housed inside the third mounting bracket 3002a1, which helps save space. The tightening screw 3002a5 is connected to the fifth driven wheel 3002a4 and is parallel to the output direction of the tightening drive unit 3002a2. The tightening nut 3002a6 is sleeved on the tightening screw 3002a5 and threadedly connected to it. The tightening wheel 3002b is connected to the tightening nut 3002a6. This allows the tightening drive unit 3002a2 to output power, driving the tightening nut 3002a6 to move the tightening wheel 3002b closer to or away from the traveling wheel 3001a.

[0139] Furthermore, the walking unit 3000 is fixed to the body of the live-line working robot by the second mounting bracket 3003, and the walking unit 3000 is located on top.

[0140] The live-line working robot also includes a potential transfer unit 4000, which is connected to the walking unit 3000. The potential transfer unit 4000 is configured to transfer the same potential between the body and the conductor, thereby realizing the live-line working robot and the conductor working at the same potential.

[0141] The potential transfer unit 4000 includes a potential transfer rod 4001, a clamping assembly 4002, and a wire hanging assembly 4003. The clamping assembly 4002 is configured to clamp or release the potential transfer rod 4001; the wire hanging assembly 4003 is connected to the clamping assembly 4002 and is configured to drive the clamping assembly 4002 to rotate.

[0142] The potential transfer unit 4000, through the coordinated action of the clamping component 4002 and the hanging component 4003, controls the clamping and rotation of the potential transfer rod 4001 to achieve stable connection of the potential transfer rod 4001, which helps to improve the stability and controllability of the connection process. At the same time, the potential transfer unit 4000 has a compact overall structure, making it easy to integrate into a live-line working robot.

[0143] The clamping assembly 4002 includes a clamping frame 4002a, a clamping drive 4002b, and a clamping member 4002c. The clamping member 4002c is connected to the output end of the clamping drive 4002b. The clamping drive 4002b is configured to drive the clamping member 4002c to move closer to or further away from the clamping frame 4002a to clamp or release the potential transfer rod 4001, thereby ensuring the stability of clamping the potential transfer rod 4001.

[0144] Optionally, the clamping drive 4002b is a linear motor, such as a linear cylinder.

[0145] The hanging assembly 4003 includes a third mounting bracket 3002a1 and a rotary drive. The third mounting bracket 3002a1 is connected to the clamping bracket 4002a; the output end of the rotary drive is connected to the third mounting bracket 3002a1, and the rotary drive is configured to drive the third mounting bracket 3002a1 to rotate, thereby driving the potential transfer rod 4001 to rotate.

[0146] The hanging assembly 4003 drives the third mounting bracket 3002a1 to rotate via a rotary drive component, which in turn drives the potential transfer rod 4001 to rotate. This modularizes the clamping assembly 4002 and the potential transfer rod 4001, eliminating the need for a complex connection structure to drive the rotation of the potential transfer rod 4001 and simplifying the overall structure.

[0147] This live-line working robot, through the coordinated operation of a working arm 1000, a hoisting unit 2000, a walking unit 3000, and a potential transfer unit 4000, utilizes the hoisting unit 2000 to mount the robot onto the power line, the walking unit 3000 to move the robot along the line, and the potential transfer unit 4000 to transfer the robot to the correct electrical potential. The first rotating mechanism 200, the second rotating mechanism 300, and the telescopic mechanism 400 work together to drive the first working component 120 and the second working component 130 of the robotic arm 100 to interact, simulating a manual operation process. The first working component 120 and the second working component 130 are then positioned to tighten the bolts. This live-line working robot can quickly and efficiently move along high-voltage power lines, rapidly tightening loose bolts, reducing the labor intensity of manual maintenance, and improving operational efficiency. Furthermore, the live-line working robot has a high degree of intelligence and high structural reliability.

[0148] Now combined Figures 1-9 The working process of the live-line working robot is explained.

[0149] like Figures 1-9 As shown, before the live-line working robot is put into operation, the line to be tightened is determined to be a power transmission line. Before the live-line working robot is put into operation, the operator controls the drone to hang the insulating rope 2006 on the power transmission line. The ground operator ties a rubber rope loop to one end of the hanging insulating rope 2006, and then fixes the rubber rope loop upward to a certain point on the power transmission line. The other end of the insulating rope 2006 is connected to the rope reel 2003 of the upper and lower line section. At this time, the live-line working robot is started, the top tightening wheel 3002b is placed at the bottom of the third mounting frame 3002a1, and the swing arm drive component 3004b pushes the third mounting frame 3002a1 into the open state, so that after the live-line working robot is put into operation, the walking wheel 3001a can hang the wire, and the potential transfer rod 4001 is fixed between the clamping frame 4002a and the clamping component 4002c through the clamping component 4002c.

[0150] Then, the winch unit for lifting and lowering the line is activated, i.e., the winch drive is activated. The first winch transmission assembly 2002 drives the rope reel 2003 to rotate, winding the insulating rope 2006 and lifting the entire live-line working robot. When the live-line working robot rises to a certain position close to below the conductor, the wire-hanging assembly 4003 in the potential transfer unit 4000 drives the clamping assembly 4002 to rotate, bringing the potential transfer rod 4001 close to the conductor. Then, the clamping drive 4002b releases the clamping frame 4002a, and the potential transfer rod 4001 falls and hooks the conductor. Then, the winch drive continues to drive the rope reel 2003 to rotate, further lifting the live-line working robot. Once the walking wheel 3001a is higher than the conductor, the swing arm drive 3004b in the walking unit 3000 drives the third mounting bracket 3002a1 to rotate, causing the walking wheel 3001a to rotate directly above the guide and until it is flush with the conductor. Then, the winch drive drives the rope reel 2003 to reverse, and the live-line working robot descends, with the walking wheel 3001a attached to the conductor. At this time, the winch drive 2001 continues to drive the rope reel 2003 to reverse, and the rubber rope loop attached to the conductor is in a slack state. The tightening drive 3002a in the walking unit 3000 drives the tightening wheel 3002b to rise, tightening the conductor. Then, the walking wheel 3001a moves to the position on the conductor where bolts need to be tightened.

[0151] Once the fastening position is reached, the traveling wheel 3001a stops rotating; at this time, the working arm 1000 needs to be operated to position the bolts.

[0152] Specifically, firstly, the second rotating mechanism 300 drives the robot arm 100 to rotate upwards, and then the first rotating mechanism 200 drives the robot arm 100 to flip upwards until the robot arm 100 approaches the wire in a reversed posture. Then, with the cooperation of the second drive member 410 of the telescopic mechanism 400 and the first drive member 210 of the first rotating mechanism 200 and the second rotating mechanism 300, the first working assembly 120 and the second working assembly 130 are aligned with the bolt. After the bolt is aligned, the third drive member 121 of either the first working assembly 120 or the second working assembly 130, which is opposite to the nut, drives the third lead screw nut 123 to move, so that the sleeve of the output member 125 covers the nut. The third drive member 121 of the other working assembly 120 or the second working assembly 130, which is opposite to the nut, drives the third lead screw nut 123 to move, so that the output member 125 covers the bolt head. Then, the fourth drive component 124 of the first working component 120 or the second working component 130 is started simultaneously. While the bolt tightening motor provides the corresponding torque, the third drive component 121 continues to work, causing the two sets of output components 125 to move closer to each other in the direction of tightening the bolt, thereby completing the bolt tightening work.

[0153] After completing the task, restore the 1000 working arm to its initial state and begin the live-line operation robot's offline operation. The offline process is the reverse of the online process, so it will not be described in detail here.

[0154] After the live-line working robot is taken off the production line, the operator pulls the rubber rope loop to retrieve the insulating rope 2006 from the conductor, thus completing the entire bolt tightening operation of the live-line working robot.

[0155] This live-line working robot eliminates the need for maintenance personnel to climb the tower to tighten bolts, greatly improving the work efficiency and shortening the working time of maintenance personnel while ensuring safety.

[0156] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A work arm characterized by, The utility model relates to a mechanical arm driving device, comprising: a mechanical arm configured to perform a work task; a first rotating mechanism having an output end connected to the mechanical arm, the first rotating mechanism being configured to drive the mechanical arm to rotate along an axis parallel to a first direction; a second rotating mechanism having an output end connected to the first rotating mechanism, the second rotating mechanism being configured to drive the first rotating mechanism to drive the mechanical arm to rotate along an axis parallel to a second direction, the second direction being perpendicular to the first direction; a telescopic mechanism having an output end passing through the second rotating mechanism and connected to the output end of the second rotating mechanism, the telescopic mechanism being configured to drive the first rotating mechanism to drive the mechanical arm to reciprocate along the second direction through the output end of the second rotating mechanism.

2. A work arm according to claim 1, characterised in that, The second rotating mechanism comprises: a first driving member; a first output shaft extending along the second direction and connected to the output end of the first driving member; a first screw nut connected to the first output shaft and connected to the first rotating mechanism.

3. A work arm according to claim 2, characterised in that, The telescopic mechanism comprises: a second driving member; a first transmission assembly comprising a first driving wheel, a first driven wheel and a first belt, the first driving wheel being connected to the output end of the first driving member, the first driving wheel and the first driven wheel being parallel and spaced apart, the first driving wheel and the first driven wheel jointly tensioning the first belt; a second screw nut having one end passing through the first driving member and connected to the first driven wheel and the other end connected to the first screw nut.

4. A work arm according to claim 3, characterised in that, The first screw nut comprises: a first nut connected to the first output shaft; a first screw passing through the first nut and threadedly connected to the first nut, the first screw being connected to the first driving mechanism; The second screw nut comprises: a second screw passing through the first driving member and connected to the first driven wheel, the second screw passing through the first screw and being coaxially arranged with the first screw; a second nut sleeved on the second screw and fixedly connected to the first screw.

5. A work arm according to any one of claims 1-4, characterized in that, The mechanical arm comprises: a first mounting frame connected to the first rotating mechanism; a first work assembly connected to the first mounting frame; a second work assembly connected to the first mounting frame, the output end of the first work assembly and the output end of the second work assembly being capable of approaching or moving away from each other and being capable of relatively independently rotating.

6. A work arm according to claim 5, characterised in that, The first work assembly and the second work assembly respectively comprise: a third driving member arranged on the first mounting frame; a second transmission assembly connected to the output end of the third driving member; a third screw nut comprising a third screw and a third nut, the third screw being connected to the second transmission assembly, the third nut being sleeved on the third screw and threadedly connected to the third screw, the axis of the third screw extending along the first direction; A fourth driving member is connected with the third nut, and the fourth driving member is driven to reciprocate along the first direction by the second transmission assembly and the third screw nut; An output member is connected with an output end of the fourth driving member, and the fourth driving member is configured to drive the output member to rotate; The output end of the fourth driving member of the first working assembly is oppositely arranged with the output end of the fourth driving member of the second working assembly.

7. The work arm of claim 5, wherein, The mechanical arm further comprises a translation mechanism, and the translation mechanism comprises: A fifth driving member is arranged on the mechanical arm; A third transmission assembly is connected with an output end of the fifth driving member; A fourth screw nut comprises a fourth screw rod and a fourth nut, the fourth screw rod is connected with the third transmission assembly, the fourth nut is sleeved on the fourth screw rod and is threadedly connected with the fourth screw rod, and the fourth nut is connected with the first rotating mechanism; A first guide assembly is arranged between the fourth nut and the first mounting frame, the fifth driving member is used to drive the fourth nut to drive the first mounting frame to reciprocate along the first direction, and the first guide assembly is configured to provide a guide for the first mounting frame to move along the first direction.

8. An electric work robot characterized by comprising: Comprise: A body; A hoisting unit configured to drive the body to ascend or descend; A walking unit connected with the hoisting unit, the walking unit being configured to walk on a wire; A potential shift unit connected with the walking unit, the potential shift unit being configured to be equipotential between the body and the wire; The working arm of any one of claims 1-7, connected with the hoisting unit, the working arm being configured to work on the wire.

9. The hot stick robot of claim 8, wherein, The hoisting unit comprises: A hoisting driving member; A first hoisting transmission assembly connected with an output end of the hoisting driving member; A rope disc connected with the hoisting transmission assembly, the hoisting driving member being configured to drive the rope disc to rotate; A second hoisting transmission assembly, an input shaft of the second hoisting transmission assembly being connected with an output end of the first hoisting transmission assembly; A hoisting screw nut assembly connected with an output shaft of the second hoisting transmission assembly; An insulating rope, one end of the insulating rope being fixed on the hoisting unit, a free end of the insulating rope being arranged to pass through an output end of the hoisting screw nut assembly, the hoisting driving member being configured to drive the rope disc to rotate to release or wind the insulating rope.

10. The hot stick robot of claim 8, wherein, The walking unit comprises: A walking assembly comprising a walking driving member and a walking wheel, the walking driving member being configured to drive the walking wheel to rotate, and an axial direction of the walking wheel being parallel to the first direction; A tensioning assembly, the tensioning assembly comprising a tensioning driving member and a tensioning wheel, the tensioning driving member being configured to drive the tensioning wheel to approach or move away from the walking wheel along a direction perpendicular to the first direction, and the tensioning wheel and the walking wheel jointly clamping the wire when the tensioning wheel approaches the walking wheel.

11. The hot stick robot of claim 10, wherein, The walking unit further comprises a second mounting frame and a swing arm assembly, and the swing arm assembly comprises: A rotating seat connected with the tensioning assembly and rotatably arranged on the second mounting frame; A swing arm driving member connected with the second mounting frame; A push rod is arranged between the output end of the swing arm driving member and the second mounting bracket support, and the swing arm driving member is configured to drive the tightening assembly to rotate relative to the rotating base through the telescopic movement of the push rod, so as to swing the walking assembly relative to the guide wire.

12. The hot stick robot of claim 8, wherein, The potential transfer unit comprises: A potential transfer rod; A clamping assembly configured to clamp or release the potential transfer rod; A wire hanging assembly connected with the clamping assembly, and the wire hanging assembly is configured to drive the clamping assembly to rotate.

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