Mechanical arm for hot-line work

Abstract

The invention belongs to the technical field of fire welding equipment, and relates to a mechanical arm for hot-line work. The fixing base provides a basic supporting structure for the whole mechanical arm, during working, the supporting base can rotate around the center line of the first rotating shaft, and the mechanical arm can be adjusted by a certain angle in the horizontal direction so as to meet the operation requirements of different angles. The length of the lifting push rod can be changed through telescopic movement of the telescopic section so as to adapt to different operation distances, the inclination angle adjusting mechanism is used for accurately controlling the rotation angle of the lifting push rod on the supporting base, and the operation range is further expanded. And finally, the insulating rod is rotationally connected with the top of the lifting push rod through a third rotating shaft, the motion freedom degree of the tail end of the mechanical arm is further increased, and the tail end of the mechanical arm can more flexibly adapt to the operation requirements of different angles and directions. The multi-degree-of-freedom motion control of the mechanical arm is achieved, the working space of the mechanical arm is expanded, and the operation flexibility of the mechanical arm is improved.

Description

Technical Field

[0001] This invention belongs to the field of power technology and relates to a robotic arm for live-line work. Background Technology

[0002] The rapid development of the national economy has placed higher demands on the reliability of power supply. However, power capacity expansion, equipment maintenance, and fault repair often necessitate power outages, severely impacting residents' lives and industrial and agricultural production. Therefore, power grid companies have an increasingly urgent need for live-line working (non-stop work). However, manual live-line working requires multiple people working together, is labor-intensive, physically demanding, and involves direct or indirect contact between the human body and live conductors, easily leading to safety accidents. Furthermore, the quality of manual connections is inconsistent, potentially causing line faults during subsequent operation. Therefore, developing live-line working robots to replace manual labor becomes an excellent option.

[0003] Live-line working robots use a robotic arm end effector carrying tools to perform tasks. Typical operating scenarios include various configurations such as single-circuit and double-circuit lines. Three-phase busbars are arranged horizontally or in a delta configuration, and the drain lines have different relative positions to the busbars, such as parallel or perpendicular. Furthermore, the spacing between busbars and drain lines varies. To adapt to more operating scenarios, live-line working robots must ensure that all spatial locations are accessible under various tasks, and minimize the number of times the insulated bucket of the boom truck needs to be moved.

[0004] However, the robotic arms currently used for live-line work have a problem with poor flexibility. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm for live-line work, so as to solve the technical problem of poor workspace flexibility of existing live-line work robotic arms.

[0006] To achieve the above objectives, the present invention employs the following technical solution: This invention discloses a robotic arm for live-line work, characterized in that it comprises: Fixed base; A support seat is rotatably connected to the fixed seat via a first rotating shaft, the first rotating shaft passing through the fixed seat and the support seat along the height direction; A lifting push rod is rotatably connected to the support base via a second pivot at the bottom. The lifting push rod includes a fixed sleeve section at the bottom and a telescopic section at the top. The telescopic section can retract into the fixed sleeve section. A tilt adjustment mechanism connected to the lifting push rod is configured to controllably drive the lifting push rod to rotate about the centerline of the second rotating shaft, the second rotating shaft extending laterally along the horizontal plane. An insulating rod is rotatably connected to the top of the lifting push rod via a third rotating shaft, the third rotating shaft being parallel to the second rotating shaft; The working tools are assembled at the top of the insulating rod.

[0007] Furthermore, the first rotating shaft is rotatably connected to the fixed base via a plurality of bearings, and the support base is fixedly connected to the first rotating shaft; The encoder is mounted on the fixed base; A timing belt assembly, one end of which is sleeved on the first rotating shaft and the other end of which is sleeved on the encoder.

[0008] Furthermore, the fixing seat includes a vertically placed fixing seat side wall, and also includes a fixing seat top wall, a fixing seat middle wall and a fixing seat bottom wall disposed on the fixing seat side wall and placed horizontally. The support base includes a vertically placed support base side wall, and also includes a support base top wall and a support base bottom wall that are disposed on the support base side wall and placed horizontally. The middle wall of the fixed seat, the bottom wall of the fixed seat, the top wall of the support seat, and the bottom wall of the support seat are all sleeved on the first rotating shaft.

[0009] Furthermore, the cross-sections of the middle wall of the fixed seat, the bottom wall of the fixed seat, the top wall of the support seat, and the bottom wall of the support seat are all isosceles triangles with rounded apex angles, and the first rotating shaft passes through the apex angle of the isosceles triangle.

[0010] Furthermore, the robotic arm also includes a first drive assembly disposed on the top wall of the fixed base, the first drive assembly being adapted to drive the first rotating shaft to rotate, and the first rotating shaft driving the support base to rotate.

[0011] Furthermore, the support base also includes: two limiting protrusions, respectively located on two sides of the top wall of the support base; two horizontally spaced microswitches are provided on the side of the fixed base facing the support base; when the support base rotates to its limit position relative to the fixed base around the first rotating axis, the limiting protrusions trigger the microswitches.

[0012] Furthermore, it also includes: a first auxiliary rod and a second auxiliary rod located on both sides of the lifting push rod, the first auxiliary rod and the second auxiliary rod having a fixed length, and the top ends of the first auxiliary rod and the second auxiliary rod being fixed to the outer shell of the fixed sleeve section; The support base sidewall is provided with a first auxiliary fixing member, a main fixing member, and a second auxiliary fixing member on the side opposite to the bottom wall of the support base. The first auxiliary fixing member, the main fixing member, and the second auxiliary fixing member are all U-shaped and arranged sequentially in the horizontal direction of the horizontal plane. The two ends of the second rotating shaft are rotatably mounted on the main fixing member; The bottom end of the first auxiliary rod is rotatably connected to the first auxiliary fixing component via a fourth rotating shaft; The bottom end of the second auxiliary rod is rotatably connected to the second auxiliary fixing component via a fifth rotating shaft; The center lines of the second, fourth, and fifth rotating shafts coincide.

[0013] Furthermore, it also includes: a fixing plate located on top of the support base, the fixing plate being inclined in a direction away from the fixing base; The tilt adjustment mechanism includes a tilt adjustment push rod and a second drive assembly; The bottom of the tilt adjustment push rod is rotatably connected to the fixed clamping plate via a sixth rotating shaft, and the top of the tilt adjustment push rod is fixedly connected to the outer shell of the fixed sleeve section; The second drive assembly drives the tilt adjustment push rod to extend and retract, thereby adjusting the rotation angle of the lifting push rod about the center line of the second rotating shaft.

[0014] Furthermore, the telescopic section includes an inner and outer sleeve and a second sub-telescopic section that are movable relative to each other. The telescopic speed of the second sub-telescopic section relative to the fixed sleeve section is V1, and the telescopic speed of the first sub-telescopic section relative to the second sub-telescopic section is V2, where V1=V2.

[0015] Furthermore, the rotation angle of the support relative to the fixed seat about the center line of the first rotating shaft is in the range of -80° to 80°; the length of the lifting push rod is in the range of 1m to 3m, and the tilt angle is in the range of -20° to 80°; the length of the insulating rod is not less than 0.4m.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The fixed base of this invention provides a basic support structure for the entire robotic arm, offering a stable installation reference. During operation, the support base can rotate around the centerline of the first rotating shaft, allowing the robotic arm to be adjusted at a certain angle in the horizontal direction to adapt to different operational needs. The lifting push rod, through the telescopic movement of its extension section, can change its own length to adapt to different working distances. The tilt adjustment mechanism is used to precisely control the outward tilt angle of the lifting push rod on the support base, further expanding the working range. Finally, the insulating rod is rotatably connected to the top of the lifting push rod via a third rotating shaft, further increasing the degree of freedom of movement at the end of the robotic arm, enabling it to more flexibly adapt to operational needs at different angles and directions. This invention achieves multi-degree-of-freedom motion control through the relative horizontal rotation of the support base and fixed base, the outward tilt of the lifting push rod on the support base driven by the tilt adjustment mechanism, the retraction of the lifting push rod's own length, and the rotation of the insulating rod relative to the top of the lifting push rod. The technical solution disclosed in this invention greatly expands the working space and operational flexibility of the robotic arm, adapting to live-line working scenarios at different heights, angles, and directions. Attached Figure Description

[0017] Figure 1 A perspective view of a robotic arm for live-line work provided in an embodiment of this disclosure; Figure 2 exhibit Figure 1 The diagram shows the fixed base and support base of the robotic arm after removing the outer shell, operating tools, and connecting frame; Figure 3 exhibit Figure 2 The side view of the robotic arm shown; Figure 4 exhibit Figure 3 The side view of the robotic arm after the rotation of the insulating rod, the tilt angle of the lifting push rod, and the length adjustment are shown. Figure 5 exhibit Figure 2 The top view of the robotic arm shown; Figure 6 exhibit Figure 5 The top view of the support base of the robotic arm after it has been rotated relative to the fixed base; Figure 7 exhibit Figure 1 The diagram shows the assembly structure of the support base and the fixed base of the robotic arm. Figure 8 exhibit Figure 7 The disassembled diagram of the mounting base and the first drive assembly is shown. Figure 9 exhibit Figure 8 The diagram shows the positions of the encoder and timing belt assembly on the mounting base. Figure 10 exhibit Figure 8A schematic diagram of the structure of the side wall of the fixing seat shown; Figure 11 exhibit Figure 7 A three-dimensional view of the support base shown; Figure 12 exhibit Figure 11 The diagram shows the positions of the main fixing component, the first auxiliary fixing component, and the second auxiliary fixing component of the support base. Figure 13 exhibit Figure 1 A 3D view of the lifting push rod and insulating rod of the robotic arm shown; Figure 14 for Figure 13 The front view of the lifting push rod and insulating rod shown; Figure 15 exhibit Figure 2 The diagram shows the robotic arm after the rotation of the insulating rod, the tilt angle of the lifting push rod, and the length adjustment. Figure 16 exhibit Figure 2 Another 3D view of the robotic arm shown; Figure 17 exhibit Figure 16 The diagram shows a 3D view of the support base of the robotic arm after rotation; Figure 18 exhibit Figure 17 The diagram shows the robotic arm after the rotation of the insulating rod, the tilt angle of the lifting push rod, and the length adjustment. Figure 19 exhibit Figure 1 The diagram shows the structure of the tilt adjustment mechanism of the robotic arm.

[0018] Wherein: 100, fixed base; 101, first rotating shaft; 102, encoder; 103, synchronous belt assembly; 104, side wall of fixed base; 105, top wall of fixed base; 106, middle wall of fixed base; 107, bottom wall of fixed base; 108, first drive assembly; 109, micro switch; 110, connecting frame; 111, side; 112, bearing; 200, support base; 201, second rotating shaft; 202, side wall of support base; 203, top wall of support base; 204, bottom wall of support base; 205, limiting protrusion; 206, first auxiliary fixing component; 207, main fixing component. ; 208. Second auxiliary fixing component; 209. Fourth rotating shaft; 210. Fifth rotating shaft; 211. Fixed clamping plate; 300. Lifting push rod; 301. Fixed sleeve section; 302. Telescopic section; 303. Third rotating shaft; 304. Insulating rod; 305. First auxiliary rod; 306. Second auxiliary rod; 307. First sub-telescopic section; 308. Second sub-telescopic section; 400. Tilt adjustment mechanism; 401. Tilt adjustment push rod; 402. Second drive assembly; 403. Sixth rotating shaft; 500. Working tool; AB. Height direction; CD. Horizontal direction. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] The present invention will now be described in further detail with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the robotic arm used for live-line work in this embodiment. Figure 2 Compared Figure 1 Remove the outer casing of the fixed base 100 and the support base 200, and omit the display of the working tools and connecting frame.

[0022] See Figure 1 and Figure 2 This invention proposes a robotic arm for live-line work, comprising a fixed base 100, a support base 200, a lifting push rod 300, a tilt adjustment mechanism 400, an insulating rod 304, and a working tool 500. The fixed base 100 and the support base 200 are rotatably connected via a first rotating shaft 101. The support base 200 connects the bottom ends of the lifting push rod 300 and the tilt adjustment mechanism 400. The bottom end of the lifting push rod 300 is rotatably connected to the support base 200 via a second rotating shaft 201. The top end of the tilt adjustment mechanism 400 is connected to the outer wall of the lifting push rod 300. The insulating rod 304 is mounted on the top end of the lifting push rod 300, and the working tool 500 is mounted on the top end of the insulating rod 304.

[0023] In this embodiment, the first rotating shaft 101 is placed vertically along the height direction AB, and the second rotating shaft 201 extends along the horizontal direction CD.

[0024] The robotic arm is mounted on an insulated bucket truck and is raised with the bucket to the vicinity of the overhead cable to carry out live-line work.

[0025] The mounting base 100 is fixedly installed on the insulated bucket truck. (See also...) Figure 1 A connecting frame 110 is fixedly provided on one side of the fixed base 100, and the connecting frame 110 is fixedly connected to the insulated bucket truck.

[0026] In this embodiment, the fixed base 100 is placed vertically along the height direction AB, and the side 111 of the connecting frame 110 extends along the horizontal direction CD.

[0027] Figure 3 and Figure 4 This is used to demonstrate the extension and retraction of the robotic arm and the implementation of its tilt angles.

[0028] See Figure 3 and Figure 4 The lifting push rod 300 includes a lower fixed sleeve section 301 and an upper telescopic section 302, the telescopic section 302 being retractable into the fixed sleeve section 301. The design of the fixed sleeve section 301 and the telescopic section 302 of the lifting push rod 300 is mainly for realizing the height adjustment function. The retraction action of the telescopic section 302 can be achieved by hydraulic drive, pneumatic drive, or electric push rod, for example, by using a ball screw mechanism to convert rotational motion into linear motion for precise control.

[0029] In this embodiment, the lifting push rod 300 is an electric push rod, and the extension and retraction of the telescopic section 302 is driven by electricity.

[0030] In this embodiment, the length of the lifting push rod 300 ranges from 1m to 3m.

[0031] The telescopic section 302 is a mechanical structure with multi-stage telescopic function, which achieves continuous length adjustment through inner and outer casing.

[0032] In this embodiment, the telescopic section 302 includes an inner and outer sleeve and a second sub-telescopic section 307 and a second sub-telescopic section 308 that are movable relative to each other. The telescopic speed of the second sub-telescopic section 308 relative to the fixed sleeve section 301 is V1, and the telescopic speed of the first sub-telescopic section 307 relative to the second sub-telescopic section 308 is V2, where V1=V2.

[0033] In this embodiment, the first sub-telescopic segment 307 and the second sub-telescopic segment 308 are electrically driven to achieve relative movement, aiming to ensure the smoothness and controllability of the telescopic action. This invention achieves effective extension of the working stroke of the lifting push rod 300 through a two-stage telescopic structure design, while simplifying control issues during telescopic movement by setting a consistent speed.

[0034] See Figure 3 and Figure 4 The tilt adjustment mechanism 400 includes a tilt adjustment push rod 401 and a second drive assembly 402. The second drive assembly 402 drives the tilt adjustment push rod 401 to extend and retract, thereby adjusting the rotation angle of the lifting push rod 300 around the center line of the second rotating shaft 201, and thus adjusting the inward and outward tilt angles of the lifting push rod 300.

[0035] The second drive component 402 can dynamically adjust the tilt angle of the lifting push rod 300 by precisely controlling the extension and retraction of the tilt angle adjustment push rod 401, thus ensuring the accuracy of angle control.

[0036] In this embodiment, the tilt angle range of the lifting push rod 300 rotating around the second rotating shaft 201 is -20° to 80°. The positive and negative signs represent the outward or inward tilt of the lifting push rod 300 relative to the height direction AB. For example... Figure 3 In the middle, the lifting push rod 300 is tilted outward, and the corresponding tilt angle is positive.

[0037] The tilt adjustment push rod 401 is an actuator capable of linear motion, which can be driven hydraulically, pneumatically, or electrically. Its purpose is to precisely control the inward and outward tilt angles of the lifting push rod 300. In this embodiment, the tilt adjustment push rod 401 is an electric push rod.

[0038] The second drive component 402 is a power output device, which can be implemented using a servo motor, a stepper motor, or other types of drivers. Its purpose is to provide a controllable power source for the tilt adjustment push rod 401. In this embodiment, the second drive component 402 is a servo motor.

[0039] See Figure 5 and Figure 6 The support base 200 is rotatably connected to the fixed base 100 via the first rotating shaft 101. The lifting push rod 300, the tilt adjustment mechanism 400, and the insulating rod 304 can rotate relative to the fixed base 100 around the center line of the first rotating shaft 101 together with the support base 200.

[0040] See Figure 7 The first rotating shaft 101 passes through the fixed base 100 and the support base 200 along the height direction AB.

[0041] In this embodiment, the fixed base 100 is the basic support structure of the robotic arm. Its main function is to provide a stable installation reference. High-strength steel or aluminum alloy materials are used to meet the load-bearing requirements.

[0042] The design of the first rotating shaft 101 allows the support base 200 to rotate about the center line of the first rotating shaft 101. The support base 200, as an intermediate component connecting the fixed base 100 and the lifting push rod 300, can be manufactured by casting or forging processes and has internal reinforcing ribs to improve rigidity.

[0043] See Figure 8 In a preferred embodiment of the present invention, the first rotating shaft 101 and the fixed base 100 are rotatably connected by a plurality of bearings 112, and the support base 200 is fixedly connected to the first rotating shaft 101. The first rotating shaft 101 rotates around a center line, causing the support base 200 to rotate around the center line of the first rotating shaft 101.

[0044] In this embodiment, the multi-bearing support system effectively suppresses the shaking phenomenon during the rotation of the support base 200. Based on the rolling contact characteristics of the bearing 112, the concentrated load is distributed to multiple support points, thereby improving rotational stability.

[0045] See Figure 9 The robotic arm further includes an encoder 102 and a timing belt assembly 103. The encoder 102 is mounted on the fixed base 100. One end of the timing belt assembly 103 is sleeved on the first rotating shaft 101, and the other end is sleeved on the encoder 102.

[0046] In this embodiment, the encoder 102 is used to detect the rotation angle of the first rotating shaft 101.

[0047] The synchronous belt assembly 103 transmits the rotational motion of the first rotating shaft 101 to the encoder 102 without slippage, overcoming the measurement errors that may occur in traditional transmission methods.

[0048] In this embodiment, the fixed base 100 and the support base 200 form a high-rigidity rotary support and high-precision position closed-loop system, which significantly improves the operational reliability of the robotic arm under complex working conditions.

[0049] See Figure 8 and Figure 10 In a preferred embodiment of the present invention, the fixing seat 100 includes a vertically placed fixing seat side wall 104, and also includes a fixing seat top wall 105, a fixing seat middle wall 106 and a fixing seat bottom wall 107 disposed on the fixing seat side wall 104 and placed horizontally.

[0050] In this embodiment, the side wall 104 of the fixed seat serves as a vertical structural component of the basic support frame. It can be made of high-strength steel plate or composite material to provide resistance to lateral forces in the vertical direction. The top wall 105, the middle wall 106, and the bottom wall 107 of the fixed seat form a multi-layered horizontal support platform. Their fixation to the side wall 104 aims to distribute the load on the first rotating shaft 101 and avoid single-point stress concentration.

[0051] See Figure 11 The support base 200 includes a vertically placed support base side wall 202, and also includes a support base top wall 203 and a support base bottom wall 204 disposed on the support base side wall 202 and placed horizontally.

[0052] In this embodiment, the support sidewall 202 is adjacent to the fixed sidewall 104 (see...). Figure 7 The vertical support structure works in synergy and can be made of lightweight aluminum alloy or carbon fiber materials, reducing the overall weight while ensuring rigidity.

[0053] In this embodiment, the top wall 203 and the bottom wall 204 of the support base can adopt a reinforcing rib structure to enhance the overall structural strength and reduce torsional deformation under working load.

[0054] See Figure 7 The technical solution disclosed in this invention significantly improves the overall rigidity and load distribution capability of the rotary joint by constructing a multi-layer wall combination structure of the fixed seat 100 and the support seat 200. The fixed seat sidewall 104 serves as a basic support frame, forming a multi-layer horizontal support platform in conjunction with the fixed seat top wall 105, the fixed seat middle wall 106, and the fixed seat bottom wall 107. This allows the load of the first rotating shaft 101 to be evenly distributed to multiple connection points, effectively suppressing vibration and positioning misalignment under heavy loads. The support seat sidewall 202 works in conjunction with the fixed seat sidewall 104 to ensure vertical alignment stability during rotation, while the support seat top wall 203 and support seat bottom wall 204 further enhance the overall strength of the structure. The middle wall 106 of the fixed seat, the bottom wall 107 of the fixed seat, the top wall 203 of the support seat, and the bottom wall 204 of the support seat are all directly sleeved on the first rotating shaft 101, directly coupling the rotation center with the key structural wall. This allows the load to be evenly transmitted along the rotating shaft, eliminating the accumulation of small displacements caused by structural gaps, thereby ensuring the smoothness of rotational motion and positioning accuracy. Furthermore, the above-mentioned structural design of the present invention can effectively reduce the risk of damage to the joint transmission components from impact vibration under high-load start-stop or direction-changing conditions, thus extending the service life of the equipment.

[0055] In this embodiment, the cross-sections of the middle wall 106 of the fixed seat, the bottom wall 107 of the fixed seat, the top wall 203 of the support seat, and the bottom wall 204 of the support seat are all isosceles triangles with rounded apex angles. This helps to avoid stress concentration problems caused by sharp edges and can be achieved through chamfering, rounded transition grinding, or special coating processes. The first rotating shaft 101 passes through the apex angle of the isosceles triangle. In addition, the isosceles triangle structural design helps to improve the structural strength of the component and ensure the coincidence of the rotation center and the structural center of gravity, thereby reducing the unbalanced torque caused by the offset of the center of gravity.

[0056] See Figure 8 In a preferred embodiment of the present invention, the robotic arm further includes a first drive assembly 108 disposed on the top wall 105 of the fixed base. The first drive assembly 108 is adapted to drive the first rotating shaft 101 to rotate, and the first rotating shaft 101 thereby drives the support base 200 (see...). Figure 7 Rotate.

[0057] Specifically, the first drive component 108 is a rotary drive force providing device, which can be implemented by using a servo motor in conjunction with a reducer, a stepper motor, or a hydraulic motor.

[0058] The purpose of setting the first drive component 108 on the top wall 105 of the fixed seat is to use the fixed seat 100 as a static reference platform to avoid interference with dynamic components such as the lifting push rod 300.

[0059] In a preferred embodiment of the present invention, the first drive component 108 directly drives the first rotating shaft 101 to rotate. Based on the fixed connection between the support base 200 and the first rotating shaft 101, the output of the first drive component 108 is accurately converted into the rotational motion of the support base 200, avoiding the positioning deviation accumulated by multi-stage transmission, thereby ensuring the real-time stability and operational accuracy of the robotic arm posture under complex working conditions.

[0060] See Figure 11 and Figure 12 In a preferred embodiment of the present invention, the support base 200 further includes two limiting protrusions 205, which are respectively located on the two sides of the top wall 203 of the support base.

[0061] See Figure 7 Two horizontally spaced microswitches 109 are provided on the side wall 104 of the fixed base facing the support base 200, for accurately determining whether the rotational movement of the support base 200 has reached its limit position. When the support base 200 rotates relative to the fixed base 100 around the first rotating shaft 101 to its limit position, the limiting protrusion 205 triggers the microswitches 109.

[0062] This invention effectively solves the problem of the support base 200's rotation angle exceeding the limit through the coordinated design of the limiting protrusion 205 and the micro switch 109. The limiting protrusion 205, located on the side of the top wall 203 of the support base, moves synchronously with the rotation of the support base 200. When the support base 200 rotates to a preset angle boundary, the limiting protrusion 205 directly contacts the micro switch 109. The micro switches 109, horizontally spaced on the side wall 104 of the fixed base, transmit signals to the control system for the left and right rotation directions respectively. The control system then stops driving the first drive assembly 108, preventing the support base 200 from continuously rotating. This ensures that the entire robotic arm remains within a safe angle range during orientation adjustment, significantly reducing the risk of mechanical collisions or structural damage caused by exceeding rotation limits, while improving the safety and reliability of the operation process.

[0063] In this embodiment, the rotation angle range of the support base 200 relative to the fixed base 100 around the center line of the first rotating shaft 101 is -80° to 80° (where positive and negative signs represent left and right rotation when facing the cable respectively), which can achieve a wide-angle coverage of nearly 160° in the horizontal direction, ensuring that the robotic arm can complete all-round operation tasks under complex working conditions and improving the working range of the robotic arm.

[0064] See Figure 13 and Figure 14 In this embodiment, the robotic arm further includes a first auxiliary rod 305 and a second auxiliary rod 306 located on both sides of the lifting push rod 300, the lengths of the first auxiliary rod 305 and the second auxiliary rod 306 are fixed, and the top ends of the first auxiliary rod 305 and the second auxiliary rod 306 are fixed on the outer shell of the fixed sleeve section 301.

[0065] The first auxiliary rod 305 and the second auxiliary rod 306 help to enhance the dynamic stability of the lifting push rod 300. They can be made of high-strength alloy materials or carbon fiber composite materials to ensure sufficient bending strength under load changes.

[0066] See Figure 12 The support base sidewall 202 has a first auxiliary fixing member 206, a main fixing member 207, and a second auxiliary fixing member 208 on the side opposite to the fixed base 100. The first auxiliary fixing member 206, the main fixing member 207, and the second auxiliary fixing member 208 are all U-shaped and arranged sequentially along the horizontal direction CD of the horizontal plane.

[0067] Reference Figure 12 and Figure 14The bottom end of the first auxiliary rod 305 is rotatably connected to the first auxiliary fixing member 206 via the fourth rotating shaft 209. The bottom end of the second auxiliary rod 306 is rotatably connected to the second auxiliary fixing member 208 via the fifth rotating shaft 210. The second rotating shaft 201 at the bottom end of the lifting push rod 300 is rotatably mounted on the main fixing member 207.

[0068] In this embodiment, the center lines of the second rotating shaft 201, the fourth rotating shaft 209, and the fifth rotating shaft 210 coincide, ensuring the synchronicity of the rotation of the first auxiliary rod 305, the second auxiliary rod 306, and the lifting push rod 300 around the center line of the second rotating shaft 201.

[0069] In this embodiment, by setting the first auxiliary rod 305 and the second auxiliary rod 306 of fixed length on both sides of the lifting push rod 300, a symmetrical support structure is formed, effectively distributing the lateral load. The rigid connection between the first auxiliary rod 305 and the second auxiliary rod 306 and the fixed sleeve section 301, combined with the reasonable layout of the U-shaped fixing parts, constructs a stable triangular support network. This not only solves the problem of lateral swaying easily caused by single-point connection, but also achieves effective load distribution through a reasonable structural layout, improving the operational safety and reliability of the robotic arm under complex working conditions.

[0070] See Figure 15 and Figure 16 In a preferred embodiment of the present invention, the robotic arm further includes: a fixed clamping plate 211 located on top of the support base 200, the fixed clamping plate 211 being inclined in a direction away from the fixed base 100; the bottom of the tilt adjustment push rod 401 being rotatably connected to the fixed clamping plate 211 via a sixth rotating shaft 403, and the top of the tilt adjustment push rod 401 being fixedly connected to the outer shell of the fixed sleeve section 301.

[0071] While the lifting push rod 300 rotates around the second rotating shaft 201, the tilt adjustment push rod 401 rotates synchronously around the sixth rotating shaft 403.

[0072] In this embodiment, the fixing plate 211 can be made of high-strength metal or composite material, and its purpose is to provide a reliable mounting base for the tilt adjustment push rod 401.

[0073] See Figure 17 , Figure 18 and Figure 19 The insulating rod 304 is rotatably connected to the top of the lifting push rod 300 via the third rotating shaft 303, allowing the insulating rod 304 to rotate independently and further increasing the degree of freedom of end-operation. The third rotating shaft 303 is parallel to the second rotating shaft 201.

[0074] The insulating rod 304 is at least 0.4m long and forms an electrical isolation barrier under high voltage conditions, which helps to ensure operational safety.

[0075] The insulating rod 304 can be made of epoxy resin, ceramic or other composite materials with high insulation properties.

[0076] This invention addresses the problems of poor workspace flexibility and susceptibility to rotational jitter and positioning misalignment in live-line working robotic arms under heavy load conditions through the design of a multi-degree-of-freedom live-line working robotic arm. Specifically, the fixed base 100 provides a stable support foundation, the support base 200 achieves horizontal rotational expansion via the first rotating shaft 101, the lifting push rod 300 is extendable and retractable, and its inward and outward tilting is achieved through the synergistic action of the tilt adjustment mechanism 400, and the rotatable connection between the insulating rod 304 and the top of the lifting push rod 300 further expands the positional flexibility of the robotic arm's end effector. Therefore, the technical solution disclosed in this invention improves the reach, flexibility, and precision of the robotic arm, facilitating the execution of complex live-line working tasks.

[0077] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A robotic arm for live-line work, characterized in that, include: Fixture (100); A support base (200) is rotatably connected to the fixed base (100) via a first rotating shaft (101), the first rotating shaft (101) passing through the fixed base (100) and the support base (200) along the height direction (AB). A lifting push rod (300) is rotatably connected to the support base (200) at the bottom via a second pivot (201). The lifting push rod (300) includes a fixed sleeve section (301) at the bottom and a telescopic section (302) at the top. The telescopic section (302) can retract into the fixed sleeve section (301). A tilt adjustment mechanism (400) connected to the lifting push rod (300) is configured to controllably drive the lifting push rod (300) to rotate about the centerline of the second rotating shaft (201), which extends in the horizontal direction (CD). An insulating rod (304) is rotatably connected to the top of the lifting push rod (300) via a third rotating shaft (303), the third rotating shaft (303) being parallel to the second rotating shaft (201); The working tool (500) is mounted on the top of the insulating rod (220).

2. The robotic arm for live-line work according to claim 1, characterized in that, The first rotating shaft (101) and the fixed seat (100) are rotatably connected by a plurality of bearings (112), and the support seat (200) is fixedly connected to the first rotating shaft (101); An encoder (102) is mounted on the fixed base (100); Synchronous belt assembly (103), one end of which is sleeved on the first rotating shaft (101) and the other end of which is sleeved on the encoder (102).

3. The robotic arm for live-line work according to claim 1, characterized in that, The fixing seat (100) includes a vertically placed fixing seat side wall (104), and also includes a fixing seat top wall (105), a fixing seat middle wall (106) and a fixing seat bottom wall (107) disposed on the fixing seat side wall (104) and placed horizontally. The support base (200) includes a vertically placed support base side wall (202), and also includes a support base top wall (203) and a support base bottom wall (204) disposed on the support base side wall (202) and placed horizontally. The middle wall (106), bottom wall (107), top wall (203), and bottom wall (204) of the fixed seat are all sleeved on the first rotating shaft (101).

4. The robotic arm for live-line work according to claim 3, characterized in that, The cross-sections of the middle wall (106) of the fixed seat, the bottom wall (107) of the fixed seat, the top wall (203) of the support seat and the bottom wall (204) of the support seat are all isosceles triangles with rounded apex angles, and the first rotating shaft (101) passes through the apex angle of the isosceles triangle.

5. The robotic arm for live-line work according to claim 3, characterized in that, The robotic arm further includes a first drive assembly (108) disposed on the top wall (105) of the fixed base, the first drive assembly (108) being adapted to drive the first rotating shaft (101) to rotate, the first rotating shaft (101) driving the support base (200) to rotate.

6. The robotic arm for live-line work according to claim 3, characterized in that, The support base (200) further includes: two limiting protrusions (205), which are respectively located on the two sides of the top wall (203) of the support base; two micro switches (109) are provided on the side of the fixed base (104) facing the support base (200) at a horizontal interval; when the support base (200) is at the extreme position of its rotation relative to the fixed base (100) around the first rotating shaft (101), the limiting protrusions (205) trigger the micro switches (109).

7. The robotic arm for live-line work according to claim 3, characterized in that, Also includes: A first auxiliary rod (305) and a second auxiliary rod (306) are respectively located on both sides of the lifting push rod (300). The lengths of the first auxiliary rod (305) and the second auxiliary rod (306) are fixed, and the top ends of the first auxiliary rod (305) and the second auxiliary rod (306) are fixed on the outer shell of the fixed sleeve section (301). The bottom of the support base sidewall (202) away from the fixed base (100) is provided with a first auxiliary fixing member (206), a main fixing member (207), and a second auxiliary fixing member (208). The first auxiliary fixing member (206), the main fixing member (207), and the second auxiliary fixing member (208) are all U-shaped and arranged sequentially along the horizontal direction (CD) of the horizontal plane. The second rotating shaft (201) is rotatably mounted on the main fixing member (207) at both ends; The bottom end of the first auxiliary rod (305) is rotatably connected to the first auxiliary fixing member (206) via the fourth rotating shaft (209); The bottom end of the second auxiliary rod (306) is rotatably connected to the second auxiliary fixing member (208) via the fifth rotating shaft (210); The center lines of the second rotating shaft (201), the fourth rotating shaft (209), and the fifth rotating shaft (210) coincide.

8. The robotic arm for live-line work according to claim 1, characterized in that, Also includes: A fixing plate (211) is located on top of the support base (200), and the fixing plate (211) is inclined in a direction away from the fixing base (100); The tilt adjustment mechanism (400) includes a tilt adjustment push rod (401) and a second drive assembly (402). The bottom of the tilt adjustment push rod (401) is rotatably connected to the fixed clamp plate (211) through the sixth rotating shaft (403), and the top of the tilt adjustment push rod (401) is fixedly connected to the outer shell of the fixed sleeve section (301); The second drive assembly (402) drives the tilt adjustment push rod (401) to extend and retract, so as to adjust the rotation angle of the lifting push rod (300) about the center line of the second rotating shaft (201).

9. The robotic arm for live-line work according to claim 1, characterized in that, The telescopic section (302) includes an inner and outer sleeve and a second sub-telescopic section (307) that are movable relative to each other. The telescopic speed of the second sub-telescopic section (308) relative to the fixed sleeve section (301) is V1, and the telescopic speed of the first sub-telescopic section (307) relative to the second sub-telescopic section (308) is V2, where V1=V2.

10. The robotic arm for live-line work according to claim 1, characterized in that, The rotation angle of the support base (200) relative to the fixed base (100) around the center line of the first rotating shaft (101) is in the range of -80° to 80°; the length of the lifting push rod (300) is in the range of 1m to 3m and the tilt angle is in the range of -20° to 80°; the length of the insulating rod (304) is not less than 0.4m.

Images