ROBOT ARM WITH 5 DEGREES OF FREEDOM, FOR THE MAINTENANCE OF HIGH VOLTAGE ELECTRICAL TRANSMISSION OR DISTRIBUTION LINES.

Abstract

The present invention relates to an automated device for performing various actions on high-voltage distribution and transmission lines. It is remotely operable via a remote control and features extensive mobility and reach through five joints or degrees of freedom, allowing it to simulate human actions. Each degree of freedom simulates, respectively, the waist, shoulder, elbow, and wrist rotation. The joint movements are performed in response to radio frequency signals emitted from a remote control, with bidirectional controls associated with each joint. The robotic arm of the invention includes two sets of dielectric hoses: i) to carry pressurized dielectric oil for joint movement and return it to the storage tank; and ii) to carry the working fluid (for washing or coating the target) to the nozzle for application.The power source can be a 12V battery or 127 / 220V AC, and it operates a hydraulic pump to supply pressurized dielectric oil and a pump to supply the working fluid. The actuator, equivalent to a "wrist," includes "fingers" that hold a tool, such as a nozzle for insulator washing and surface coating. The elements between the mechanical parts of the joints are insulating to ensure that no ground or phase-to-ground discharge will occur exceeding that permitted by applicable standards for handling live-line tools in the event of contact, and are of sufficient length to maintain a safe distance from the live line.