Equipment for applying an aircraft warning device on an overhead line cable of a power line

Abstract

An equipment for applying an aircraft warning device (300) on an overhead line cable (400) of a power line, e.g. a conductor or a guard wire, comprises a transport robot (100), with a frame (110) and a set of wheels (120) to remain suspended on a cable (400) and move along the cable (400). The equipment also comprises a mounting system (200) with a support structure (210) comprising a first and a second base (220, 230), which are movable with respect to the frame (110) and are adapted to hold and position a first and a second part (310, 320) of the warning device (300) around the cable (400). The equipment further comprises a tightening member (250) configured to tighten together the first and second parts (310, 320) of the warning device (300) on the cable (400).

Description

[0001] Title: “Equipment for applying an aircraft warning device on an overhead line cable of a power line”

[0002] DESCRIPTION

[0003] Technical Field

[0004] The present invention is developed in the technical field of overhead power line maintenance. In particular, the invention relates to equipment for applying an aircraft warning device, such as a warning sphere, on an overhead line cable of a power line, in particular to the guard wire.

[0005] State of the art

[0006] In the state of the art, it is known to apply warning devices, also known as Aircraft Warning Spheres (AWS), typically in the form of large, coloured hollow spheres, on an overhead line cable, typically on the guard wire, in order to increase the visibility of the conductors for passing aircraft. Known warning devices consist of two domed parts, in particular hemispherical, fixed together around the cable of the power line by means of interlocking mechanisms or by means of bolts.

[0007] Work for the application of warning devices on overhead lines usually requires a significant involvement of personnel and the adoption of various resources that require adequate safety measures, from the point of view of both the electrical risk and the height at which the power line conductors are located. In fact, since the earth conductor is too weak for a line technician to climb, the line technicians have to make use of the aid of a helicopter. Alternatively, the ground line can be brought up to the level of the line engineer. In order to protect the safety of operators, during the application of such devices there is a need to interrupt the power supply for a period of time, possibly causing disruption on the line.

[0008] In order to minimise downtime, several AWSs are installed simultaneously on several spans by several operators, effectively making the operation complex both from an organisational point of view and from the point of view of the resources required to get the job done.

[0009] Robots are known in the art which, once loaded onto a power line conductor by means of cranes or drones, are able to move along the conductor. These robots can be equipped in different ways in order to perform one or more different maintenance tasks on the conductor. This reduces the amount of personnel involved in the maintenance operation, while the robot can be controlled remotely.

[0010] Summary of the invention

[0011] The aim of the present invention is to automate the application of an aircraft warning device on an overhead cable in order to reduce the time, resources, including personnel, and safety measures required by this operation.

[0012] This and other purposes are achieved by an equipment for applying an aircraft warning device on an overhead line cable of a power line, and by a system for applying the warning device, according to any one of the appended claims.

[0013] The invention provides a transport robot and a mounting system for an aircraft warning device, mounted to the robot. The robot is designed to move along a cable, suspended on it, to bring the mounting system to where it is required.

[0014] The mounting system comprises a support structure with two bases to hold two respective parts of an aircraft warning device, a set of actuators to move the two bases of the support structure, and a tightening member to tighten together the two parts of the warning device. By moving the bases of the support structure, the two parts of the warning device can be positioned around the cable, so that they can later be tightened around the electrical cable.

[0015] Advantageously, the warning device can be brought to the desired location in an automated manner, where the support structure, actuators and tightening member of the mounting system determine the tighten of the two parts of the warning device onto the cable in the relevant position. All this can be remotely controlled by an operator with minimal risk.

[0016] Further features and advantages of the invention will be recognisable to a person skilled in the art by the following detailed description of exemplary embodiments of the invention.

[0017] Brief description of the figures

[0018] For a better understanding of the following detailed description, some embodiments of the invention are illustrated in the accompanying drawings, wherein:

[0019] - Figure 1 shows a perspective view of an aircraft warning device and equipment for applying the device on an overhead line cable of a power line, according to an embodiment of the invention,

[0020] - Figure 2 shows a front schematic view of a transport robot of the equipment in Figure 1,

[0021] - Figure 3 shows a perspective view of a safety hook of the robot in Figure 2,

[0022] - Figure 4 shows a perspective view of a mounting system for the warning device of the equipment in Figure 1;

[0023] - Figure 5 shows a side schematic view of the equipment in Figure 1;

[0024] - Figure 6 shows a perspective view of a different embodiment of the mounting system in Figure 4;

[0025] - Figure 7 shows a front view of the mounting system in Figure 6,

[0026] - Figure 8 shows a perspective view of the warning device in Figure 1;

[0027] - Figure 9 shows an exploded view of the warning device in Figure 8.

[0028] DETAILED DESCRIPTION

[0029] An object of the present invention is equipment for applying an aircraft warning device on a cable 400 for an overhead power line, preferably a guard wire of the power line. This equipment comprises a transport robot 100 and a mounting system 200 for an aircraft warning device 300. The assembly comprising the robot 100, the mounting system 200 and the warning device 300 will also be referred to as a system for the application of the warning device, and constitutes further subject matter of the invention.

[0030] First of all, a description of the transport robot 100 is provided, of which some alternative embodiments are known in the state of the art.

[0031] The transport robot 100 comprises a frame 110. Preferably, the frame 110 comprises a carriage structure 111 with two end portions spaced apart in a longitudinal direction X-X, which corresponds to the direction of the cable 400 on which the robot 100 can be positioned.

[0032] In addition, the transport robot 100 comprises a set of wheels 120 mounted to the frame 110, in particular to the carriage structure 111. The set of wheels 120 is configured to keep the frame 110 suspended on the cable 400. In particular, the set of wheels 120 is configured to engage a cable 400 that is located along a predetermined cable axis. In addition, the set of wheels 120, together with the carriage structure 111, is movable along the cable 400 in the longitudinal direction X-X, transporting the frame 110 along the cable 400.

[0033] Preferably, at least two wheels are spaced along the longitudinal direction X-X, for example as they are connected to the frame 110 at the opposite end portions of the carriage structure 111.

[0034] More specifically, in the preferred embodiment, the set of wheels 120 comprises a first plurality of wheels 121, distributed along the longitudinal direction X-X and configured to engage the cable 400 from above. In addition, the set of wheels 120 comprises a second plurality of wheels 122, distributed along the longitudinal direction X-X and configured to engage the cable 400 from below. The first and second plurality of wheels 121, 122 are configured to clamp the cable 400 between them. For example, in the embodiment illustrated, at each end of the carriage structure 111, the cable 400 is clamped from above and below by a respective wheel of the first plurality of wheels 121 and a respective wheel of the second plurality of wheels 122.

[0035] The transport robot 100 comprises a first set of actuators 130, connected to the frame 110 and to the set of wheels 120. The first set of actuators 130 is configured at least to move the set of wheels 120 along the cable 400. In addition, the first set of actuators 130 can optionally perform other functions detailed below.

[0036] In an embodiment, in order to move the set of wheels 120, the first set of actuators 130 comprises one or more motors 131, configured to rotate one or more wheels with respect to the frame 110 and to the cable 400. For example, a motor 131 may be coaxial to a wheel, or it may be connected to a wheel via transmission kinematics.

[0037] Several separate wheels can be driven by separate motors 131 or a common motor 131 via separate kinematics. In order for the robot 100 to move along the cable 400, it is not necessary for all the wheels to be driven by a motor 131, but there can be traction wheels, which are connected to one or more respective motors 131, and driven wheels, which rotate freely independently of the motors 131.

[0038] Preferably, the first set of actuators 130 is also configured to move the second plurality of wheels 122 towards and away from the first plurality of wheels 121, and thus from the cable 400, in such a way as to clamp the cable 400 between the first and second plurality of wheels 121, 122, and to release the cable 400, respectively.

[0039] More particularly, the second set of wheels 122 is movable along a height direction Z-Z, which is perpendicular to the longitudinal direction X-X. Preferably, the second set of wheels 122 is also movable along a lateral direction Y-Y, which is transverse (preferably perpendicular) to the longitudinal direction X-X and the height direction Z-Z. Thanks to these movements by the first set of actuators 130, the connection and disconnection of the robot 100 from the cable 400 takes place. The transport robot 100 comprises a first power supply device 140 to power the first set of actuators 120. In the preferred embodiment, the first power supply device 140 is electric, and the first set of actuators 120 comprises one or more electric actuators, such as at least one electric motor 131. The first power supply device 140 may include, for example, a battery and / or a supercapacitor.

[0040] In alternative embodiments, the first power supply device 140 and the first set of actuators 130 can be, for example, pneumatic or fuel -powered. Optionally, several actuators of the first set of actuators 130 may be of different types, and thus the transport robot 100 may comprise several first power supply devices 140 of different types.

[0041] Preferably, the frame 100 comprises a platform 112 connected to the carriage structure 111. The platform 112 is preferably positioned below the carriage structure 111 and the cable axis, and can perform a balancing function for the robot 100. For this purpose, a first counterweight 180 can be attached to the platform 112. Furthermore, preferably the first power supply device 140 can be placed on the platform 112, in addition to and / or instead of the counterweight 180. In addition, an electronic control unit 150 can be positioned on the platform 112.

[0042] In order to optimise the balancing of the robot 100 , to compensate for movements that may be carried out by the robot 100 or other structures connected to the robot 100 for the purposes described below, preferably the first set of actuators 130 is configured to move the platform 112 with respect to the carriage structure 111, along the lateral direction Y-Y.

[0043] The control unit 150 is configured to receive control signals from a remote device (not shown), and to control the first set of actuators 130, as well as other components described below, in particular a second set of actuators.

[0044] Preferably, the robot 100 comprises a set of sensors (not shown) in signal communication with the control unit 150. The sensors can be configured to acquire data of various kinds useful for controlling the robot 100. In particular, it is preferable that the set of sensors comprises one or more video cameras, configured to frame the cable 400 and / or one or more parts of the robot 100 and other components described below. The first set of actuators 130 can be configured to change the orientation of one or more video cameras. The preferred set of sensors then comprises an anemometer, or other sensors that can be contemplated by a person skilled in the art.

[0045] From what has been described, it is recognised that, in the preferred embodiment, the first set of actuators 130 may comprise motors 131 for rotating the set of wheels 120, linear actuators 132 for moving the second plurality of wheels 122 towards and away from the cable 400, a linear actuator 133 for the motion of the platform 112, and rotational actuators (not illustrated) for the orientation of the video cameras.

[0046] Preferably, the robot 100 comprises one or more safety hooks 160 connected to the frame 110, in particular to the carriage structure 111. Preferably, two safety hooks

[0047] 160 are spaced apart in the longitudinal direction X-X. Each safety hook 160 comprises two jaws 161 which are elastically loaded to close around the cable 400, securing the robot 100 to the cable 400. In addition, the hook 160 comprises a system of levers 162 articulated to each other and to the jaws 161 of the hook 160. The lever system 162 is configured to open the jaws 161 when the lever system 162 is subjected to a predetermined traction, specifically traction in the height direction Z-Z.

[0048] Advantageously, the robot 100 can be gripped and lifted from the lever systems 162 of the safety hooks 160. As long as this lifting traction is applied, the jaws 161 of the hooks 160 are open and the robot 100 can be positioned on the cable 400 and removed from it. Once the robot 100 is in position, by releasing the levers 162, the jaws

[0049] 161 of the hooks 160 close around the cable 400.

[0050] Lifting the robot 100 and transporting it from the ground to a cable 400, in particular a cable 400 of an overhead line, can be carried out by a crane or a drone.

[0051] The aircraft warning device 300, which is to be attached to cable 400, is now described. The warning device 300 will now be described with reference to the position it occupies when applied on the cable 400.

[0052] The aircraft warning device 300 comprises a first part 310 and a second part 320. Preferably, each part 310, 320 has a cavity 315, 325 and an edge portion 316, 326 delimiting the respective cavity 315, 325. Still preferably, each part 310, 320 comprises a respective domed portion, more preferably hemispherical, defining the respective cavity 315, 325 and the respective edge portion 316, 326. In a known way, each part

[0053] 310, 320 can be perforated with one or more drainage holes to prevent the accumulation of rainwater inside. It is not excluded that in alternative embodiments, each part includes a portion of a different shape, e.g. polygonal.

[0054] In a known way, the first and second parts 310, 320 can be coloured to be visible from an aircraft. For example, the two parts 310, 320 can be one white and one red or orange, or the two parts 310, 320 can both be red or orange.

[0055] According to a preferred aspect, the two parts 310, 320 are positioned around the cable 400 so that the respective cavities 315, 325 face each other, with the cable 400 between them.

[0056] In accordance with Italian regulations and standards, each domed portion has a diameter of at least 60 cm and a height of at least 30 cm. It is to be noted that a person skilled in the art is easily able to adapt the size of the parts of the warning device 300 in accordance with local legislation.

[0057] More specifically, the first part 310 comprises at least one connecting portion

[0058] 311, and preferably two connecting portions 311, 312 diametrically opposed to each other. Likewise, the second part 320 comprises at least one connecting portion 321, and preferably two connecting portions 321, 322 diametrically opposed to each other. Each connecting portion is placed at the edge portion 316, 326 of the respective part and extends from the domed portion of the respective part in the opposite direction with respect to the cavity 315, 325. When there are two connecting portions per side, they extend along the same direction in opposite ways.

[0059] Specifically, each connecting portion 311, 312 of the first part 310 is intended to be superimposed on a respective connecting portion 321, 322 of the second part 320, with the cable 400 in between.

[0060] Each part 310, 320 comprises at least one respective seat 314, 324 adapted to accommodate a portion of cable 400. Preferably, each part 310, 320 comprises a seat 314, 324 for each connecting portion 311, 312, 321, 322. Still preferably, each seat 314, 324 is identified by a recess with, for example, a hollow semicircular or semi tubular shape. In this way, when the two parts are arranged around the cable 400 and their respective connecting portions are superimposed on each other, the resulting overall seat has a circular or tubular shape adapted to receive and surround around the cable 400.

[0061] According to an aspect, each connecting portion 311, 312, 321, 322 further comprises an opening 317, 327 adapted to receive at least in part a constraint element 251, for example a screw.

[0062] The structure and operation of a preferred embodiment of the mounting system 200 for the aircraft warning device 300 is now described.

[0063] The mounting system 200 comprises a support structure 210 connected to the frame 110 of the transport robot 100.

[0064] The support structure 210 comprises a first base 220, adapted to hold, preferably from above, the first part 310 of the warning device 300.

[0065] In accordance with an embodiment of the invention, the first base 220 comprises a sucker 221 configured to hold the first part 310 of the warning device 300. Preferably, the sucker 221 is of the pneumatic type and is designed to exert a suction force on the first part 310, enabling it to be kept raised and constrained to the first base 210.

[0066] More specifically, the first base 220 comprises a support frame 222 from which the sucker 221 projects along the height direction Z-Z. Still preferably, the sucker 221 is movable along the height direction Z-Z, and in particular towards or away from the support frame 222.

[0067] In accordance with an alternative embodiment, the first base 220 comprises the support frame 222 and at least one clamping element 223 configured to hold the first part 310 of the warning device 300. More preferably, the first base 220 comprises two clamping elements 223, each comprising a clamp adapted to engage a respective connecting portion 311, 312 of the first part 310 on opposite sides thereof.

[0068] More specifically, the clamping elements 223 are movable with respect to the support frame 222 along an actuation direction P-P to switch between a clamping configuration and a release configuration. It should be noted that each connecting portion 311, 312 extends along the actuation direction P-P, and that a respective clamp is adapted to engage opposite sides of the connecting portion along the actuation direction P-P.

[0069] In the embodiment illustrated, the two clamping elements 223 are connected to each other to move together with respect to the support frame 220.

[0070] The support structure 210 comprises connecting parts that connect the robot frame 110 to the first base 220, in particular to its support frame 222, preferably in a movable manner. Preferably, the connecting members comprise one or more supports 212 rotatably connected to the frame 110 and the first base 220. In the preferred embodiment, the supports 212 are a plurality of bars that together with the frame 110 and the first base 220 form an articulated quadrilateral.

[0071] The support structure 210 then comprises a second base 230, adapted to hold the second part 320 of the warning device 300. The second base 230 is connected to the first base 220, preferably in a movable manner. In particular, in the preferred embodiment, the mounting system 200 comprises lifting members 260 that connect the second base 230 to the supports 212 and / or to the first base 220.

[0072] According to a preferred aspect, the lifting members 260 comprise at least one winch 261, and at least one cable 262 supporting the second base 230. The cable 262 can be wound onto and unwound from the winch 261. Preferably, the winch 261 is mounted to the first base 220. In addition, a winch 261 drive motor is preferably provided.

[0073] In addition, the lifting members 260 may comprise one or more pulleys 263, mounted to the first or second base 220, 230 and configured to guide the at least one cable 262 along a predetermined path.

[0074] Preferably, the second base 230 has a seat 231 and an access to the seat 232. In detail, the seat 231 is adapted to receive at least the second part 320 of the warning device 300, and in some configurations also the first part 310, as further explained below.

[0075] In the embodiment shown in Figure 4, the second base 230 comprises a cagelike structure, which is at least partially open on one side. The seat 231 is thus defined by the cage-like structure, and the access to the seat 232 is defined at the side of the cage-like structure that is at least partially open.

[0076] In addition, in some embodiments, the second base 230 may comprise confinement members 233 adapted to switch between a locking configuration, in which they at least partially block access to the seat 232, and a free configuration, in which they at least partially free access to the seat 232.

[0077] In the first embodiment illustrated, the confinement members 233 take the form of one or more second bars 235 connected to a support portion 234.

[0078] Preferably, the confinement members 233 are configured to switch elastically from the free configuration to the locking configuration. In detail, the confinement members 233 comprise an elastic element, not illustrated, to hold the confinement members 233 in the confinement position. When pressed towards the seat with a force above an insertion threshold, sufficient to overcome the elastic force exerted by the elastic element, these members 233 move from the confinement configuration to the free configuration, and upon removal of this force, the confinement members 233 automatically return to the confinement configuration.

[0079] In other embodiments, the stable positioning of the warning device 300, or of the second part 320 alone, on the second base 230 of the support structure 210, can also be achieved without movable confinement members 233. In particular, in the embodiment of Figures 6 and 7, the second base 230 comprises two support elements 236 spaced apart in the longitudinal direction X-X. Each support element 236 is configured to support a respective connecting portion 321, 322 of the second part 320 of the warning device 300.

[0080] In yet another alternative embodiment, not illustrated, the second base 230 may comprise a plurality of pins insertable into drain holes of the second part 320 of the warning device 300.

[0081] The warning device 300 can be loaded onto the support structure 210, with the first part 310 held by the first base 220 and the second part 320 held by the second base 230. As described below, at various stages of use, the first and second parts 310, 320 may be in contact with each other, or separated from each other. In particular, the first part 310 can be lifted with respect to the second part 320 by the sucker 221 or, alternatively, by the pair of clamps 223.

[0082] In order to load the 300 warning device, the support structure 210 is switchable between a mounting configuration and a loading configuration. This switching operation can be achieved by a single movement of the first and second base 220, 230, or by a predetermined sequence of successive movements. Preferably, this includes an alignment movement in which the first base 220 and the second base 230 are jointly movable. More specifically, in this switch, the first and second bases 220, 230 are moved parallel to each other in such a way that the first and second parts 310, 320 of the warning device 300 are kept apart.

[0083] Preferably, in the mounting configuration the first and second base 220, 230 are substantially aligned with the set of wheels 120 along the longitudinal direction X-X so that the first and second parts 310, 320 of the warning device 300 are positioned around the cable 400. Note that, again preferably, for optimal positioning of the warning device 300 around the cable 400 without interfering with the robot 100, the mounting system 200, and in particular the support structure 210, protrudes from the frame 110 of the robot 100 in the longitudinal direction X-X.

[0084] Still preferably, in the loading configuration the first and second base 220, 230 are spaced from the frame 110, more specifically from the set of wheels 120, at least along the lateral direction Y-Y. Advantageously, the bases 310, 320 thus arranged in the loading configuration allow simplified loading of the warning device 300 onto the mounting system 200, as described in more detail below.

[0085] Optionally, the mounting system 200 comprises a second counterweight 280, which is arranged with respect to the set of wheels 120 on an opposite side to the first and second base 220, 230, at least in the loading configuration. In this way, the weight of the bases of the support structure 210 is counterbalanced by the weight of the counterweight 280, providing greater stability to the equipment.

[0086] It should be noted that, in switching between the mounting and loading configurations, in particular in the alignment movement, the cable 400 is initially spaced apart from the first and second parts 310, 320 of the warning device 300, but then, with the movement of these parts, the cable 400 passes between the first and second parts 310, 320 until they are around the cable 400.

[0087] In the embodiment shown in Figure 4, in this movement, the cable 400 encounters the confinement members 233. In more detail, as a result of the movement of the support structure 210, and in particular of the first and second bases 220, 230, towards the cable 400 along the lateral direction Y-Y, the confinement members 233 impact with the cable 400, and thus the cable 400 applies an insertion force on the confinement members 233.

[0088] In this context, the confinement members 233 are adapted to change configuration, for example by tilting the second bars 235 as the first and second bases 220, 230 are brought closer to the cable 400, so as to free access to the seat 232 and allow the positioning of the first part 310 and the second part 220 around the cable 400.

[0089] The mounting system 200 comprises a second set of actuators 240, connected to the support structure 210 and adapted to carry out one or more of the functions described below, to allow the warning device 300 to be positioned on the cable. The second set of actuators 240 in particular may comprise several actuators that are essentially independent of each other, such as the actuators numbered 241, 242 below, and others not illustrated or not numbered. Preferred examples of types of actuators of the second set of actuators 240 include pneumatic and / or electromechanical actuators.

[0090] The second set of actuators 240 can be controlled by the same remote device (not shown) that also controls the first set of actuators 130.

[0091] An essential function of the second set of actuators 240 is to move the support structure 210 with respect to the frame 110, so that the first and second parts 310, 320 of the warning device 300 are brought around the cable 400. In more detail, the second set of actuators 240 is configured to move at least the first base 220 according to the alignment movement described above, towards the cable 400, to achieve the mounting configuration. During such an alignment movement, there is preferably no relative movement of the second base 230 with respect to the first base 220, and thus the second base 230 performs the same alignment movement in conjunction with the first base 220.

[0092] In accordance with the preferred embodiment of the invention, for the purpose of the alignment movement, the second set of actuators 240 is adapted to rotate at least the first base 220 about an axis of rotation substantially parallel to the height direction Z-Z. Alternatively, the second set of actuators 240 may be adapted to translate at least the first base 220 along the lateral direction Y-Y and optionally also along the longitudinal direction X-X.

[0093] In an embodiment, in order to move the first and second bases 220, 230, the second set of actuators 240 comprises an alignment actuator 241, such as one or more motors, configured to set the two bases in motion. For example, a motor can be connected to the first or second base 220, 230, or to the supports 212 by means of transmission kinematics.

[0094] For the purpose of powering the second set of actuators 240, a second power supply device 170 is preferably provided, e.g. of the electrical type, although embodiments in which the second power supply device 170 is of other types, e.g. pneumatic, are not excluded. The second power supply device 170 may comprise, for example, a battery and / or a supercapacitor. In alternative embodiments, the second power supply device 170 may be of the fuel -powered type.

[0095] Preferably, the second power supply device 170 is part of the robot 100 and is mounted to the frame 110, in particular on the platform 112. Note that the same robot 100, which according to the invention is connected to the mounting system 200 to apply the warning device 300 on the cable 400, can at other times be disconnected from the mounting system 200 and connected, for example, to other automated maintenance devices. Thus, the second power supply device 170 can sometimes power the second set of actuators 240 of the mounting system 200, and sometimes other actuators of other devices, e.g. maintenance devices.

[0096] In an alternative embodiment, instead of providing two separate power supply devices 140, 170 for the two separate sets of actuators 130, 240, a single power supply device may be sufficient.

[0097] Furthermore, it is not necessary that all the actuators of the first set 130 are supplied by the first power supply device 140, and all the actuators of the second set 240 are powered by the second power supply device 170, but there can also be individual actuators of the first set 130 powered by the second power supply device 170 and individual actuators of the second set 240 supplied by the first power supply device 140.

[0098] According to a preferred aspect, the second set of actuators 240 is also configured to move the sucker 221 or clamping element 223 closer to and / or further away from the support frame 222 of the first base 220, particularly when the support structure 210 is in the mounting configuration. Thus, the sucker 221 or clamping element 223 also moves towards and / or away from the second base 230. This allows the first and second parts 310, 320 of the warning device 300 to be brought into contact with each other. For this purpose, the second set of actuators 240 preferably comprises a linear motor 242 connecting the sucker 221 or clamping element 223 to the support frame 222.

[0099] In more detail, in the illustrated embodiment, the first base 220 and the second base 230 are spaced apart along the height direction Z-Z, and the sucker 221 or clamping element 223 is movable along the height direction Z-Z. Thus, with their movement, the second set of actuators 240 can bring the first and second parts 310, 320 of the warning device 300 towards and / or away from the cable 400.

[0100] Note that the second set of actuators 240 is preferably also able to perform other functions already anticipated above. For example, the second set of actuators 240 is configured to activate and control the sucker 221. More specifically, the second set of actuators 240 is able to command the sucker 221 to actuate the pneumatic vacuum to hold the first part 310 of the warning device 300.

[0101] Again, for example, the second set of actuators 240 is configured to activate and control the winch 261 of lifting members 260 to move the second base 230, as further described below.

[0102] The mounting system 200 also comprises a tightening member 250 adapted to tighten together the first and second parts 310, 320 of the warning device 300 on the cable 400. More specifically, the tightening member 250 allows the two parts 310, 320 to be tightened together when the first base 220 and the second base 230 are positioned in the mounting configuration, i.e. with the two parts of the warning device 300 arranged around the cable 400.

[0103] More particularly, the tightening member 250 is configured to tighten at least one connecting portion 311 of the first part 310 to a respective connecting portion 321 of the second part 320, and preferably both connecting portions 311, 312 of the first part 310 to respective connecting portions 321, 322 of the second part 320 by one or more constraint elements 251, and preferably by at least one constraint element 251 for each connecting portion of the parts.

[0104] Optionally, the tightening member 250 is configured to retain the one or more constraint elements 251 and position the one or more constraint elements 251 inside the openings 317, 327 of the connecting portions 311, 312, 321, 322.

[0105] According to a preferred aspect, the tightening member 250 is adapted to irreversibly tighten the first and second parts 310, 320 together. More specifically, the constraint elements 251 can be configured to deform plastically and / or break when a predetermined tightening force threshold is exceeded. Thus, the tightening member 250 is configured to exceed the tightening force threshold in such a way as to plastically deform and / or break at least partially the constraint elements 251 and irreversibly tighten the first and second parts 310, 320. For example, when the constraint elements 251 are screws, the tightening member 250 is adapted to break a respective screw head, separating it from the shaft, to irreversibly tighten the shaft of the screw inside the openings 317, 327 of the connecting portions 311, 312, 321, 322.

[0106] According to an alternative aspect, the tightening member 250 is capable of reversibly tighten the first and second parts 310, 320, and is also configured to disconnect the two parts of the warning device 300 by removing the constraint elements 251. In this way, it is possible to apply and remove the warning devices 300 from the cable 400.

[0107] Preferably, the tightening member 250 comprises an electric screwdriver 252, adapted to screw and / or unscrew threaded constraint elements 251 and activated and controlled by the second set of actuators 240. Still preferably, at least one motor of the second set of actuators 240 is electrically connected to the tightening member 250 and is configured to activate the electric screwdriver 252 of the tightening member 250.

[0108] In addition, the tightening member 250 is constrained to the first base 220 and can be moved along the height direction Z-Z by the second set of actuators 240. To perform this function, the second set of actuators 240 comprises an electromechanical actuator, e.g. a linear actuator.

[0109] In the embodiment of Figures 6 and 7, each tightening member 250 is arranged between the jaws of a respective clamp 223.

[0110] In accordance with the embodiment illustrated, switching between the loading configuration and the mounting configuration not only includes the alignment movement already described, but also a lifting movement, which preferably precedes the alignment movement. Therefore, between the lifting movement and the alignment movement, the support structure 210 is in an intermediate configuration, in which the second base 230 is close to the transport robot 100 in the height direction Z-Z and spaced from the set of wheels 120 along the lateral direction Y-Y.

[0111] In particular, in the lifting movement, the second set of actuators 240 is configured to move the lifting members 260 in such a way as to move at least the second base 230 between a position close to the transport robot 100 along the height direction Z-Z and a position spaced from the transport robot 100 along the height direction Z-Z. For this purpose, the second set of actuators 240 comprises the already described winch drive motor.

[0112] More specifically, the lifting members 260 allow the loading position to be reached by moving the second base 230 along the height direction Z-Z towards the ground, reaching close to the ground, so that an operator can load the warning device 300 onto said base. Then lifting takes place by proceeding in the opposite direction.

[0113] It should be noted that, in the preferred embodiment, this movement by the lifting members 260 only concerns the second base 230, which is therefore moved away from the first base 220. However, it cannot be ruled out that a person skilled in the art could envisage embodiments in which the movement by the lifting members 260 affects both the bases 220, 230, which are moved away from the transport robot 100 together and then brought back towards it. If the second base 230 is removed from the first base 220, the warning device 300 can be fully loaded onto the second base 230, with the first and second parts 310, 320 in contact with each other.

[0114] In the embodiment illustrated in Figure 4, when at least the second part 320 of the warning device 300 is loaded onto the second base 230, the confinement members 233, and in particular the second bars 235, are adapted to switch to the free configuration following a user push action exerted on the second bars 235, to clear access to the seat 232 and allow the user to load the warning device 300, specifically the first part 310 and the second part 320 mutually superimposed, onto the second base 230. The confinement members 233 are therefore adapted to switch elastically into the confinement configuration once the warning device 300 is loaded and the second bars 235 are released.

[0115] Then, the lifting members 260 allow the second base 230, equipped with the warning device 300, to be transported along the height direction Z-Z up to the height of the cable 400.

[0116] Further still, the sucker 221 is activated and controllable by the second set of actuators 240, which may be moved along the height direction Z-Z away from the support frame 222, to engage and hold the first part 310 of the warning device 300, so that it is suspended with respect to the second part 320.

[0117] In less preferred embodiments, the warning device 300 can be loaded onto the support structure 210 without lowering the second base 320 to the ground, e.g. by an operator on a pylon, but without the operator having to move along the cable 400.

[0118] In other alternative embodiments, a person skilled in the art will have no difficulty in adapting the teachings provided in the present description and achieving the objects outlined above by positioning the first and second bases differently 220, 230.

[0119] By way of example, an alternative embodiment to the embodiment described above, not illustrated, is presented below, in which the first and second bases 220, 230 of the support structure 210 are positioned with respect to the frame 110 of the transport robot 100 in a different position.

[0120] In particular, the first and second bases 220, 230 are spaced along the lateral direction Y-Y. In more detail, the first and second bases 220, 230 are substantially tilted by 90° with respect to the preferred embodiment.

[0121] In this alternative embodiment, the second set of actuators 240 is configured to move the first base 220 and / or the second base 230 towards and / or away from each other along the lateral direction Y-Y. In addition, the second set of actuators 240 is configured to jointly switch these bases between a loading configuration, in which the first and second bases 220, 230 are spaced from the frame 110 at least along the height direction Z-Z, and a mounting configuration, in which the first and second bases 220, 230 are substantially aligned with the set of wheels 120 along the longitudinal direction X-X.

[0122] In other words, in the preferred embodiment of the invention, the first and second parts 310, 320 are respectively placed above and below the cable 400 with respect to the height direction Z-Z, whereas in the above alternative embodiment they are placed laterally to the cable 400.

[0123] The operation of the equipment described above therefore involves loading the warning device 300 onto the second base 230 of the support structure 210, bringing the second base 230 closer to the frame 110 of the transport robot 100, and bringing the first and second bases 220, 230 into the mounting configuration, so that the warning device 300 is placed around the cable 400, and clamped onto the cable 400. Optionally, it is possible to remove the warning device 300 from the cable 400 by disconnecting the first and second parts 310, 320 of the device itself using the tightening member 250. Also optionally, the robot 100 comprises a safety net, not shown, connected to the frame and spaced from the frame 110 along the height direction Z-Z, e.g. when approaching the ground. This safety net enables the parts of the warning device 300 to be safely retained when removed from the cable 400, thus preventing them from falling uncontrollably to the ground.

Claims

CLAIMS1. Equipment for applying an aircraft warning device (300) on an overhead line cable (400) of a power line, comprising:- a transport robot (100), comprising:- a frame (110),- a set of wheels (120) mounted to the frame (110), the set of wheels (120) being configured to hold the frame (110) suspended on a cable (400), and- a first set of actuators (130) connected to the frame (110) and set of wheels (120) and configured to move the set of wheels (120) along the cable (400) in a longitudinal direction (X-X) to transport the frame (110); and- a mounting system (200) for an aircraft warning device (300), comprising:- a support structure (210) connected to the frame (110) of the transport robot (100), the support structure (210) comprising a first base (220), configured to hold a first part (310) of the warning device (300), and a second base (230), configured to hold a second part (320) of the warning device (300);- a second set of actuators (240) connected to the support structure (210) and configured to move the first and / or second base (220, 230) with respect to the frame (110), so as to bring the first and second parts (310, 320) of the warning device (300) around the cable (400);- tightening member (250) configured to tighten together the first and second parts (310, 320) of the warning device (300) on the cable (400).

2. Equipment according to claim 1, wherein the second set of actuators (240) is configured to move the first base (220) and / or the second base (230) towards and / or away from each other.

3. Equipment according to claim 1 or 2, wherein the second set of actuators (240) isconfigured to jointly move the first and second bases (220, 230) to a mounting configuration, wherein the first and second bases (220, 230) are substantially aligned with the set of wheels (120) along the longitudinal direction (X-X) so as to position the first and second parts (310, 320) of the warning device (300) around the cable (400).

4. Equipment according to claim 3, wherein the second set of actuators (240) is configured to switch the support structure (210) between the mounting configuration and a loading configuration, wherein the first and second bases (220, 230) are spaced from the set of wheels (120) at least along a lateral direction (Y-Y), transverse to the longitudinal direction (X-X).

5. Equipment according to claim 4, wherein the mounting system (200) comprises lifting members (260) associated with the second base (230), the lifting members (260) being configured to move, in the loading configuration, the second base (230) between a position close to the transport robot (100) in a height direction (Z-Z) and a position spaced apart from the transport robot (100) in the height direction (Z-Z).

6. Equipment according to claim 4 or 5, comprising at least one counterweight (180, 280), wherein at least in the loading configuration the counterweight (180, 280) is arranged, with respect to the set of wheels (120), on an opposite side to the first and second base (220, 230).

7. Equipment according to any one of claims 1 to 6, wherein the first base (220) comprises a sucker (231) configured to hold the first part (310) of the warning device (300), the second set of actuators (240) being configured to activate and control the sucker (231).

8. Equipment according to any one of claims 1 to 7, wherein the second base (230) has a seat (231) adapted to receive at least the second part (320) of the warning device (300), and an access to the seat (232), the second base (230) comprising confinement members (233) configured to switch between a locking configuration, wherein the confinement members (233) at least partially block access to the seat (232), and a free configuration, wherein the confinement members (233) at least partially free the seat access (232), preferably the confinement members (233) being configured to switch elastically from the free configuration to the locking configuration.

9. Equipment according to any one of claims 1 to 8, wherein the tightening member (250) comprises an electric screwdriver (252), configured to screw and / or unscrew threaded constraint elements (251) to tighten the first and second parts (310, 320) of the warning device (300) together.

10. Equipment according to any one of claims 1 to 9, wherein the tightening member (250) is configured to tighten at least one connecting portion (311, 312) of the first part (310) of the warning device (300) to at least one connecting portion (321, 322) of the second part (320) by means of constraint elements (251), the tightening member (250) preferably being configured to plastically deform and / or break at least partially the constraint elements (251) to irreversibly tighten the first and second parts (310, 320).

11. Equipment according to any one of claims 1 to 10, wherein the transport robot (100) comprises:- a power supply device (140, 170) for the first and second set of actuators (240), mounted to the frame (110), or- a first power supply device (140) for the first set of actuators (130) and a second power supply device (170) for the second set of actuators (240), the first and second powersupply devices being mounted to the frame (110).

12. System for applying an aircraft warning device (300) on an overhead line cable (400) of a power line, comprising: - an equipment according to one of claims 1 to 11,- an aircraft warning device (300) comprising a first part (310) and a second part (320), each preferably comprising a domed portion, the first part (310) and the second part (320) each comprising a seat (314, 324) to accommodate a portion of cable (400).

13. System according to claim 12, wherein the warning device (300) comprises constraint elements (251), the first and second parts (310, 320) each comprising at least one connecting portion (311, 312, 321, 322) adapted to receive the constraint elements (251), the tightening member (250) being configured to act on the constraint elements (251) to connect and / or disconnect the respective connecting portions (311, 312, 321,

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