Apparatus for applying a damage-covering element to an overhead line cable of a power line

Abstract

An apparatus for applying a damage-covering element to an overhead line cable of a power line, such as a conductor or a shield wire, comprises a mounting system (200) of a damage-covering element and a transport robot (100) for bringing the mounting system (200) to a desired position along the cable. The mounting system (200) comprises a winding device (210), comprising a first and a second jaw (211, 212), and a first and a second winding element (213, 214), which are rotatably mounted to the first and second jaw (211, 212) respectively and configured to wind the bars around the cable (400). The first and second winding elements (213, 214) comprise a support body (250) and a replacement body (219), removably attached to the support body (219), to accommodate respective bars of a plurality of bars (300).

Description

[0001] Title: “Apparatus for applying a damage-covering element to 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 an apparatus for applying a damage-covering element to an overhead line cable of a power line, such as a phase conductor or a shield wire.

[0005] Description of the prior art

[0006] Maintenance work on overhead lines usually requires a significant commitment of personnel and the adoption of various safety measures, both from the point of view of the electrical risk and the height at which the power line conductors are located. In fact, one or more operators often have to climb a pylon to reach the conductors, and then move along the conductors suspended from them, while carrying the necessary maintenance equipment. Sometimes, it is also necessary to provide platforms on pylons as an intermediate location for operators during maintenance.

[0007] 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.

[0008] 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 operation, while the robot can be controlled remotely.

[0009] It is well known in prior art to apply a damage-covering element to an overhead line cable of a power line, e.g. a phase conductor or a shield rope in the event of damage to an area of the cable. In fact, damage to a cable is a frequent and highly dangerous phenomenon. When this occurs, maintenance requires that the voltage supplied be zero and that the cable, where possible, be brought down to ground level to allow operators to work in less dangerous conditions. However, this is difficult, and sometimes impracticable, due to the presence of underlying infrastructures, such as motorways or railways, which obstruct the movement of the cable.

[0010] In addition, specialised operators have to perform a particular set of procedures manually, with high expenditure of resources in a potentially dangerous environment. In particular, the operator must remove any broken or exposed parts of the cable, exposing himself to significant risks, to wrap a plurality of conductive bars over the damaged area of the cable in order to restore its proper functioning and, further, to protect it from exposure to external factors.

[0011] Also, during the winding operation, it is always the operator who must ensure that no free areas or gaps are left between the wrapped bars. In fact, such spaces allow the passage of water, which causes corrosion of the cable.

[0012] From the earlier document CN 113067291, an apparatus for winding a damage-covering element onto a cable is known, comprising a plurality of winding devices, with different functions, configured together to wind a plurality of bars around the cable. A winding device comprises an outer case and an inner element, which is rotatably attached to the outer case. When placed in rotation, the inner element winds the plurality of bars around the cable.

[0013] Similar examples of robots with devices for winding a damage-covering element onto a cable are also described in CN 113809676 and CN 212114551, where the winding devices again have a case with two opening jaws and rotating inner elements for winding the bars around the cable. However, when the winding devices are placed in rotation, the plurality of bars is partially deformed and resists the torsion they undergo. This resistance, especially at the end portions of the plurality of bars, can deform the structure of the inner elements. In such a case, it is usually necessary to replace the entire winding device, with significant costs.

[0014] CN 113067291 seems to address this problem with complex arrangements in some of the winding devices, such as allowing the bars some freedom of movement and mitigating the strain on the winding device. However, this makes winding devices even more expensive to replace.

[0015] Summary of the invention

[0016] It is the purpose of the present invention to provide an apparatus for attaching a damage-covering element to an overhead line cable of a power line capable of overcoming the drawbacks of the prior art.

[0017] It is a further purpose of the present invention to provide an apparatus for applying an alternative damage-covering element to a cable to the prior art.

[0018] This and further purposes are substantially achieved by an apparatus for applying a damage-covering element to a cable having the technical characteristics according to the appended claims.

[0019] The invention provides a transport robot and a system for mounting a damagecovering element, which is mounted to the robot. The robot is designed to move along an overhead line cable, suspended from it, to bring the mounting system to where it is required.

[0020] The mounting system comprises at least one winding device, which is configured to helically wind a plurality of bars onto the cable to form the damage- covering element. The winding device comprises a first and second movable jaw for inserting between them and retaining the cable. In addition, the winding device comprises a first and second winding element rotatably mounted to the first and second jaws via a second set of actuators. Such winding elements, when placed in rotation, are configured to wind a plurality of conductive bars onto the cable to form the damage-covering element. The first and second winding elements each comprise a support body and a replacement body, which is removably attached to the support body. The replacement body has a plurality of seats for housing respective bars of a plurality of bars.

[0021] Advantageously, in this way, following damage to the replacement body of a winding element, a single replacement body of the winding element can be replaced, while maintaining the support body and jaws, reducing costs and working time with respect to the prior art.

[0022] In an advantageous embodiment, while the jaws are made of metal material for strength reasons, the winding elements are made entirely of polymer material, e.g. a low-cost plastic. The winding elements thus become components subject to wear, which can be replaced if necessary at low cost.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Further features and advantages of the present invention will become more apparent from the approximate and thus non-limiting description of a preferred, but non-exclusive, embodiment of an apparatus for applying a coating to a cable, in the set of drawings of which:

[0025] - Figure 1 shows a perspective view of an apparatus for attaching a damagecovering element according to the present invention, in accordance with an embodiment,

[0026] - Figure 2 shows a front schematic view of a transport robot of the apparatus in Figure 1,

[0027] - Figure 3 shows a perspective view of a safety hook of the robot in Figure 2,

[0028] - Figure 4 shows a perspective view of a winding device of the mounting system of the present invention according to an embodiment,

[0029] - Figure 5 shows a perspective view of some details of a winding element in Figure 4,

[0030] - Figure 6 shows a perspective view of a winding device in the open configuration, in accordance with an embodiment,

[0031] - Figure 7 shows a front view of the apparatus in Figure 1,

[0032] - Figure 8 shows a perspective view of some structural elements of a winding device, in accordance with an embodiment,

[0033] - Figure 9 shows a cross-sectional perspective view of a winding device, in accordance with an embodiment,

[0034] - Figure 10 shows a perspective view of the winding device in Figure 6, from the opposite side.

[0035] DETAILED DESCRIPTION

[0036] With particular reference to Figure 1, the reference numeral 1 shows an apparatus for attaching a damage-covering element to an overhead line cable 400 of a power line, in particular a phase conductor or a shield wire.

[0037] It should be noted that a damage-covering element means a protective coating configured to cover one or more damaged portions of the cable 400.

[0038] The apparatus 1 of the present invention comprises a transport robot 100 and a mounting system 200 of a damage-covering element.

[0039] 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.

[0040] The transport robot 100 comprises a chassis 110. Preferably, the chassis 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.

[0041] In addition, the transport robot 100 comprises a set of wheels 120 mounted to the chassis 110, in particular to the carriage structure 111. The set of wheels 120 is configured to keep the chassis 110 suspended from 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 chassis 110 along the cable 400.

[0042] Preferably, at least two wheels are spaced along the longitudinal direction X- X, for example as they are connected to the chassis 110 at the opposite end portions of the carriage structure 111.

[0043] 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.

[0044] 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.

[0045] The transport robot 100 comprises a first set of actuators 130, connected to the chassis 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.

[0046] 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 chassis 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 a transmission kinematic system.

[0047] Several separate wheels can be driven by separate motors 131 or a common motor 131 via separate kinematic systems. 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.

[0048] 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.

[0049] 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.

[0050] 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 comprise, for example, a battery and / or a supercapacitor.

[0051] 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.

[0052] Preferably, the chassis 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 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.

[0053] In order to optimise the balancing of the robot 100 by compensating 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Preferably, the robot 100 comprises one or more safety hooks 160 connected to the chassis 110, in particular to the carriage structure 111. Preferably, two safety hooks 160 are spaced apart in the longitudinal direction X-X. Each safety hook 160 comprises two elastically loaded jaws 161 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.

[0058] Advantageously, the robot 100 can be gripped and lifted by 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 161 of the hooks 160 close around the cable 400.

[0059] 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.

[0060] Additionally, as anticipated, the apparatus 1 of the present invention comprises a mounting system 200 of a damage-covering element, described below.

[0061] The mounting system 200 comprises at least one winding device 210, constrained to the chassis 110 of the transport robot 100, and comprising a first and second jaw 211, 212.

[0062] Note that, preferably, the mounting system 200 is detachable from the chassis 110 of the transport robot 100.

[0063] The first and second jaws 211, 212 are switchable between an open configuration, to insert the cable 400 between the first and second jaws 211, 212, and a closed configuration to hold the cable 400 between them.

[0064] Preferably, the first and second jaws 211, 212 of the at least one winding device 210 are rotatably connected to each other to switch between the open configuration and the closed configuration.

[0065] In the illustrated embodiment, as shown in Figure 6, the winding device 210 comprises a support 216 to which both jaws 211, 212 are hinged at respective pins 2161. Furthermore, the first and second jaws 211, 212 are preferably pivotally articulated to each other by means of a first constraint element 217, preferably a pin, adapted to allow the first jaw 211 and the second jaw 212 to move around the first constraint element 217. As can be seen in Figures 8 and 9, the at least one winding device 210 preferably comprises a locking mechanism 500 for locking the first and second jaws 211, 212 in the closed configuration. The locking mechanism preferably comprises a first and second connecting element 510, 520 rotatably constrained to the first and second jaws 211, 212 via a second and third constraint element 511, 512. Preferably, the first and second connecting elements 510, 520 are also rotatably constrained to each other via the first connecting element 217.

[0066] Preferably, the first and second connecting elements 510, 520 have a first and second rod, respectively, and the constraint elements 217, 511, 512 are positioned at ends of the rods.

[0067] In the preferred form, the locking mechanism 500 is switchable between a locking configuration (not shown in the accompanying figures), in which the first, second and third constraint elements 217, 511, 512 are aligned along the same alignment axis, and an unlocking configuration (Figure 9), in which the second and third constraint elements 217, 511, 512 are misaligned with each other.

[0068] In other words, when the locking mechanism 500 is in a locked configuration and, consequently, the constraint elements 217, 511, 512 are aligned along the same axis (not shown in the figure), the first and second jaws 211, 212 are in a closed configuration. Therefore, when attempting to switch the first and second jaws 211, 212 into the open configuration, the first and second connecting elements 510, 520 transmit an equal and opposite force along the same axis, thereby preventing the movement of the first and second jaws 211, 212.

[0069] Conversely, as better shown in Figures 8 and 9, when the locking mechanism 500 is in the release configuration, the constraint elements 217, 511, 512 are misaligned with each other and the first and second jaws 211, 212 are in the open configuration. This is achieved by rotating the connecting elements 510, 520 between each other and with respect to the jaws 211, 212.

[0070] As shown in Figures 4 and 5, the mounting system 200 comprises a second set of actuators 230, configured to perform one or more of the functions that will be described below. The control unit 150 described above is also in signal communication with actuators of the second set of actuators 230 in order to control them in the performance of the aforementioned functions.

[0071] In order to switch the locking mechanism 500 to the unlocked position, the second set of actuators 230 comprises an unlocking actuator 530, which can be seen in Figure 8, connected to the winding device 210. Preferably, the unlocking actuator 530 is a cylinder-piston system, e.g. of the pneumatic type.

[0072] For the purpose of supplying power to one or more actuators of the second set of actuators 230, for example the unlocking actuator 530, a second power supply device 170 is preferably provided, for example of a pneumatic type, although embodiments in which the second supplying device 170 is of other types, for example an electric type, are not excluded, nor embodiments in which individual actuators are of a different type from that described, for example an electrically operated unlocking actuator 530, nor embodiments in which one or more actuators of the second set of actuators 230 are powered by the same first power supply device 140 that already powers one or more actuators of the first set of actuators 130.

[0073] Preferably, the second power supply device 170 is part of the robot 100 and is mounted to the chassis 110, in particular on the platform 112.

[0074] Again with reference to Figure 8, the unlocking actuator 530 is activated on the first constraint element 217 to move it transverse to the alignment axis, e.g. along the height direction Z-Z. Optionally, there is an unlocking actuator 530 for each jaw 211, 212 of a winding device 210, which are controlled to be moved simultaneously. As a result of the transverse movement of the first constraint element 217, the first and second constraint elements 510, 520 no longer transmit opposing forces along the same axis, and thus the jaws 211, 212 can be opened without difficulty.

[0075] More specifically, the at least one winding device 210 preferably comprises an arm 540, which connects the unlocking actuator 530 and the first constraint element

[0076] 217. Due to the effect of the arm 540, the first constraint element 217 is integral with the piston 531, which, by moving inside the cylinder between the first and second position, allows the first constraint element 217 to rise or fall.

[0077] In the closed configuration of the jaws 211, 212, i.e. in the locking configuration, a distance S between the second and third clamping element 511, 512 is maximum.

[0078] As a result of the unlocking, when switching to the open configuration, the distance S between the second and third constraint element 511, 512 decreases and an opening angle a for the insertion of the cable 400 increases.

[0079] Preferably, the first jaw 211 and the second jaw 212 each have a semicircular recess. As shown in Figures 6 and 8, when in the closed configuration, the semicircular recesses of the first and second jaws 211, 212 together define an opening

[0080] 218, preferably circular, suitable for the passage of the cable 400.

[0081] Therefore, when the first and second jaws 211, 212 are in the open configuration, it is possible to place the cable 400 between the first and second jaws 211, 212 and then encircle it by switching the first and second jaws 211, 212 to the closed configuration.

[0082] Note that the second set of actuators 230 comprises a lifting actuator, configured to move the winding device 210 along the height direction Z-Z with respect to the chassis 110 of the transport robot 100. In this way, the first and second jaws 211, 212, when in the open configuration, can be brought closer to the cable 400 until the cable 400 is placed at the recesses that will identify the opening 218.

[0083] The at least one winding device 210 is configured to helically wind a plurality of bars 300 onto the cable 400 to form the damage-covering element.

[0084] Preferably, in a known way, the bars 300 are not straight bars, but are bars with an optimised shape for their subsequent helical winding around the cable 400. More specifically, the bars 300 are already shaped like a helix, with a first radius and helix pitch, before being wound around the cable 400. The operation of winding around the cable 400 however deforms the bars 300 according to a narrower helix, resulting in a second radius and a second helix pitch, smaller than the first radius and first pitch.

[0085] In the preferred embodiment, for winding purposes, the mounting system 200 comprises two winding devices 210 spaced in the longitudinal direction X-X, which cooperate by manipulating the bars 300 at two separate points. In other embodiments, a single winding device 210 may be sufficient, for example if the bars 300 are retained by a different device longitudinally distanced from the winding device 210.

[0086] Also for the purpose of winding the bars of the plurality of bars 300, the winding device 210 comprises a first and a second winding element 213, 214 rotatably mounted, respectively, to the first and second jaws 212, 212, to rotate about an axis of rotation extending in the longitudinal direction X-X.

[0087] Note that as long as the jaws 211, 212 are in the open configuration, the first winding element 213 is mounted to the first jaw 211 and the second winding element 214 is mounted to the second jaw 212. However, as a result of the described rotation, the two winding elements 213, 214 may exchange positions or be in intermediate positions in which each of the winding elements 213, 214 is partially supported by both jaws 211, 212.

[0088] The first and second winding elements 213, 214 are positioned in such a way that they interpose themselves between the cable 400 and the jaws when the first and second jaws 211, 212 are in the closed configuration. In particular, the first and second winding elements 213, 214 are positioned in the opening 218.

[0089] Preferably, the first and second winding elements 213, 214 in turn have respective recesses, and when the jaws 211, 212 are brought into a closed configuration, the recesses of the winding elements 213, 214 together identify an internal opening, having a smaller extension than the opening 218, for the passage of the cable 400. In other words, the cable 400 is located in the opening identified by the winding elements 213, 214, which in turn are located in the opening 218 identified by the jaws 211, 212.

[0090] Still preferably, the first and second winding elements 213, 214, are coaxial to the first and second jaws 211, 212, when in the closed configuration.

[0091] The second set of actuators 230 mentioned above is configured to rotate the first and second winding elements 213, 214 with respect to the first and second jaws

[0092] 212, when in the closed configuration.

[0093] The first and second winding elements 213, 214 are configured, when placed in rotation, to twist the plurality of bars 300 around the cable 400.

[0094] With more reference to Figures 4, 6, 9, the first and second winding elements

[0095] 213, 214 each comprise a support body 250.

[0096] Furthermore, as can be seen in Figures 5 and 10, the invention provides that the first and second winding elements 213, 214 each comprise a replacement body 219, which is removably attached to the support body 250. In addition, the first and second winding elements 213, 214 each comprise a first set of seats 2151 comprising seats 215 shaped to accommodate respective bars of a plurality of bars 300. The seats 215 of the first set of seats 2151 are formed on the replacement body 219.

[0097] In the embodiment in Figure 10, the seats 215 of the first set of seats 2151 are distributed along a circumferential direction developed around the cable 400.

[0098] Advantageously, in the event of wear at the seats 215 of the first set of seats 2151, e.g. in the event of breakage or wear as a result of resistance encountered during the winding of the plurality of bars 300, it is sufficient to replace the replacement body, preserving other components of the winding device 210.

[0099] In the preferred form of the invention the first and second winding elements 213, 214 additionally have a second set of seats 2152, spaced apart from the first set of seats 2151 in the longitudinal direction X-X.

[0100] Still preferably, the seats 215 of the first set of seats 2151 extend radially further out than the seats 215 of the second set of seats 2152. Therefore, the seats 215 of the first set of seats 2151 radially guide outwards portions of the end of the bars 300 not yet wound onto the cable 400. In particular, the replacement body 219 is fixed, along the longitudinal direction X-X, in a removable manner to the portion of the support body 250 closest to the ends of the plurality of bars 300.

[0101] It should be noted that due to the presence of the first and second set of seats 2151, 2152 in each winding device 210, a single winding device 210 can perform the function of two winding devices of the prior art by itself. Thus, where the prior art required four winding devices, i.e. two at each end of the bars, this embodiment allows the use of simply two winding devices 210. Where the prior art required locking one end of the bars in another way, and using two winding devices at the other end, this embodiment allows the use of a single winding device 210. In the preferred form, the second set of seats 2152 is formed on the support body 250 of the first and second winding elements 213, 214. Therefore, while damage to the first set of seats 2151 can be resolved by replacing the replacement body 219, this does not apply to the second set of seats 2152.

[0102] In any event, the Applicant observed that the strongest wear caused by the bars does not occur on the second set of seats 2152, but on the first set of seats 2151, i.e. the radially outermost set. This is because, with the translation of the winding device 210, the bars at the second set of seats 2152 are wound according to a simple helical motion around the cable 400, which the second set of seats 2152 follows exactly, whereas at the first set of seats 2151 the bars move according to a superposition of a first helical motion due to the helical shape of the ends of the bars, and a second helical motion due to the fact that these ends are drawn in helical motion by the second plurality of seats 2152.

[0103] In an embodiment, each seat 215 of the second set of seats 2152 has a recess, open towards the cable 400, i.e. towards the axis of rotation of the first and second winding elements 213, 214. The recess is conformed for the passage of one bar of the plurality of bars 300.

[0104] Differently, it should be noted that the seats 215 of the first set of seats 2151 formed on the replacement body 219 are preferably closed through seats, e.g. with a slotted shape. In other words, the seats 215 of the first set of seats 2151 pass through the thickness of the replacement body 219 and the replacement body 219 completely surrounds each seat 215 of the first set of seats 2151.

[0105] Preferably, the replacement body 219 comprises a panel facing the support body 250 in the longitudinal direction X-X.

[0106] In the preferred form of the invention, the replacement body 219 is removably attached to the support body 250 by means of attachment members, such as screws, or alternatively by known mechanical interlocking mechanisms.

[0107] Consequently, in case of breakage of the replacement body 219, an operator can easily implement a replacement of the latter by pulling it apart from the support body 250 along the longitudinal direction X-X. Advantageously, in this way, it is possible to limit the replacement to the replacement body 219 without involving the support body 250 of the winding element 213, 214, significantly minimising the complexity and duration of the maintenance operation.

[0108] With respect to the winding mechanism, the first and second winding elements 213, 214, when placed in rotation with respect to the first and second jaws 211, 212, exert a torque on the plurality of bars 300 so as to wind them onto the cable 400 and form the damage-covering element. In particular, the damage-covering element is identified by the assembly of the bars 300, placed side by side in a helix.

[0109] As anticipated, the plurality of bars 300 has a helix-shaped profile, which allows one bar to approach the adjacent bar, when the plurality of bars 300 is rotated by the first and second winding elements 213, 214.

[0110] According to an aspect of the invention, the first and second winding elements 213, 214 are removable from the first and second jaws 211, 212 respectively.

[0111] It should be noted that the first and second jaws 211, 212 are preferably made of metal material, more preferably steel, to serve as supports for the first and second winding elements 213, 214. Differently, the replacement body 219 of the first and second winding element 213, 214 is preferably made of polymer material, which is less expensive and therefore easy to replace in the event of damage. Preferably, the support body 250 is made of the same material as the replacement body 219.

[0112] According to an aspect, the replacement body 219 of the first and second winding element 213, 214 is removable from the support body 250 respectively when the first and second jaws 211, 212 are in the open configuration. Thus, opening the jaws 211, 212 makes it easier to replace the replacement body 219 of the winding element 213, 214 more simply.

[0113] Preferably, each jaw 211, 212 comprises two support walls 2112, 2123 spaced apart in the longitudinal direction X-X. The winding elements 213, 214 are located in the longitudinal direction X-X between the two support walls 2112, 2123.

[0114] In the preferred form, the at least one winding device 210 comprises a planetary gear 231 configured to rotate the first and second winding elements 213, 214 with respect to the first and second jaws 212 when the first and second jaws 211, 212 are in the closed configuration.

[0115] As shown in Figure 5, the planetary gear 231 comprises a sun gear 232 and a plurality of satellite gears 233. In the preferred form, the sun gear 232 and satellite gears 233 of the planetary gear 231 are made of plastic material.

[0116] In particular, the sun gear 232 is divided into two parts arranged on the outer surfaces of the first winding element 213 and the second winding element 214, respectively. Preferably, the two parts of the sun gear 232 comprise gears radially pointing away from the cable 400, and thus away from the axis of rotation.

[0117] Differently, the plurality of satellite gears 233 is preferably constrained to the first and second jaws 211, 212. More specifically, as shown in Figures 5 and 9, each satellite gear 233 is interposed between the support walls 2112, 2123 of the respective jaw 211, 212 so as to engage with the sun gear 232 of the first and second winding elements 213, 214. In addition, the support walls 2112, 2123 of each jaw 211, 212 are attached to each other by rotation pins (not shown in the accompanying figures) for the satellite gears 233. Preferably, as shown in Figure 5, the second set of actuators 230 comprises an electric motor 234 and a transmission element 235, more preferably a spur gear, engageable to a satellite gear of the plurality of satellite gears 233 of the planetary gear 231.

[0118] As shown in Figure 5, it should be noted that the electric motor 234 is configured to drive the rotation of the transmission element 235, which transmits a mechanical moment to the planetary gear 231 described above by means of a transmission shaft 236, allowing the rotation of the first and second winding elements 213, 214 with respect to the first and second jaws 211, 212.

[0119] As shown in Figures 4-5 and 7, the mounting system 200 of the apparatus 1 of the present invention preferably comprises a guide 220 having two ends 221, 222 spaced along the longitudinal direction X-X for a length L.

[0120] Preferably, the at least one winding device 210 is movable with respect to the guide 220. In particular, the second set of actuators 230 is also configured to move the at least one winding device 210 along the extension L of the guide 220.

[0121] According to an aspect, the second set of actuators 230 comprises translation actuators 237, preferably pneumatic linear actuators, configured to translate the at least one winding device 210 along the extension L of the guide 220. In the preferred form, the translation actuators 237 are rodless pneumatic cylinders.

[0122] Preferably, the second set of actuators 230 further comprises a carriage 2371 acting as a support for the at least one winding device 210 during its movement along the extension L of the guide 220. In the illustrated embodiment example, the second set of actuators 230 comprises two guides 220 and two carriages 2371, with each carriage 2371 being translatable along the extension L of the respective guide 220.

[0123] In the preferred embodiment, the at least one winding device 210 is interposed between the two guides 220.

[0124] Preferably, the control unit 150 is configured to control the second set of actuators 230 in such a way that the at least one winding device 210 translates along the guide 220 between a start position and an end position and that, simultaneously, the first and second winding elements 213, 214 rotate with respect to the first and second jaws 211, 212, when in the closed configuration.

[0125] It should be noted that according to the preferred embodiment, the control unit 150 is configured to simultaneously control both the translation actuators 237, to allow translation of the winding device 210, and the electric motor 234, to allow rotation of the first and second winding elements 213, 214 with respect to the first and second jaws 211, 212.

[0126] This results in a translation for the first and second jaws 211, 212 and a rototranslation for the first of the second winding element 213, 214.

[0127] As previously mentioned, in its preferred form, the mounting system 200 comprises a first and a second winding device 210, spaced apart in the longitudinal direction X-X and configured to apply together the same damage-covering element together on the cable 400.

[0128] In other words, the first winding device is preferably configured to exert a twisting action on a first portion of the plurality of bars 300, and the second winding device is preferably configured to exert a twisting action on a second portion of the plurality of bars 300, spaced apart from the first portion, along the same cable 400.

[0129] It should be noted that the control unit 150 is also preferably configured to control the second set of actuators 230 so that the first and second winding elements 213, 214 of the first winding device are rotated with respect to the first and second jaws 211, 212 in an opposite direction of rotation with respect to the first and second winding elements 213, 214 of the second winding device.

[0130] Preferably, the control unit 150 is also configured to control the second set of actuators 230 in such a way that the first winding device moves in the opposite direction to the second winding device along the guide 220.

[0131] In other words, in the embodiment of Figure 7, the stroke start position of the first winding device is close to the stroke start position of the second winding device, at a distance D.

[0132] In the preferred form, the stroke start position is also close to a central point with respect to the extension L of the guide 220. In the embodiment of Figure 4, the stroke start position is identified by the presence of two blocks 223, each for each winding device 210, which limit the movement of the respective winding devices along the guide 220.

[0133] When the control unit 150 sends a translation command to the second set of actuators 230, the first and second winding devices 210 preferably perform a translation towards each end 221, 212 of the guide 220, respectively. Preferably, as shown in Figure 7, the stroke end positions of the first and second winding device 210 coincide with the respective ends 221, 222 of the guide 220. Therefore, the stroke end positions are arranged at a greater distance from each other than the stroke start positions.

[0134] In the light of the above, it is possible to apply a covering coating to a cable 400 by means of a method comprising the step of a) providing an apparatus 1 in accordance with one of the embodiments described above.

[0135] The method further comprises the step of b) transporting the transport robot 100 on the cable 400 and moving the transport robot 100 close to a damaged area of the cable 400 by activating the first set of actuators 130. Further, the method comprises the step of c) inserting the cable 400 between the first and second jaws 211, 212 of the at least one winding device 210 while the first and second jaws 211, 212 are in the open configuration, bringing the jaws 211, 212 towards the cable 400 via the lifting actuator.

[0136] Subsequently, the method comprises the further step of d) retaining the cable 400 by switching the first and second jaws 212 into the closed configuration.

[0137] The method comprises the step of e) coupling the plurality of bars 300 with the first and second winding elements 213, 214 of the at least one winding device 210.

[0138] Preferably, the step of e) coupling the plurality of bars 300 with the first and second winding elements 213, 214 of the at least one winding device 210 comprises passing each bar of the plurality of bars 300 through a respective seat 215 of the first and second set of seats 2151, 2152 of the first and second winding elements 213, 214.

[0139] Finally, the method for applying a covering coating to a cable 400 comprises the step of f) winding the plurality of bars 300 onto the cable 400 by rotation of the first and second winding elements 213, 214 with respect to the first and second jaws 211, 212 when in the closed configuration, by activation of the second set of actuators 230.

[0140] In the preferred embodiment of the invention, the step of winding the plurality of bars 300 onto the cable 400 also comprises moving the at least one winding device 210 along the guide 220 from the stroke start position to the stroke end position by activating the second set of actuators 230.

[0141] More preferably, moving the at least one winding device 210 along the guide 220 provides that the control unit 150 sends an activation command to the second set of actuators 230, so that the first and second winding devices are moved from the stroke start position to the stroke end position, and, at the same time, that the first and second winding elements 213, 214 are placed in rotation with respect to the first and second jaws 211, 212 of the first and second winding devices 210, to allow winding of the plurality of bars 300 in the vicinity of the damaged area of the cable 400.

Claims

CLAIMS1. Apparatus for applying damage-covering element to an overhead line cable of a power line, comprising:- a transport robot (100), comprising:- a chassis (110),- a set of wheels (120) mounted to the chassis (110), the set of wheels (120) being configured to hold the chassis (110) suspended from a cable (400), and- a first set of actuators (130) connected to the chassis (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 chassis (110);- a mounting system (200) of a damage-covering element, comprising at least one winding device (210), constrained to the chassis (110) of the transport robot (100), wherein the winding device (210) comprises:- a first and second jaw (211, 212), switchable between an open configuration, to insert the cable (400) between the first and second jaws (211, 212), and a closed configuration to hold the cable (400) between them,- a first and a second winding element (213, 214) rotatably mounted to the first and second jaws (211, 212) respectively and positioned in such a way that they interpose themselves between the cable (400) and the jaws (211, 212) when the first and second jaws (211, 212) are in the closed configuration,- wherein the first and second winding elements (213, 214) each comprise a support body (250) and a first set of seats (2151) comprising seats conformed to house respective bars of a plurality of bars (300), the first and second winding elements being configured, when rotated, to helically wind the plurality of bars (300) onto the cable (400) so as to form the damage-coveringelement, wherein the mounting system (200) comprises a second set of actuators (230) configured to rotate the first and second winding elements (213, 214) with respect to the first and second jaws (211, 212), characterised in that:- the first and second winding elements each comprise a replacement body (219), in which the first set of seats is formed, the replacement body (219) being removably mounted to the support body (250).

2. Apparatus (1), according to claim 1, wherein the first and second winding elements (213, 214) each have a second set of seats (2152) spaced apart from the first set of seats (2151) in the longitudinal direction (X-X), the seats (215) of the first set of seats (2151) extending radially further out than the seats (215) of the second set of seats (2152), the second set of seats (2152) being formed on the support body (250) of the winding element (213, 214).

3. Apparatus (1), according to claim 2, wherein the seats (215) of the second set of seats (2152) are recesses open towards the cable (400).

4. Apparatus (1), according to any one of the preceding claims, wherein the seats (215) of the first set of seats (2151) are closed through seats.5 Apparatus (1) according to any one of the preceding claims, wherein each jaw (211, 212) comprises two support walls (2112, 2123) spaced apart in the longitudinal direction (X-X), the first and second winding elements (213, 214) being in thelongitudinal direction (X-X) between the two support walls.

6. Apparatus (1) according to any of the preceding claims, wherein the first and second jaws (211, 212) are made of metal material, and the replacement body (219) of the first and second winding elements (213, 214) are made of polymer material.

7. Apparatus (1), according to any one of the preceding claims, wherein the at least one winding device (210) comprises a planetary gear (231) configured to rotate the first and second winding elements (213, 214) with respect to the first and second jaws (211, 212) when the first and second jaws (211, 212) are in the closed configuration.

8. Apparatus (1) according to any one of the preceding claims, wherein:- the at least one winding device (210) comprises a locking mechanism (500) for locking the first and second jaws (211, 212) in the closed configuration,- the locking mechanism (500) comprises a first and a second connecting element (510, 520), which are rotatably constrained to each other via a first constraint element (217), the first and second connecting elements also being rotatably constrained to the first and second jaws (211, 212) respectively via a second and third constraint element (5H, 512),- the locking mechanism (500) is switchable between a locking configuration, in which the first, second and third constraint elements (217, 511, 512) are aligned along the same alignment axis, and an unlocking configuration, in which the first, second and third constraint elements (217, 511, 512) are misaligned with each other.

9. Apparatus (1) according to claim 8, wherein the second set of actuators (210)comprises at least one unlocking actuator (530) configured to switch the locking mechanism between the locking configuration and the unlocking configuration by moving said first constraint element (217) transversely to said alignment axis.

10. Apparatus (1), according to any of the preceding claims, wherein the mounting system (200) comprises:- a guide (220) having two ends (221, 222) spaced along the longitudinal direction, the at least one winding device (210) being movable with respect to the guide (220), wherein the second set of actuators (230) is also configured to move the at least one winding device (210) along the guide (220).

11. Apparatus (1), according to claim 10, comprising a control unit (150) configured to control the second set of actuators (230) in such a way that the at least one winding device (210) translates along the guide (220) between a stroke start position and a stroke end position and such that, simultaneously, the first and second winding elements (213, 214) rotate with respect to the first and second jaws (211, 212), when in the closed configuration.

12. Apparatus (1), according to any one of the preceding claims, wherein the mounting system (200) comprises a first and a second winding device (210), spaced apart in the longitudinal direction and configured to apply the same damage-covering element to the cable (400).

13. Apparatus (1) according to claim 12, wherein the control unit (150) is configured to control the second set of actuators (230) such that a rotational movement of the firstand second winding elements (213, 214) with respect to the first and second jaws (211, 212) and / or a translation movement of the winding device (210) in the longitudinal direction (X-X) occurs in opposite directions for the first and second winding devices (210).

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