Live working robot

Patent metadata

Field	Value
Publication number	US-10406675-B2
Application number	US-201715475813-A
Country	US
Kind code	B2
Filing date	Mar 31, 2017
Priority date	Aug 18, 2016
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

The invention relates to the electric power field, in particular to a live working robot used for running and operating along wires of high-voltage transmission lines, which can realize obstacle surmounting of the live working robots along the wires safely and conveniently, comprising: a main body; a walking mechanism, wherein the walking mechanism comprises three walking arms installed on the main body and spaced apart from one another, a rolling wheel is arranged at an end of each walking arm and is in an online state when being located on an upper surface of a wire or in an offline state when being separated from the wire; the rolling wheels of at least two walking arms are in the online state; at least one part of the walking arm can extend and retract in the vertical direction to change the vertical position of the rolling wheel relative to the wire, and at least one walking arm has a rotatable portion which can rotate to change the position of the rolling wheel relative to the wire; a mounting mechanism, comprising a hook and a sling connecting the hook to the main body; and a working arm, installed on the main body and provided at its end with a tool interface.

First claim

The invention claimed is:

1. A live working robot used for running and operating along wires of high-voltage transmission lines, comprising:
a main body;
a walking mechanism, wherein the walking mechanism comprises three walking arms installed on the main body and spaced apart from one another, a rolling wheel is arranged at an end of each walking arm and is in an online state when being located on an upper surface of a wire or in an offline state when being separated from the wire; the rolling wheels of at least two walking arms are in the online state; at least one part of the walking arm can extend and retract in the vertical direction to change the vertical position of the rolling wheel relative to the wire, and at least one walking arm has a rotatable portion which can rotate to change the position of the rolling wheel relative to the wire; wherein
the walking arms comprise a front walking arm, a middle walking arm and a rear walking arm in sequence along the advancing direction of the live working robot, wherein the rolling wheels of the front walking arm and the rear walking arm are drive rolling wheels connected to a drive motor, and the rolling wheel of the middle walking arm is a driven rolling wheel;
a mounting mechanism, comprising a hook and a sling connecting the hook to the main body; and
a working arm, installed on the main body and provided at its end with a tool interface.

2. The live working robot according to claim 1 , wherein,
the rotatable portion of at least one of the walking arms can rotate in the horizontal plane to change the horizontal position of the rolling wheels relative to the wire.

3. The live working robot according to claim 2 , wherein,
the rotatable portion of each of the walking arms can rotate in the horizontal plane to change the horizontal position of the rolling wheels of the walking arms relative to the wire.

4. The live working robot according to claim 1 , wherein,
the rotatable portion of at least one of the walking arms can rotate in the non-horizontal plane to change the horizontal position and/or vertical position of the rolling wheels relative to the wire.

5. The live working robot according to claim 1 , wherein,
at least one of the walking arms extends along a straight line, a broken line or a curve.

6. The live working robot according to claim 1 , wherein,
a front walking arm of the walking arms is provided with a front pressing wheel, wherein the rolling wheel of the front pressing arm is aligned with the front pressing wheel and the wire is clamped between the rolling wheel and the front pressing wheel;
and/or
a rear walking arm of the walking arms is provided with a rear pressing wheel, wherein the rolling wheel of the rear pressing arm is aligned with the rear pressing wheel and the wire is clamped between the rolling wheel and the rear pressing wheel.

7. The live working robot according to claim 1 , wherein,
the front walking arm of the walking arms is provided with a clamping jaw for grasping the wire;
and/or
the rear walking arm of the walking arms is provided with a clamping jaw for grasping the wire.

8. The live working robot according to claim 1 , wherein,
the vertical telescopic movement of the walking arm is driven by a telescopic movement motor and the rotary movement of the walking arms is driven by a rotating movement motor;
or
each of the walking arms is independently driven by its own drive motor.

9. The live working robot according to claim 1 , wherein,
the rotatable portions of the three walking arms are located on different sides of the wire.

10. The live working robot according to claim 1 , wherein,
the working arm has three degrees of freedom of movement in three mutually orthogonal directions.

11. The live working robot according to claim 1 , wherein,
the working arm is movably installed on the main body and is moveable in a direction parallel to the advancing direction of the live working robot.

12. The live working robot according to claim 1 , wherein,
the mounting mechanism comprises a winch structure fixed to the main body and a positioning structure connected to the winch structure, wherein the sling connected with the hook penetrates through the positioning structure to wind on the winch structure.

13. The live working robot according to claim 12 , wherein,
the positioning structure comprises a cone base below the hook, wherein the cone base has a conical hole and a central hole, with conical hole aligned with and matching in shape with a cone located at a lower end of the hook and the sling extending to penetrate through the central hole.

14. The live working robot according to claim 13 , wherein,
the positioning structure comprises a supporting fork located below the cone base, and the cone base is supported within the supporting fork and can rotate relative to the supporting fork.

15. The live working robot according to claim 12 , wherein,
the winch structure comprises a drive reel installed on a drive reel seat and two driven reels installed on a driven reel seat, wherein the drive reel seat and the driven reel seat are hinged to each other at the edges thereof, the sling penetrates through the positioning structure and then sequentially winds on one of the driven reels, the drive reel and the other of the driven reels, so as to extend along a shape of “8”.

16. The live working robot according to claim 12 , wherein, he mounting mechanism comprises a mounting motor and a transmission system connected to the mounting motor.

17. The live working robot according to claim 12 , wherein,
a pinion is installed on the main body; and
a big gear engaged with the pinion is fixedly arranged on the positioning structure.

Assignees

• State Grid Hunan Electric Power Company Live Working Center
• State Grid Hunan Electric Power Co
• State Grid Corp China
• Hunan Peace Prosperity Electric Ltd

Inventors

• Liu Xiaqing
• Zou Dehua
• Yan Yu
• Niu Jie
• Zhang Jianjun
• Pan Cunyun
• Guo Hao
• Long Yang
• Ou Naicheng
• Wang Zhiwen

Classifications

• H02G1/02

  for overhead lines or cables · CPC title

• B25J5/00 Primary

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J5/007 Primary

  mounted on wheels · CPC title

• B25J5/02 Primary

  travelling along a guideway · CPC title