Remote-controlled robotic equipment for tree pruning near energized power lines

A remote-controlled robotic equipment for tree pruning near energized power lines, characterized by a complete remote-controlled robotic equipment, which incorporates a structure having a truck symmetrically arranged along the entire length of the remote-controlled robotic equipment;

• a block-shaped stand arranged vertically, perpendicularly and symmetrically over the truck trailer having a basis arranged horizontally, parallel to and symmetrically over the truck chassis, hydraulic jaws arranged vertically, perpendicularly and symmetrically on the lateral ends of the base acting as stabilizers of the set when in operation, hydraulic actuators arranged vertically and symmetrically adjacent to each one of the hydraulic jaws to stabilize and anchor the truck, and a gearing tower, arranged vertically and symmetrically centered over the base to support the robotic arm;
• one rectilinear, rectangular cross-sectional positioner, arranged perpendicularly and symmetrically centered on the upper support end and containing two telescopic booms in three rotating shafts and two linear displacement shafts—three rotary joints driven by hydraulic motors and two prismatic joints driven by hydraulic pistons, and one hydraulic system that feeds and loops to each positioner actuator and that feeds the handler hydraulics;
• a rectilinear, rectangular cross-sectional handler aligned with and symmetrically centered on the upper end of the positioner and containing a telescopic boom, in four degrees of freedom—three rotating shafts and one linear displacement shaft—three rotary joints driven by hydraulic motor and one prismatic joint driven by hydraulic pistons, rotary-rotary-prismatic-rotary—RRPR kinematic structure;
• a block-shaped end effector (tool) aligned with and symmetrically centered on the upper end of the handler and containing a quick coupling arranged symmetrically on its posterior end—the interconnection end of the handler and end effector;
• a collection bin arranged vertically, perpendicularly and symmetrically over the truck trailer;
• a shredder arranged vertically, perpendicularly and symmetrically over the truck trailer;
• electrical isolation, class C, by means of two electrical isolators, pursuant to ABNT NBR 16092 regulation, both in the positioner and the handler;
• one set of optical fiber for communication, whose main function is to provide communication between the components of the remote-controlled robotic equipment;
• incremental or absolute encoders, whose main function is to identify the actual position of each robotic arm joint;
• a two-system set control—a master system with embedded firmware for kinematic calculation, automatic routines and safety systems, and a slave system for handler control and feedback signal conditioning;
• and a wireless man-machine interface—MMI interconnected to the set control and to the robotic arm (A), whose main function is to teleoperate the remote-controlled robotic equipment remotely from the ground—controlled and assisted by the man-machine interface—MMI;
• and, considering the handler and the positioner are activated individually, and on a joint-to-joint manner or through a xyz Cartesian system driven by a hydraulic system of motors or hydraulic pistons.