CN111181064A - Robot system for live-wire work - Google Patents

Abstract

The invention relates to the technical field of distribution network line power equipment, in particular to a robot system for live-line work, which comprises a robot work platform and a main controller connected with the robot work platform; be equipped with robot body, travelling arm and place the tool rest of working tool on the robot operation platform, working tool includes: the device comprises a fixing tool, a peeling tool, a wire clamp mounting tool and an insulating cover mounting tool, wherein the fixing tool is used for temporarily fixing a main guide wire and a drainage wire of the drainage wire. The invention provides a robot system which avoids the hot-line work of manually fixing a drainage wire in the process of connecting the drainage wire.

Description

Robot system for live-wire work

Technical Field

The invention relates to the technical field of distribution network line power equipment, in particular to a robot system for live-line work.

Background

The distribution network is an electric power network which receives electric energy from a transmission network or a regional power plant and distributes the electric energy to various users on site through distribution facilities or step by step according to voltage. The power distribution network consists of overhead lines, cables, towers, distribution transformers, isolating switches, reactive power compensators, accessory facilities and the like, and plays a role in distributing electric energy in a power network.

The power distribution network has the characteristics of multiple voltage levels, complex network structure, various equipment types, multiple and wide operation points, relatively poor safety environment and the like, so that the safety risk factors of the power distribution network are relatively more. In addition, the function of the power distribution network is to provide electric energy for various users, so that higher requirements are provided for safe and reliable operation of the power distribution network.

For example, a distribution network live-line robot system disclosed in chinese patent document CN108839037A includes a robot work platform and an operating system, wherein the robot work platform includes a robot body, a controller, a work tool, and a control system. Wherein operation instrument includes automatic skinning instrument, electrified instrument of taking a fire, fastener insulating boot mounting tool, but this robot needs the manual work to taking a fire wire clamp to fix before connecing the drainage line, and the operating personnel need be close to high-pressure main traverse line this moment, still has certain potential safety hazard.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that potential safety hazards still exist in the process of connecting a lead wire in the prior art, so that a robot system for live working is provided.

In order to solve the above-described technical problem, the present invention provides a live-wire work robot system including:

the robot working platform comprises a robot working platform and a main controller connected with the robot working platform;

be equipped with robot body, travelling arm on the robot operation platform and place the tool rest of working tool, working tool includes:

the device comprises a fixing tool, a peeling tool, a wire clamp mounting tool and an insulating cover mounting tool, wherein the fixing tool is used for temporarily fixing a main guide wire and a drainage wire of the drainage wire.

Further, the fixing tool of the drainage wire comprises:

the insulation fixing rod and the first clamp;

the first clip includes: the first clamp is fixedly connected with the sliding seat and used for fixing the drainage wire;

the elastic part is fixedly arranged in the first clamping, the drainage wire enters the elastic part, the elastic part is elastically deformed and wrapped by the drainage wire in the radial direction, and the inner surface of the elastic part is provided with a friction part for fixing the drainage wire.

Furthermore, the first clamp is C-shaped and is provided with a first opening allowing the drainage wire to enter and having an upward opening, and the arc length of the first opening is less than one fourth of the circumference of the first clamp.

Further, still include:

the first through hole is arranged on the sliding seat;

and the plurality of second through holes are arranged on the insulating fixing rod at preset intervals, and pass through the first through hole and one of the second through holes in sequence through a fastening piece so as to fix the sliding seat on the insulating fixing rod.

Further, the skinning tool comprises:

the base is arranged on the moving arm, and a traveling mechanism is arranged in the base;

the first clamping mechanism and the second clamping mechanism are respectively arranged on the base, wherein the second clamping mechanism is connected with the rotating mechanism arranged on the travelling mechanism, the second clamping mechanism is provided with a cutting mechanism, and the first clamping mechanism and the second clamping mechanism are provided with main guide wires;

the controller is respectively connected with the travelling mechanism, the first clamping mechanism, the second clamping mechanism and the rotating mechanism, the controller drives the rotating mechanism to rotate so as to drive the cutting mechanism to cut the main guide wire, and the cutting mechanism drives the rotating mechanism to move towards the first clamping mechanism on the travelling mechanism.

Further, the traveling mechanism includes:

the sliding rail is arranged inside the base along the extending direction of the base;

and one end of the sliding seat is connected with the sliding rail in a sliding manner, and the other end of the sliding seat extends to the upper part of the base and is fixedly connected with the rotating mechanism.

Further, the running gear still includes:

the first driving mechanism is connected with the controller;

the first rotating piece is connected with the first driving mechanism, and a limiting plate is arranged on the first rotating piece;

the first detection assembly is arranged on the sliding seat and connected with the controller, the travelling mechanism drives the rotating mechanism to move towards the first clamping mechanism, the first detection assembly touches the limiting plate, and the first detection assembly transmits an electric signal back to the controller to stop the rotating mechanism.

Further, the wire clamp installation tool includes:

the frame body is arranged on the moving arm and is provided with a placing part for placing the wiring mechanism;

the clamping mechanism is arranged on the frame body and is provided with a clamping end which is positioned at the placing part and clamps the wiring mechanism;

the lead locking mechanism is arranged on the frame body corresponding to the structure of the wiring mechanism, a main lead and a drainage lead can be correspondingly connected into the lead locking mechanism and the wiring mechanism respectively when the movable arm moves, and the main lead and the drainage lead are respectively fixed by the lead locking mechanism;

and the controller is respectively connected with the clamping mechanism, the wire locking mechanism and the wiring driving mechanism for driving the wiring mechanism to perform wiring, and controls the actions of the clamping mechanism, the wire locking mechanism and the wiring driving mechanism.

Further, the wiring mechanism is provided with a main lead wiring channel and a drainage wire wiring channel parallel to the main lead wiring channel, the lead locking mechanisms respectively correspond to the main lead wiring channel and the drainage wire wiring channel, and the frame body corresponds to the main lead wiring channel and the drainage wire wiring channel and is provided with two guide frames.

Further, the insulation cover installation tool includes:

the base body is arranged on the moving arm and comprises a fixed part and a moving part, one of the fixed part and the moving part is provided with an upper part of an insulating cover, and the other of the fixed part and the moving part is provided with a lower part of the insulating cover;

and the control component is arranged on the base body and connected with the movable part, and when monitoring that the wire clamp is in a preset position, the control component controls the movable part to move towards the fixed part so as to connect the upper part of the insulating cover with the lower part of the insulating cover.

The fixing part is provided with a guide groove corresponding to the wire groove on the insulating cover and used for limiting a wire, the guide assembly is arranged on the base body along the extending direction of the guide groove, and the control assembly controls the movable part to move towards the fixing part after the wire is positioned in the wire groove.

The technical scheme of the invention has the following advantages:

1. the invention provides a robot system for live-wire work, which comprises a robot work platform and a main controller connected with the robot work platform; be equipped with robot body, travelling arm and place the tool rest of working tool on the robot operation platform, working tool includes: the device comprises a fixing tool, a peeling tool, a wire clamp mounting tool and an insulating cover mounting tool, wherein the fixing tool is used for temporarily fixing a main guide wire and a drainage wire of the drainage wire. Through the setting of the fixing tool of the drainage wire, the main drainage wire and the drainage wire are connected and are operated by a robot, so that the fixation of the main drainage wire and the drainage wire by manpower is avoided, the danger is avoided in the manual fixation process, the automation degree is high, the labor intensity is low, and the safety is higher. By adopting the operation mode of the electrified lapped drainage wire, the operation range is wider, the operation is carried out by matching the operator with the robot, the applicability to the complex operation environment, the line type of the complex main drainage wire and the complex rod head structure is improved, and meanwhile, the operation is carried out by matching the operator with the robot, and various operation items such as insulator righting and lightning arrester replacing can be completed. The safety of the live lapping and leading operation is improved. In the working process, all the operators monitor and operate in the non-electrified region, so that the safety of the working is ensured. In the operation process, generally, the operation time can be controlled within 60 minutes from the straightening of the drainage wire and the stripping of the insulating skin at the end part of the drainage wire to the completion of the installation of the insulating cover, so that the live lapping and leading operation efficiency is improved. Meanwhile, the technical economy of the electrified lapping and leading operation is improved.

2. The invention provides a robot system for live working, wherein a fixing tool of a drainage wire comprises: the insulation fixing rod and the first clamp; the first clip includes: the first clamp is fixedly connected with the sliding seat and used for fixing the drainage wire; the elastic part is fixedly arranged in the first clamping, the drainage wire enters the elastic part, the elastic part is elastically deformed and wrapped by the drainage wire in the radial direction, and the inner surface of the elastic part is provided with a friction part for fixing the drainage wire. Through the setting of elastic component and friction piece, make the drainage wire when getting into to the elastic component, the elastic component can be according to not unidimensional drainage wire, and take place the deformation of not equidimensional, thereby extrude the drainage wire, fix the drainage wire in first clamp stably, the setting of friction piece has effectually prevented the removal of drainage wire when receiving the elastic component extrusion, the frictional resistance of elastic component with the drainage wire contact has been increased, thereby fix the drainage wire in first clamp, prevent the drainage wire landing in first clamp, thereby abundant fix the drainage wire, and this clamp, the elastic component, and the setting of friction piece, simple structure and the processing of being convenient for, in effectual fixed drainage wire, the taking out of the drainage wire of still being convenient for, make things convenient for operating personnel at the high altitude construction, drainage wire fixing device's reliability has been increased, reduce the potential safety hazard to minimum.

3. The invention provides a robot system for live working, which places a main conductor on a first clamping mechanism, a rotating mechanism and a second clamping mechanism, the controller drives the first clamping mechanism and the second clamping mechanism to act firstly, thereby clamping the main guide wire and preventing the main guide wire from rotating, when the driving rotating mechanism rotates, the rotating mechanism drives the second clamping mechanism to rotate, and as the cutting mechanism is arranged on the second clamping mechanism, therefore, when the rotating mechanism rotates, the cutting mechanism is driven to rotate, and the main guide wire is further cut, so that the insulation skin on the main guide wire is stripped, in the cutting process, the controller simultaneously controls the traveling mechanism to move towards the first clamping mechanism, the cutting mechanism can cut the length to be cut along the extending direction of the main guide line, the whole operation time is not more than 5 minutes, and the automation degree is high. And the setting of running gear for the cutter can freely move, and does not receive the restraint of external force, and the flexibility is strong. The operation position of the peeling device does not need to be moved in the peeling process, so that the problem of peeling interruption is avoided, and the phenomenon of electric leakage caused by replacement of the operation position of the peeling device is prevented.

4. The invention provides a robot system for live working, which comprises: the frame body is arranged on the moving arm and is provided with a placing part for placing the wiring mechanism; the clamping mechanism is arranged on the frame body and is provided with a clamping end which is positioned at the placing part and clamps the wiring mechanism; the lead locking mechanism is arranged on the frame body corresponding to the structure of the wiring mechanism, a main lead and a drainage lead can be correspondingly connected into the lead locking mechanism and the wiring mechanism respectively when the movable arm moves, and the main lead and the drainage lead are respectively fixed by the lead locking mechanism; and the controller is respectively connected with the clamping mechanism, the wire locking mechanism and the wiring driving mechanism for driving the wiring mechanism to perform wiring, and controls the actions of the clamping mechanism, the wire locking mechanism and the wiring driving mechanism. Place wiring mechanism in the department of placing earlier, by fixture centre gripping, the removal arm drives the fastener mounting tool and removes when removing, corresponds the access respectively as leading wire and drainage wire the wire locking mechanism with back in the wiring mechanism is acted by the wiring actuating mechanism, makes wiring mechanism with leading wire and the electrified fastening connection of drainage wire to realize the electrified operation of connecing the drainage wire, degree of automation is high, low in labor strength, and more safety.

5. The invention provides a live-wire work robot system, wherein the insulation cover installation tool comprises: the base body comprises a fixed part and a movable part, one of the fixed part and the movable part is provided with an upper insulating cover part, the other of the fixed part and the movable part is provided with a lower insulating cover part, the control component is arranged on the base body and connected with the movable part, when the base body is used, the movable arm moves the machine body to a certain height, and when the control component monitors that the wire clamp is in a preset position, the control component controls the movable part to move towards the fixed part to enable the upper insulating cover part to be connected with the lower insulating cover part. And the control assembly can accurately monitor the position of the wire clamp, so that the insulating cover can be accurately installed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of a stationary drain wire of a live-working robotic system according to the present invention;

FIG. 2 is a schematic view of the structure of the peeling device contacting the main conductor;

FIG. 3 is a schematic view of the threading structure of the movable arm;

FIG. 4 is a schematic diagram of the wiring process;

FIG. 5 is a schematic structural view illustrating a process of mounting an insulating cover;

FIG. 6 is a schematic structural view of a fixing device for a drainage wire;

FIG. 7 is a perspective view of FIG. 6;

FIG. 8 is a cross-sectional view of FIG. 6;

FIG. 9 is a schematic structural view of a peeling apparatus according to the present invention;

FIG. 10 is a side view of FIG. 9;

FIG. 11 is a rear view of FIG. 9;

FIG. 12 is a schematic view of the stripping device of the present invention engaged with a main conductor;

FIG. 13 is a schematic structural view of a traveling mechanism;

FIG. 14 is a schematic structural view of a first clamping mechanism;

FIG. 15 is a schematic structural view of another embodiment of the first clamping mechanism;

fig. 16 is a schematic structural view of the rotating mechanism;

FIG. 17 is a rear view of FIG. 16;

FIG. 18 is a schematic view of the positioning mechanism;

FIG. 19 is a schematic structural view in perspective at a first angle of a wire clamp installation tool;

FIG. 20 is a perspective view of a second angle of the wire clamp installation tool;

FIG. 21 is a schematic structural view in perspective at a third angle of the wire clamp installation tool;

FIG. 22 is a schematic structural view in perspective of the wire clamp installation tool after installation of the main and drainage wires;

FIG. 23 is a perspective view of the wiring mechanism;

FIG. 24 is one of state views of an insulation cover installation tool;

FIG. 25 is a second state view of the tool for installing the insulating cover;

FIG. 26 is one of the state views of the insulating cover shown in FIGS. 24-25;

fig. 27 is a second state view of the insulating cover shown in fig. 24-25.

Description of reference numerals:

1 a-insulating fixing bar; 2 a-a first cardholder; 3 a-a slide; 4 a-a first clip; 5 a-an elastic member; 6 a-a first opening; 7 a-a first via; 8 a-a second via; 9 a-a guide surface; 10 a-a second cardholder; 11 a-a holder; 12 a-a second clip; 13 a-a second opening; 14 a-a positioning device; 15-main conductor; 16-a drainage wire; 17 a-wire rod; 18-a first cross arm; 19-a second cross arm; 20-arm truck insulation arm; 21-an insulating bucket; 22-a robot body; 23-a moving arm; 24-a robotic work platform; 1 b-a base; 2 b-a first clamping mechanism; 3 b-a frame body; 4 b-a first frame; 5 b-a second frame; 6 b-a guide frame; 7 b-a guide surface; 8 b-a first slider; 9 b-a second rotating member; 11 b-a second drive mechanism; 12 b-a second clamping mechanism; 13 b-a second slide; 14 b-a third rotating member; 15 b-a light bar; 16 b-a mount; 17 b-a third drive mechanism; 18 b-a running gear; 19 b-a slide rail; 20 b-a slide; 21 b-a first rotating member; 22 b-a first drive mechanism; 23 b-a limiting plate; 24 b-a first detection assembly; 25 b-a rotation mechanism; 26 b-a housing; 27 b-a first opening; 28 b-first gear; 29 b-a second gear; 30 b-a third gear; 31 b-a second opening; 32 b-a fourth drive mechanism; 36 b-a tab; 37 b-a second detection component; 38 b-a positioning rod; 39 b-bumps; 40 b-a first electrode; 41 b-a second electrode; 42 b-a power supply device; 43 b-a cutting mechanism; 44 b-a tool apron; 45 b-a cutter; 46 b-a length measuring device; 47 b-insulating skin leading-out rod; 48 b-a camera; 49 b-a controller; 50 b-quick joint; 51 b-a third detection assembly; 1 c-a shelf body; 2 c-a wiring mechanism; 3 c-a clamping mechanism; 4 c-a wire locking mechanism; 5 c-a controller; 6 c-connecting piece; 7 c-quick joint; 8 c-a groove; 9 c-a through hole; 10 c-a clamping plate; 11 c-main conductor wiring channel; 12 c-a drainage wire wiring channel; 14 c-a camera; 15 c-a first test assembly; 16 c-a second test assembly; 23 c-a tightening part; 1 d-a wire guide groove; 2 d-a stationary part; 3 d-a mobile part; 4 d-base; 5 d-upper part of the insulating cover; 6 d-lower part of the insulating cover; 7 d-a guide groove; 15 d-rotating shaft; 16 d-sensor; 17 d-a controller; 18 d-battery; 19 d-quick coupler;

e is a lap joint electricity taking point of the main guide line; f is a safe distance;

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Fig. 1 to 27 show a live-working robot system according to an embodiment of the present invention, which includes a robot working platform 24, and a main controller (not shown) connected to the robot working platform 24;

be equipped with the robot on the robot work platform 24, wherein the robot includes robot body 22 and removal arm 23, robot work platform 24 still is equipped with the tool holder of placing the working tool, and the tool holder is used for supplying removal arm 23 to pick up and change the working tool, the working tool includes:

the device comprises a fixing tool, a peeling tool, a wire clamp mounting tool and an insulating cover mounting tool, wherein the fixing tool, the peeling tool, the wire clamp mounting tool and the insulating cover mounting tool are used for temporarily fixing a main guide wire and a drainage wire.

An insulating bucket 21 is arranged below the robot working platform 24, the insulating bucket 21 is installed on the arm car insulating arm 20, the robot working platform 24 moves through the movement of the arm car insulating arm 20, and an accommodating space allowing an operator to stay is formed in the insulating bucket 21.

In the present embodiment, the robot body 22 is composed of a moving arm 23 with a quick-change connector, a vision system, an environment sensing system, and a power supply system.

The robot body 22 is arranged on a hydraulic support on the insulating bucket 21, and the robot is adjusted to the optimal operation position by adjusting the hydraulic support to rotate +/-180 degrees and utilizing a vision system; and the robot is powered by a power supply system. When the insulating bucket 21 is in a static working condition (namely, a person or a robot arrives at a working area), the relative position of the robot and the insulating bucket 21 can be adjusted by controlling the hydraulic support, namely, the spatial position of the robot can be adjusted, so that the functional requirement that the moving arm 23 holds a working tool and quickly arrives at a working point can be met, the functional requirement that the operator quickly arrives at the working point can also be met by adjusting the spatial position of the insulating bucket 21, and the safety of a human body can be ensured because the operator in the insulating bucket 21 is in a non-electrified area beyond a safety distance when the robot works; when a human body tends to exceed a safe operation distance (enter a safety fence), the independently designed safety protection system can give an alarm to warn the human body not to enter a charged area; when the next lap joint point operation needs to be transferred, the hydraulic system of the insulating arm 20 of the arm car needs to be manually or automatically controlled to complete the stretching and the lifting of the insulating arm 20 of the arm car, so that the robot and the insulating bucket 21 are sent to the next operation area, and the next lap joint guiding operation is started.

In this embodiment, the robot that adopts is the full autonomic robot of single armed, compares with the full autonomic robot of prior art both arms, under the condition that satisfies the overlap joint drainage function equally, owing to reduced a removal arm and supporting control system, has not only reduced robot system cost, and maintainability is good moreover, is convenient for change, the price/performance ratio is higher.

The operation process can also be realized by three-dimensional space modeling, information such as a path planning route of an operation point to be operated and the moving arm 23, a specific position of the robot, a spatial position of the moving arm 23 and the like is predetermined, and an artificial intelligence technology is adopted to perform automatic analysis, calculation and simulation aiming at each operation point, so that the insulating arm 20, the hydraulic support and the moving arm 23 of the arm car are automatically regulated and controlled to be linked in sequence through the main controller, the insulating bucket 21 is sent to a specified operation position by the automatic moving robot and the insulating arm 20 of the arm car, and the operation efficiency is improved.

As shown in fig. 6 to 8, the first tool used first is a fixing tool for a drainage wire, which includes an insulation fixing rod 1a, a first clip 2a, a second clip 10a, and a positioning device 14 a.

A second clamp 10a and a first clamp 2a are sequentially arranged along the axial direction of the insulation fixing rod 1 a;

the first clip 2a includes: the movable sliding seat 3a is sleeved on the insulating fixed rod 1a, and the first clamp 4a is fixedly connected with the sliding seat 3a and used for fixing the drainage wire 16.

In this embodiment, the length of the insulating fixing rod 1a is greater than or equal to 700mm to ensure the insulating distance.

Elastic component 5a, fixed setting in first clamping 2a, when drainage wire 16 gets into elastic component 5a, elastic component 5a takes place elastic deformation, follows drainage wire 16's radial direction parcel drainage wire 16, and be equipped with at the internal surface of elastic component 5a and be used for fixing the friction piece of drainage wire 16.

Through the setting of elastic component 5a and friction part for drainage wire 16 is when entering into elastic component 5a, and elastic component 5a can be according to not unidimensional drainage wire 16, and takes place the deformation of different degree, thereby extrudees drainage wire 16, with the stable fixing in first clamp 4a of drainage wire 16, in this embodiment, elastic component 5a is rubber, and rubber has good elasticity and higher intensity, still has performances such as stand wear and tear, corrosion-resistant and insulating simultaneously. And a friction member is provided on the inner surface of the elastic member 5a, and in the present embodiment, the friction surface is a frosted surface provided on the inner surface of the elastic member 5 a; this frosted surface's setting, the effectual removal that prevents drainage wire 16 when receiving the extrusion of elastic component 5a, the frictional resistance of elastic component 5a and the 16 contacts of drainage wire has been increased, thereby fix drainage wire 16 in first clamp 4a, prevent drainage wire 16 landing in first clamp 4a, thereby abundant fix drainage wire 16, and this clamp, elastic component 5a, and the setting of friction member, simple structure and the processing of being convenient for, in effectual fixed drainage wire 16, the drainage wire 16 of still being convenient for takes out, make things convenient for operating personnel to operate at high altitude, the reliability of drainage wire fixing tool has been increased, reduce the potential safety hazard to minimumly.

In this embodiment, the first yoke 4a is C-shaped, and has a first opening 6a for allowing the drainage wire 16 to enter, the arc length of the first opening 6a is less than a quarter of the circumference of the first yoke 4a, and the opening faces upward. The arc length of the first opening 6a is set to be less than one fourth of the circumference of the first clamp 4a, that is, the circumference of the first clamp 4a is greater than three quarters of the circumference of the first clamp, so that when the drainage wire 16 is inserted into the first clamp 4a through the first opening 6a, the contact area between the first clamp 4a and the drainage wire 16 is effectively increased, and the drainage wire 16 is better fixed in the first clamp 4a, and the drainage wire 16 is prevented from sliding off.

A guide surface 9a for allowing the drainage wire 16 to enter and exit is arranged on the first clamping hoop 4a, and a guide function is provided for the entering and exiting of the drainage wire 16.

The sliding seat further comprises a first through hole 7a arranged on the sliding seat 3 a;

and a plurality of second through holes 8a provided at predetermined intervals on the insulating fixing rod 1a, and passing through the first through holes 7a and one of the second through holes 8a in order by a fastening member to fix the slider 3a on the insulating fixing rod 1 a. In this embodiment, the fasteners are bolts.

The distance between two adjacent second through holes 8a is not specifically limited, and the number of the second through holes 8a is not specifically limited, and is set according to actual needs.

Through set up a plurality of second through-holes 8a on insulating dead lever 1a, and the mode of first through-hole 7a matched with on the perisporium of first clamp 4a, can realize the removal of first clamp 4a on insulating dead lever 1a on different heights for adjust when needing the drainage wire 16 of fixed different length.

The insulation fixing rod further comprises a second clamp 10a arranged at the top of the insulation fixing rod 1a, and the second clamp 10a comprises a fixing seat 11a and a second clamping hoop 12 a.

The fixing seat 11a is arranged at the top of the insulating fixing rod 1a and is fixedly connected with the insulating fixing rod 1 a;

and a second clamp 12a, wherein the second clamp 12a is also C-shaped as the structure of the first clamp 4a, and has a second opening 13a allowing the main conductor 15 to enter, and the opening direction of the second opening 13a is downward and corresponds to the opening direction of the first opening 6 a. And the arc length of the second opening 13a is less than one fourth of the circumference of the second clip 12a12, that is, the circumference of the second clip 12a is greater than three quarters of the circumference, when the main conductor 15 is inserted into the second clip 12a through the second opening 13a, the contact area between the second clip 12a and the main conductor 15 is effectively increased, so that the main conductor 15 is better fixed in the second clip 12a, and the main conductor 15 is prevented from sliding off.

In this embodiment, the diameter of the second band 12a is equal to the diameter of the first band 4 a. The diameter of the second yoke 12a and the first yoke 4a is in the range of 10-30 mm. The setting width of the sliding seat 3a and the fixed seat 11a is in the range of 50-200mm, and the larger width is used for preventing the fixing tool from swinging along the axial direction of the main guide line 15.

As shown in fig. 1, a power distribution network hot-line operation transmission line generally comprises a pole 17, a cross arm, an insulator, and three main conductors 15. According to the design specification of the power distribution network, the arrangement mode of the three main guide lines 15 has various line types such as parallel lines, triangular lines and the like, and the structure of the rod head is complex and changeable.

When electricity is needed to be taken from the main conductor 15, two cross arms, namely a first cross arm 18 and a second cross arm 19 are generally arranged along the axial direction of the wire rod 17, insulators are respectively arranged on the first cross arm 18 and the second cross arm 19, the three drainage wires 16 are correspondingly lapped with the three main conductors 15 respectively to take electricity, and electricity is transmitted to new users through additionally arranged overhead conductor channels or cable channels. The first cross arm 18 and the second cross arm 19 may be defined as a parallel straight line (n is 0), a parallel horizontal line (n is 30 to 90), a triangle straight line (n is 0), a triangle horizontal line (n is 30 to 90), and the like, according to the different top view included angle n.

According to the design specification and the live-line work specification of the power distribution network, the distance between a lap joint electricity taking point (called a lap joint point) on each main conductor 15 and the center of a wire pole 17 is not easy to be too large (less than or equal to 600mm), otherwise, the drainage wire 16 is too long, and short circuit can be caused by discharge between the two items when wind swing occurs. When the distance between an operator and a charged body is greater than 400 mm, the distance is an operation safety distance, the operator can be regarded as non-live working, and only general wearing protection is adopted, and when the distance is less than 400 mm, the operator can be regarded as live working, and besides the need of wearing protection, the operator also needs to take insulation shielding measures on the three main guide lines 15, the first cross arm 18 and the second cross arm 19.

The first cross arm 18 is fixedly installed on the thread pole 17, the plurality of main thread guiding lines 15 are arranged on the first cross arm 18, and a second cross arm 19 used for arranging the plurality of drainage threads 16 is further arranged on the thread pole 17, in the embodiment, the plurality of main thread guiding lines 15 and the plurality of drainage threads 16 are all three. The drainage wire 16 is fixed by being hung on the main drainage wire 15 by the second clip 10a and then being inserted into the first clip 2a, and then other operations are performed.

A positioning device 14a for determining the moving position of the insulation fixing rod 1a is arranged on the fixed seat 11 a. In this embodiment, the positioning device 14a is a laser range finder. When the device is used, laser emitted by a laser range finder directly irradiates on the wire rod 17, then the insulating fixed rod 1a is moved, so that the installation position of the insulating fixed rod 1a is measured, when the lapping point of the wire rod 17, which is far away from the drainage wire 16, is within a range of 600mm, the insulating fixed rod 1a is stopped to be moved, the second clamp 10a is hung on the main drainage wire 15, then the drainage wire 16 is inserted into the first clamp 2a, and then the drainage wire 16 is fixed.

In this embodiment, be equipped with the arm car at the safe distance department of line pole 17, be equipped with insulating fill 21 on arm car insulating arm 20, be equipped with robot 22 on insulating fill 21, moving through arm car insulating arm 20 for robot 22 operates the fixing tool operation of drainage wire, and operating personnel only need control robot 22 operation can, avoid artifical live working and take place danger.

The specific working process is as follows: through main control removal arm 23 centre gripping drainage wire fixing tool, then open positioner 14a, measure the distance between insulating dead lever 1a and the line pole 17, in the within range of suitable overlap joint, hang second clamping 10a through removal arm 23 and establish on first main traverse line 15, then removal arm 23 loosens insulating dead lever 1a, the rethread removal arm 23 presss from both sides and gets first drainage wire 16 and insert to first clamping 2a to accomplish the fixed of first drainage wire 16, analogize in proper order, until accomplishing drainage wire 16 fixed.

The working process can be realized by the following method: the insulating bucket 21 carries an operator to move to a non-live working area below the main conductor 15, the operator inserts the drainage wire 16 into the first clamp 2a, holds the bottom end of the insulating fixed rod 1a by hand, and hangs the second clamp 10a of the fixing tool at the determined lap joint position of the main conductor 15.

As shown in fig. 9-18, a peeling tool is used, which comprises a base 1b, a first clamping mechanism 2b, a second clamping mechanism 12b, a traveling mechanism 18b, a rotating mechanism 25b, and a cutting mechanism 43 b.

A base 1b mounted on the moving arm 23, a traveling mechanism 18b being provided inside the base 1 b;

the first clamping mechanism 2b and the second clamping mechanism 12b are respectively arranged on the base 1b, wherein the second clamping mechanism 12b is connected with the rotating mechanism 25b arranged on the travelling mechanism 18b, the second clamping mechanism 12b is provided with a cutting mechanism 43b, and the first clamping mechanism 2b and the second clamping mechanism 12b are provided with a main guide wire 15;

the controller 49b is connected to the traveling mechanism 18b, the first clamping mechanism 2b, the second clamping mechanism 12b and the rotating mechanism 25b, the controller 49b drives the rotating mechanism 25b to rotate so as to drive the cutting mechanism 43b to cut the main guide wire 15, and the cutting mechanism 43b drives the traveling mechanism 18b to drive the rotating mechanism 25b to move on the traveling mechanism 18b towards the direction of the second clamping mechanism 12 b.

The first clamping mechanism 2b is arranged at the left end of the base 1b, the rotating mechanism 25b is arranged at the right end of the base 1b, and the second clamping mechanism 12b is driven to rotate along the circumferential direction of the main guide line 15. The second clamping mechanism 12b is disposed on the rotating mechanism 25b and is fixedly connected with the rotating mechanism 25b, so that when the rotating mechanism 25b rotates, the second clamping mechanism 12b is rotated. The main guide line 15 is placed on the first clamping mechanism 2b, the rotating mechanism 25b and the second clamping mechanism 12b, the first clamping mechanism 2b and the second clamping mechanism 12b are firstly driven to act through the controller 49b, so that the main guide line 15 is clamped, the main guide line 15 is prevented from rotating, the rotating mechanism 25b is driven to rotate by the rotating mechanism 25b when the rotating mechanism 25b is driven to rotate, the second clamping mechanism 12b is driven to rotate by the rotating mechanism 25b, the cutting mechanism 43b is driven to rotate when the rotating mechanism 25b rotates due to the fact that the cutting mechanism 43b is arranged on the second clamping mechanism 12b, the main guide line 15 is cut, so that an insulating skin on the main guide line 15 is stripped, the component force along the axis of the guide line is generated due to the rotating force generated by the cutting mechanism 43b, the cutting mechanism 43b can automatically cut the length required to be cut along the extending direction of the main guide line 15, the automation degree is high. And the arrangement of the running mechanism 18b enables the cutter 45b to move freely without being restrained by external force, and the flexibility is strong. The peeling tool has the advantages that in the peeling tool operation process, the peeling tool does not need to be moved, the peeling interruption problem is avoided, and the phenomenon of electric leakage caused by replacement of the peeling tool in the operation position is prevented.

As shown in fig. 12, in this embodiment, the first clamping mechanism 2b, the second clamping mechanism 12b and the rotating mechanism 25b are located on the same axis, so that the main conductor 15 is in a linear state, thereby ensuring the accuracy of the cutting mechanism 43b in cutting, preventing the cutting mechanism 43b from affecting the thickness of the insulation sheath on the main conductor 15 due to the bending of the main conductor 15, and avoiding the conductor in the main conductor 15 from being cut and affecting the performance of the main conductor 15.

As shown in fig. 13, in the present embodiment, the traveling mechanism 18b includes a slide rail 19b and a slider 20 b.

The slide rail 19b is arranged inside the base 1b along the extending direction of the base 1 b; one end of the sliding seat 20b is slidably connected to the sliding rail 19b, and the other end extends to the upper side of the base 1b and is fixedly connected to the rotating mechanism 25 b. The traveling mechanism 18b further includes: a first driving mechanism 22b provided inside the base 1b and connected to the controller 49 b; a first rotating member 21b connected to the first driving mechanism 22b, wherein a stopper plate 23b is provided on the first rotating member 21 b; the first detection assembly 24b is arranged on the sliding seat 20b and connected with the controller 49b, the traveling mechanism 18b drives the rotating mechanism 25b to move towards the second clamping mechanism 12b, the first detection assembly 24b touches the limiting plate 23b, and the first detection assembly 24b transmits an electric signal back to the controller 49b to stop the rotation of the rotating mechanism 25 b.

The slide rail 19b and the slide base 20b may be a set, and are disposed at the bottom of the rotating mechanism 25b, a first driving mechanism 22b is disposed in the base 1b, the first driving mechanism 22b is connected to one end of the first rotating member 21b, a limiting plate 23b is disposed at the other end of the first rotating member 21b, and a first detecting component 24b is disposed on the slide base 20b, in this embodiment, the first detecting component 24b is a position sensor. Firstly, the first driving mechanism 22b drives the first rotating member 21b to rotate, so that the position-limiting plate 23b moves to a position where the insulation of the main conducting wire 15 needs to be stripped, and then when the first detecting component 24b on the sliding seat 20b touches the position-limiting plate 23b, the cutting mechanism 43b represents that the insulation of the main conducting wire 15 with a required length has been stripped; the controller 49b can drive the rotation mechanism 25b to return to the right end of the base 1 b.

In the present embodiment, two sets of slide rails 19b and slide carriages 20b are symmetrically disposed at the bottom of the rotating mechanism 25b, and the first rotating member 21b and the first driving mechanism 22b are disposed at the middle of the two sets of slide rails 19b and slide carriages 20 b.

As shown in fig. 9 to 13, in the present embodiment, the first clamping mechanism includes a frame body 3b and a first slider 8 b.

The frame body 3b is an integrated piece and is fixedly arranged at the left end of the base 1 b;

the two first sliding blocks 8b are arranged on one side of the frame body 3b and arranged in a fixed frame 16b, and the fixed frame 16b is of a U-shaped structure. Wherein, the frame body 3b is a plate-shaped structure arranged on the base 1 b; and a second rotating part 9b for driving the two first sliding blocks 8b to move relatively is arranged between the two first sliding blocks 8b, wherein the second rotating part 9b is connected with the second driving mechanism 11 b. The second rotating part 9b is driven to rotate positively by the positive rotation of the second driving mechanism 11b, so that the two first sliding blocks 8b move relatively close to each other, the main guide line 15 is clamped, and the second rotating part 9b is driven to rotate reversely by the reverse rotation of the second driving mechanism 11b, so that the two first sliding blocks 8b move relatively far away from each other, and the main guide line 15 is released.

The second rotating member 9b is a lead screw, and the thread turning directions of the lead screw are opposite, so that the two first sliding blocks 8b can be driven to move close to each other or move away from each other.

And, the contact surface of first slider 8b and leading wire 15 is the arcwall face, the form of arc breach, triangle-shaped breach to be convenient for leading wire 15 laminating on two first sliders 8b, make two first sliders 8b centre gripping tighter, thereby prevented leading wire 15's rotation. Meanwhile, the first sliding block 8b is arranged, so that the first clamping mechanism 2b can clamp the main guide line 15 with different sizes, and the situation that the first clamping mechanism 2b needs to be replaced due to the fact that the main guide line 15 is different in size is avoided.

As shown in fig. 14 to 15, in this embodiment, two guide frames 6b are symmetrically disposed on the first frame body 4b, and a guide surface 7b for facilitating the main guide line 15 to enter and exit is disposed on the guide frames 6 b. The guide frame 6b adopts a horn-shaped opening, and the guide frame 6b is made of plastic materials such as polyurethane, nylon, polypropylene and the like.

As an alternative embodiment, the frame body 3b may be a separate body, i.e. a first frame body 4b and a second frame body 5b, and the two guiding frames 6b are fixedly connected with the first frame body 4b and the second frame body 5b, respectively, to form a single body. The first frame body 4b is fixedly connected with one first sliding block, the second frame body 5b is fixedly connected with the other first sliding block, and at the moment, the second frame body 5b is connected with the base 1 b. When the second rotating member 9b rotates, the two first sliding blocks 8b and the two frame bodies are driven to move together, so that the main guide line 15 is clamped or released.

In this embodiment, the second clamping mechanism 12b includes: the two second sliding blocks 13b are symmetrically arranged on the rotating mechanism 25b, a fixed frame 16b is arranged on the rotating mechanism 25b, the two second sliding blocks 13b are arranged in the fixed frame 16b, a third rotating part 14b used for driving the two second sliding blocks 13b to move relatively is arranged between the two second sliding blocks 13b, and the third rotating part 14b is connected with the third driving mechanism 17 b. And the third driving mechanism 17b is arranged in the state that the third rotating part 14b is driven to rotate forwards through the forward rotation of the third driving mechanism 17b, so that the two second sliding blocks 13b move relatively close to each other to clamp the main guide line 15, or the third driving mechanism 17b rotates backwards to drive the third rotating part 14b to rotate backwards, so that the two second sliding blocks 13b move relatively far away from each other to release the main guide line 15. A pull ring 36b is provided at the other end of the third rotating member 14b, and the third rotating member 14b is manually rotated to clamp or release the main conductor 15 when the second driving mechanism is not powered or deactivated.

In this embodiment, the third rotating member 14b is a screw rod, and the thread directions of the screw rod are opposite, so that the two second sliding blocks 13b can be driven to move toward or away from each other.

The third rotating member 14b may further include a screw rod and a lever 15b disposed on two sides of the screw rod, and the rotation directions of the screw rod are opposite to each other, and the two second sliding blocks 13b may be driven to move closer to each other or move away from each other. The optical lever 15b mainly plays a guiding role, so that the second slider 13b can move conveniently, meanwhile, the optical lever 15b also enables the acting force of the second slider 13b acting on the screw rod to be dispersed, and the second clamping mechanism 12b needs to rotate along with the rotation of the rotating mechanism 25b, so that the strength of the second clamping mechanism 12b needs to be ensured.

And, can be the form of arcwall face, arc breach, triangle-shaped breach at the contact surface of second slider 13b with leading wire 15 to be convenient for leading wire 15 and laminate on two second sliders 13b, make the centre gripping of two second sliders 13b tighter, thereby prevented leading wire 15's rotation. Meanwhile, the second sliding block 13b is arranged, so that the second clamping mechanism 12b can clamp the main guide wire 15 with different sizes, and the problem that the second clamping mechanism 12b needs to be replaced due to the fact that the main guide wire 15 is different in size is avoided.

As shown in fig. 16 to 18, in the present embodiment, the rotation mechanism 25b includes a housing 26b and a gear set, and a fourth drive mechanism 32 b.

The housing 26b is fixedly connected with the bottom of the sliding seat 20b and is provided with a first opening 27b for allowing the main guide line 15 to enter and exit;

the gear set is arranged in the shell 26b and is provided with a second opening 31b matched with the first opening 27b, the main guide wire 15 penetrates through the first opening 27b and the second opening 31b, and the second clamping mechanism 12b is fixedly connected with the gear set.

The gear set comprises a first gear 28b with a second opening 31b and two second gears 29b and a third opening for transmission, and a fourth driving mechanism 32b is rotationally connected with the second gear 29b or the third gear 30b, so that the first gear 28b, the second gear 29b and the third gear 30b are meshed with each other, and the second clamping mechanism 12b and the cutting mechanism 43b are driven to rotate to cut the main guide line 15.

The housing 26b is disposed outside the gear train to protect the gear train from being exposed and colliding during transportation or operation. Therefore, a through hole for allowing the main guide line 15 to pass therethrough is provided on the housing 26b, and corresponds to the center of the first gear 28 b. The second opening 31b of the housing 26b is communicated with the through hole, and the housing 26b at the second opening 31b is provided with an inclined surface, so that the guiding function is achieved, and the main guide wire 15 can be conveniently put in.

In the present embodiment, the first driving mechanism 22b, the second driving mechanism 11b, the third driving mechanism 17b, and the fourth driving mechanism 32b are all motors, but may be a brush motor, a servo motor, or a stepping motor.

As shown in fig. 16 to 18, in the present embodiment, the present invention further includes a positioning mechanism, which includes: at least one positioning rod 38b arranged on the gear set; and at least one second detection unit 37b provided in the housing 26b, wherein the positioning rod 38b abuts against the second detection unit 37b when the second opening 31b overlaps with the first opening 27 b.

The first gear 28b may be provided with a projection 39b, the projection 39b may be fitted to an inner ring of the gear, the projection may be provided with a positioning rod 38b, when the first gear 28b rotates, the positioning rod 38b rotates together with the first gear 28b, and when the second opening 31b of the first gear 28b coincides with the first opening 27b of the housing 26b, the positioning rod 38b abuts against a second detection unit 37b provided on the housing 26b, and the second detection unit 37b transmits a signal back to the controller 49b, so that the first clamping mechanism 2b and the second clamping mechanism 12b may be controlled to release the main guide wire 15. In the present embodiment, the second detection member 37b is a contact sensor.

As an alternative embodiment, the positioning rod 38b may be provided in an L-shape, and the positioning rod 38b may be fixed to the inner ring of the gear.

As an alternative embodiment, the positioning rod 38b may be provided on the housing 26b, and the second detection unit 37b may be provided on the projection 39b of the first gear 28 b.

As shown in fig. 15, in this embodiment, a charging mechanism connected to the second clamping mechanism 12b is further included, and the charging mechanism includes:

the first electrode 40b is a positive electrode or an anode and is arranged on the second clamping mechanism 12 b;

the second electrode 41b is a negative electrode or a cathode, and is disposed on the housing 26b, and when the first electrode 40b and the second electrode 41b correspond to each other, a circuit connecting the second clamping mechanism 12b and the charging mechanism is turned on.

A power supply device 42b is provided at one end of the second clamping mechanism 12b, and the power supply device 42b is a battery pack. In the process of rotating the second clamping mechanism 12b, due to the rotation of the second clamping mechanism 12b, a connection wire connecting the third driving mechanism 17b with the battery pack may be wound on the main conductor 15, so that there is a case that it is inconvenient to supply power to the second driving mechanism. Therefore, set up the positive pole on second fixture 12b, be equipped with the negative pole on casing 26b, the battery package passes through the connecting wire with casing 26b and is connected to when positive pole and negative pole correspond, then switch on the circuit, thereby for third actuating mechanism 17b power supply, thereby solved and charged inconvenient problem for third actuating mechanism 17b, prevented that the connecting wire from winding on leading wire 15.

The first electrode 40b and the second electrode 41b are disposed and also function as a positioning, and during the contact of the first electrode 40b and the second electrode 41b, the first opening 27b and the second opening 31b are overlapped, so that the main conducting wire 15 can be removed.

As an alternative embodiment, the first electrode 40b may be a negative electrode or a cathode disposed on the housing 26 b; a second electrode 41b, a positive electrode or an anode, is provided on the second clamping mechanism 12 b.

In the present embodiment, the cutting mechanism 43b includes: the tool apron 44b is fixedly connected with the second clamping mechanism 12b, so that when the second clamping mechanism 12b rotates, the cutting mechanism 43b is driven to rotate;

the cutter 45b with a round hole is rotatably arranged in the cutter seat 44b, and an included angle of 50-85 degrees is formed between the cutter 45b and the main guide line 15, after the cutter head of the cutter 45b cuts into the main guide line 15, the cutter head of the cutter 45b is pushed to automatically advance due to axial force generated by rotation, and other external force is not needed. The cutter 45b is made of a tool steel material, and the tip of the cutter is arc-shaped, so that the conductor in the main conductor 15 is prevented from being damaged.

The tool apron 44b is provided with a length measuring device 46b for adjusting the rotating position of the tool 45b, and the length measuring device 46b can rotate the tool 45b through the main guide line 15 with different sizes for scale marks arranged on the tool apron 44b, so that the operation of an operator is facilitated, and the operation can be conveniently and quickly carried out only by adjusting the size of the main guide line 15.

An insulating skin leading-out rod 47b is arranged on the side wall of the cutter holder 44b, and the insulating skin leading-out rod 47b can be made of plastic materials such as polyurethane, nylon and polypropylene, can also be made of aluminum alloy, and can lead out the stripped insulating skin to prevent the insulating skin from falling on a tool.

A third detecting component 51b is also arranged at the position of the main conductor 15 connected with the controller 49b for detecting, and the third detecting component 51b is arranged on the frame body for detecting whether the main conductor 15 is installed in place.

As shown in fig. 9-12, a camera 48b is provided on the dehider tool, the camera 48b being used to implement feedback on the operation of the dehider tool for easy viewing by the operator.

The number of the cameras 48b is not specifically limited, and is set according to actual needs.

At the bottom of the skinning tool there is a quick-fit joint 50b for connection to the mobile robot body 22 or other mobile tool, with the two ends of the joint being disk flanges or square flanges.

The quick connector 50b is connected with the moving arm 23 of the robot body 22, so that the robot body 22 is operated to complete high-altitude live working of a distribution network line, danger during manual working is avoided, safety is improved, and labor intensity is reduced.

The specific working process is as follows: according to the wire specification of the operation line, the angle of the cutter 45b is adjusted, and the initial position (the position is between 80 and 120 mm) of the limit plate 23b is set according to the peeling length required by the operation. The tool is mounted on the moving arm 23 of the robot. The main controller drives the robot vision system to automatically search and position the lap joint point of the first main guide line 15 and lift the tool to the operation height, the main controller is connected with the controller 49, the first clamping mechanism 2b, the rotating mechanism 25b, the second clamping mechanism 12b and the cutting mechanism 43b are automatically opened under the action of the controller 49b to automatically align the main guide line 15, the main guide line 15 enters the first clamping mechanism 2b and the second clamping mechanism 12b, the third detection assembly 51b feeds a signal back to the controller 49b when detecting that the main guide line 15 falls onto the frame body 3b, the controller 49b controls the moving arm 23 to stop rising, and the picking-up of the main guide line 15 is completed in the process. The controller 49b drives the second drive mechanism 11b and the third drive mechanism 17b to operate simultaneously, and the two first sliders 8b and the two second sliders 13b are moved toward the main guide line 15, respectively, to clamp the main guide line 15. The feedback job status is fed back to the controller 49b and the main controller in real time by controlling the controller 48 b. Then the fourth driving mechanism 32b is driven to rotate, and further the rotating mechanism 25b is sequentially driven to rotate, the second clamping mechanism 12b and the cutting mechanism 43b are driven to rotate together, so that the cutter 45b cuts the insulation skin of the main conducting wire 15, and the rotating force generated in the process that the cutter 45b cuts the insulation skin of the main conducting wire 15 enables the rotating mechanism to move in the extending direction of the main conducting wire 15, wherein the rotation of the rotating mechanism 25b, the cutting of the cutting mechanism 43b and the movement of the traveling mechanism 18b are synchronous movement, when the first detection component 24b on the sliding seat 20b touches the limiting plate 23b, the first detection component 24b transmits a signal to the controller 49b, so as to control the traveling mechanism 18b to stop continuing to advance, the cutting mechanism 43b rotates in situ to cut off the insulation skin, the controller 49b controls the second driving mechanism 11b and the third driving mechanism 17b to rotate reversely, so that the first clamping mechanism 2b and the second clamping mechanism 12b respectively release the clamping to the main conducting wire 15, the robot drives the peeling tool to move downwards, the first driving mechanism 22b is started, and then the first rotating piece 21b is driven to rotate, so that the limiting plate 23b pushes the traveling mechanism 18b and the cutting mechanism 43b to reset, and the peeling operation of the main guide line 15 is completed.

After the peeling operation is performed, a clip is installed for the main conductor 15 and the drainage wire 16 using a clip installation tool, which in this embodiment includes a holder body 1c, a clamping mechanism 3c, the conductor locking mechanism 4c, a controller 5c, a wire drive mechanism, and an induction assembly, as shown in fig. 19 to 23.

The frame body 1c is mounted on the moving arm 23, and the clamping mechanism 3c, the wiring mechanism 2c and the controller 5c are mounted on the frame body 1c to support the clamping mechanism 3c, the wiring mechanism 2c and the controller 5 c. The holder body 1c has a placing portion on which the wire connection mechanism 2c is placed. In this embodiment, the placement portion is located at the middle of the rack body 1c, and the wire drive mechanism is located on the lower side of the placement portion. Therefore, in order to ensure that the placement position of the wire connection mechanism 2c is relatively accurate, the tightening part 23c is connected with the wire connection driving mechanism, and the placement part is provided with a groove 8c for positioning the wire connection mechanism 2c and a through hole 9c for connecting the tightening part 23c of the wire connection mechanism 2c with the universal sleeve. The shape of the recess 8c is adapted to the shape of the mounting portion of the wiring mechanism 2c, as long as it is sufficient to position the wiring mechanism 2 c.

The clamping mechanism 3c has a clamping end at the placing portion that clamps the wiring mechanism 2 c. In this embodiment, the clamping end includes two clamping plates 10c, an inner side wall of one of the clamping plates 10c is flush with a groove wall of the groove 8c, and is fixedly mounted on the frame body 1c, and the other clamping plate 10c is connected with the clamping driving mechanism and is driven by the clamping driving mechanism to move, so that the two clamping plates 10c move in opposite directions or in opposite directions to clamp the wiring mechanism 2 c.

The wire locking mechanism 4c has two clamping mechanisms with the same structure as the first clamping mechanism 2b, and the movement modes are the same. One first clamping mechanism 2b is used to clamp the main guide wire 15, and the other first clamping mechanism 2b is used to clamp the drainage wire 16.

Alternatively, both the clamping plates 10c may be movably provided on the rack body 1c and driven by the clamping mechanism 3c to move in the opposite direction or in the opposite direction. The two clamping plates 10c can be arranged in the same way as the two sliding blocks on the wire locking mechanism 4c, and the structure is simple and stable. Of course, other solutions in the prior art are also possible.

In this embodiment, a connecting member 6c is installed on the lower side of the rack body 1c, and one end of the connecting member 6c, which is far away from the rack body 1c, is connected to the moving arm 23 through a quick coupler 7 c. The quick coupler 7c may be constructed as a flange as shown in fig. 19. Of course, any one of a wide variety of structures may be used as long as it is sufficient to connect the connecting member 6c to the moving arm 23. The connecting piece 6c is of a cylindrical structure, and the wiring driving structure is arranged in the connecting piece 6c to protect the wiring driving structure and enable the structure to be more compact.

The wiring driving structure comprises a universal sleeve connected with the screwing part 23c of the wiring mechanism 2c and a sleeve driving motor for driving the universal sleeve to rotate. The universal sleeve is adaptable to tightening portions 23c of different sizes and specifications, and the position requirements for the tightening portions 23c are not particularly precise, so that the wire clamp installation tool can be used for electrically connecting various types of main conductors 15 and drainage wires 16, and can still be tightened when the position of the wiring mechanism 2c deviates.

Lead locking mechanism 4c corresponds wiring mechanism 2 c's structure and sets up on the frame body 1c, main traverse 15 and drainage wire 16 can correspond the access respectively when removal arm 23 removes lead locking mechanism 4c with in the wiring mechanism 2c, and by two first fixture 2b is fixed respectively main traverse 15 with drainage wire 16, then by wiring actuating mechanism drive wiring mechanism 2c work electrified fastening connection main traverse 15 and drainage wire 16 again.

The wiring mechanism 2c is provided with a main lead wiring channel 11c and a drainage wire wiring channel 12c parallel to the main lead wiring channel 11c, and the two wire locking mechanisms 4c respectively correspond to the main lead wiring channel 11c and the two drainage wire wiring channels 12c and are respectively arranged on two sides of the wiring mechanism 2 c. In this embodiment, the connection mechanism 2c is a J-shaped wire clamp.

In order to guide the main conductor 15, so that the main conductor 15 can enter the conductor locking mechanism 4c and the wiring mechanism 2c more smoothly and simply, a guide frame 6b is arranged on the frame body 1c corresponding to the main conductor wiring channel 11 c. The terminal included angle of the guide frame 6b corresponds to the main conductor wiring channel 11 c. The guide frame 6b is fixed to the first slider 8b, and can better guide the main conductor 15 into the conductor locking mechanism 4c and the wiring mechanism 2 c.

In order to realize accurate operation and monitoring of the wire clamp installation tool, the sensing assembly in the embodiment comprises a first testing assembly 15c connected with the controller 5c and used for detecting the position of a main guide wire 15, a second testing assembly 16c connected with the controller 5c and used for detecting the drainage wire 16, and a camera 14c connected with the controller 5c and used for feeding back the working condition of the wire clamp installation tool in real time. Wherein, the first testing component 15c can be installed at the lower end of the guide frame 6b, the second testing frame can be installed on the drainage wire wiring channel 12c, and the head of the camera 14c is arranged corresponding to the wiring mechanism 2c, the clamping mechanism 3c and the wire locking mechanism 4c, especially corresponding to the wiring mechanism 2c, so as to ensure the reliability of the connection of the main conductor 15 and the drainage wire 16.

In this embodiment, the first testing component 15c is installed on the side of the guiding frame 6b, and when the main conducting wire 15 falls to the bottom of the guiding frame 6b, the position of the main conducting wire 15 can be detected, and an in-place signal is provided to the controller, and the first testing component 15c can be in the form of a non-contact switch, a proximity sensor, a photoelectric sensor and other sensors.

The second testing component 16c is mounted on the frame body 1c, when the drainage wire 16 passes through the drainage wire connecting channel 12c of the J-shaped wire clamp and touches the second testing component 16c, the second testing component 16c can feed back a positioning signal to the controller to prompt that the drainage wire 16 is in place, and the second testing component 16c can adopt sensor forms such as a non-contact switch, a proximity sensor and a photoelectric sensor.

The camera 14c is installed at the top of fixture 3c, can provide real-time image at the wiring in-process, and the operation personnel can operate fastener mounting tool on ground. The camera 14c can be mounted by screwing or bonding, can be mounted on each plane of the wire clamp mounting tool according to the actual working environment, and is not limited to be mounted only on the top of the clamping mechanism 3 c.

The sleeve driving motor, the clamping driving mechanism and the locking driving mechanism can adopt motors such as a brush motor, a servo motor, a stepping motor and the like.

The controller 5c is respectively connected with the clamping mechanism 3c, the wire locking mechanism 4c and the wiring driving mechanism, and controls the actions of the clamping mechanism 3c, the wire locking mechanism 4c and the wiring driving mechanism. In this embodiment, in order to make the structure of the wire clamp installation tool more compact, the controller 5c is provided on the lower side of the holder body 1c in parallel with the connecting member 6 c.

The specific working process is as follows: install the fastener mounting tool at the transfer arm 23 end to place J type fastener in the recess 8c of putting up body 1c, screw up portion 23c of J type fastener stretch into in the through-hole 9c with omnipotent muffjoint, fixture 3c starts, presss from both sides the J type fastener tightly. The clamp installation tool is raised to the level of the drain wire 16 by the moving arm 23 and the wire locking mechanism 4c is automatically opened under the control of the controller 5 c. The image of the drainage wire 16 is captured by the camera 14c, the moving arm 23 moves and guides the wire clamp installation tool to penetrate the drainage wire 16 from one side of a corresponding wire locking mechanism 4c, and the second testing component 16c detects the drainage wire 16 and feeds back a positioning signal to the controller 5c to prompt that the drainage wire 16 is in place. The wire locking mechanism 4c is activated to lock the drain wire 16 and feed a locking signal back to the controller 5c and threading of the drain wire 16 is completed. The fastener mounting tool continues to lift to the lower part of the main lead 15, the main lead 15 enters from the opening of the guide frame 6b, the first testing component 15c detects that the main lead 15 falls to the bottom of the guide frame 6b, and when the main lead touches the frame body 3b, the first testing component 15c feeds back a signal to the controller 5c to prompt that the main lead 15 arrives, and the fastener mounting tool stops rising. And starting the corresponding wire locking mechanism 4c, locking the main wire 15 and feeding back a locking signal to the controller 5c to complete the locking of the main wire 15. The controller 5c controls the start of the wiring driving mechanism to drive the universal sleeve to rotate, and starts to screw the screwing part 23c of the J-shaped wire clamp. When the J-clamp is tightened, the wire drive mechanism stops and feeds back a tightening signal to the controller 5 c. The clamping mechanism 3c and the two lead locking mechanisms 4c are respectively and reversely started to loosen the J-shaped wire clamp, the main lead 15 and the drainage lead 16. The movable arm 23 carries the wire clamp mounting tool to move downwards to be separated from the J-shaped wire clamp, and the operation of connecting a lead wire is completed.

And finally, mounting the insulating cover on the wire clamp by using an insulating cover mounting tool so as to ensure the absolute insulation of the joint of the main lead 15 and the drainage lead 16. As shown in fig. 24-27, the insulated housing installation tool includes a base and a control assembly.

The base member includes fixed part 2d, movable part 3d and base 4d, fixed part 2d, movable part 3d is equipped with the friction surface with one side of insulating boot laminating and this partial region is coarse promptly, the coefficient of friction is big, lean on frictional resistance to locate movable part 3d with insulating boot upper portion 5d, locate fixed part 2d with insulating boot lower part 6d, movable part 3d is connected with axis of rotation 15d, fixed part 2d rotates with axis of rotation 15d to be connected, be equipped with the viscose on the edge of insulating boot upper portion 5d and insulating boot lower part 6d, realize that insulating boot upper portion 5d and insulating boot lower part 6d are connected.

As shown in fig. 26 to 27, a wire groove 1d for wrapping the main conductor 15 is provided in the upper portion 5d and the lower portion 6d of the insulating cover, and a guide groove 7d matching with the outer dimension of the wire groove 1d is provided in the fixed portion 2d and the movable portion 3 d. It should be noted that, when the live-wire connection leads are connected, the insulating surface skin of the wire is removed, then the wire clamp is connected with the exposed main conductor 15, in order to meet the insulation requirement, the wire clamp, the main conductor 15 exposed at two sides of the wire clamp and the drainage wire 16 are all wrapped, and the exposed conductor 15 is wrapped by the conductor groove 1 d.

The base 4d is connected with the fixing portion 2d, the base 4d is a frame structure, and is connected with the fixing portion 2d to support and fix the fixing portion 2d, and a quick coupler 19d is arranged at the bottom of the frame structure, so that the movable arm is connected with the quick coupler.

The insulation cover installation tool further comprises a guide assembly and a clamping mechanism.

Wherein, the direction subassembly has two sets ofly, and the both sides of fixed part 2d are located along the extending direction with guide slot 7d to two sets of direction subassemblies, and the direction subassembly includes two leading truck 6b, and leading truck 6b is connected with base 4d, and two leading trucks 6b can constitute V-arrangement or fall "eight" style of calligraphy, promote to pick up leading wire 15's degree of accuracy.

As shown in fig. 9, the gripping mechanism has the same configuration as the first gripping mechanism 2b described above, and the driving method is also the same.

The control assembly is provided on the base body and comprises a sensor 16d, a first drive member 10 d. The sensor 16d is connected to the mounting plate 12d, is provided in the extending direction of the guide groove 7d, and functions to sense the position of the main conductor 15. The output end of the first driving member 10d is connected to the rotating shaft 15d, and the rotating shaft 15d drives the movable portion 3d to approach or leave the fixed portion 2 d. 8

When the insulation cover is used, the guide frame 6b can ensure that the main guide wire 15 is accurately attached to the wire groove 1d on the insulation cover, so that the insulation cover is accurately installed, and the operation efficiency is improved. The clamping mechanism then acts to clamp the main conductor 15, fixing the position of the main conductor 15 and the base to prevent the first driving member 10d from shaking as it drives the movable portion 3d towards the fixed portion 2d, causing the clip detachment sensor 16d to monitor the predetermined position of the clip.

The control assembly further comprises a battery 18d and a controller 17d, which are arranged between the fixing portion 2d and the base 4d, so that the insulating cover mounting tool has a compact structure and saves space, and the sensor 16d selected in the embodiment is a microswitch.

The specific working process is as follows: as shown in fig. 24-25, the controller 17d controls the first driving mechanism to operate, so as to drive the rotating shaft 15d to move the movable portion 3d away from the fixed portion 2 d; the lower part of the insulating cover body is arranged on the fixed part 2d, and the upper part of the insulating cover body is arranged on the movable part 3 d; the moving arm 23 transports the substrate to the height of the main guide line 15, so that the main guide line 15 enters from the guide frame 6b and is lapped on the fixed frame 16b to trigger the sensor 16 d; the controller 17d processes signals of the sensor 16d and controls the second driving mechanism to act to drive the two second sliding blocks 13b to move oppositely so as to clamp the main guide wire 15; the controller 17d controls the first driving mechanism to rotate, and drives the rotating shaft 15d to enable the movable part 3d to be close to the fixed part 2d, and the upper part of the edge cover and the lower part 6d of the insulating cover are bonded together; the controller 17d controls the first driving mechanism to rotate to drive the movable part 3d to be far away from the fixed part 2 d; the controller 17d controls the second driving mechanism to operate to loosen the main guide wire 15, the moving arm transports the base body to an area convenient for manual operation, and one of the upper part and the lower part of the insulating cover body is manually arranged on the fixed part 2d, and the other is manually arranged on the movable part 3 d.

As can be seen from the above-described operation steps, the insulating cover can be mounted to the predetermined position by moving the moving arm 23 only once, and thus the operation efficiency is high. The sensor 16d can accurately monitor the position of the wire clamp, so that the insulating cover can be accurately installed.

In the operation process, an operator performs protection according to an operation instruction and then enters the insulating hopper 21, the human body is ensured to be within a safe operation range, and when the human body tends to exceed a safe operation distance, the safety protection system gives an alarm to warn the human body not to enter a live area.

The specific operation method comprises the following steps: the main controller controls the insulating arm 20 of the bucket arm vehicle to drive the insulating bucket 21 and the robot operating platform 24 to ascend to a preset position, an operator stands in the insulating bucket 21, determines the lap joint points of the three main guide wires 15 according to design specifications, cuts the length of the drainage wire 16 according to the lap joint points, peels off the insulating skin at the end part of the drainage wire 16 and exposes a metal wire with the length of about 80-120 mm; the robot vision system automatically searches, a moving arm 23 on the robot picks up a fixing tool of the drainage wire according to a preset path, the fixing tool of the drainage wire is hung to the main drainage wire 15 through the moving arm 23, then the drainage wire hanger 16 is hung in the first clamp 2a by using the moving arm 23, and the bending rebound stress is eliminated along the drainage wire, so that the three main drainage wires 15 and the three drainage wires 16 are hung in a one-to-one correspondence manner, the fixing tool of the drainage wire needs to ensure that the wire head part of each drainage wire 16 is in a horizontal position and is basically in the same vertical plane with the main drainage wire 15, and after the operation is finished, the moving arm 23 puts the fixing tool of the drainage wire back to the original position of a tool rack of the robot operation platform 24 according to the preset path; the main controller controls the moving arm 23 to pick up the peeling tool, moves the peeling tool to the vicinity of the fixing tool of the drainage wire, and performs the insulation stripping operation on the main conducting wire 15, the specific operation steps are the same as the operation mode of the peeling tool, and after the operation is completed, the moving arm 23 puts the peeling tool back to the original position according to a preset path.

The robot vision system automatically searches and positions the exposed lead at the end of the first drainage wire 16; the main controller controls the movable arm 23, drives the movable arm 23 to hold the wire clamp installation tool to aim at the exposed wire at the end of the first drainage wire 16, the first drainage wire 16 is inserted into a special wire clamp in the wire clamp installation tool, drives the movable arm 23 to hold the wire clamp installation tool to move upwards to enable the first drainage wire 16 to be separated from a fixing tool of the drainage wire, then the wire clamp installation tool is operated, the specific operation steps are the same as the operation mode of the wire clamp installation tool, and after the operation is finished, the movable arm 23 puts the wire clamp installation tool back to the original position according to a preset path; when entering a program of installing the special insulation cover, the robot vision system automatically searches and positions the position of a special wire clamp of the lapping point of the first main conductor 15; the main controller controls the moving arm 23 to drive the moving arm 23 to hold the insulation cover mounting tool to align with the special wire clamp of the first main conductor 15 and enter a pre-wrapping position; the driving control head is automatically started, the insulation cover mounting body is automatically closed, and sealing crimping is completed under the action of clamping force; the specific operation steps are the same as the operation mode of the insulating boot mounting tool, after the operation is finished, the moving arm 23 puts the insulating boot mounting tool back to the original position according to a preset path, so that the lapping operation of the first main guide wire and the first drainage wire is finished, the insulating arm 20 of the bucket arm vehicle adjusts the extending length of the insulating arm, the position of the insulating bucket 21 and the position of the robot, the robot enters the operation area of the second main guide wire and the second drainage wire, and then the operation is repeated until the lapping of the three main guide wires and the drainage wire is finished.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims (11)

1. A live-wire work robot system, comprising:

a robot working platform (24), a main controller connected with the robot working platform (24);

be equipped with robot body (22), removal arm (23) and place the tool holder of working tool on robot operation platform (24), working tool includes:

the fixing tool, the peeling tool, the wire clamp mounting tool and the insulating cover mounting tool are used for temporarily fixing the main guide wire (15) and the drainage wire (16).

2. The live-working robot system according to claim 1, wherein the fixing tool for the drainage wire comprises:

an insulation fixing rod (1a) and a first clamp (2 a);

the first clip (2a) includes: a sliding seat (3a) movably sleeved on the insulating fixing rod (1a) and a first clamp (4a) fixedly connected with the sliding seat (3a) and used for fixing a drainage wire (16);

elastic component (5a), fixed setting is in first clamping (2a), at the drainage wire entering when elastic component (5a), elastic deformation takes place for elastic component (5a), follows the radial direction parcel of drainage wire (16), and the internal surface of elastic component (5a) is equipped with and is used for fixing the friction member of drainage wire (16).

3. Hot-line work robot system according to claim 2, characterized in that the first yoke (4a) is C-shaped with a first opening (6a) allowing the entry of the drainage wire (16) and opening upwards, the arc length of the first opening (6a) being less than a quarter of the circumference where the first yoke (4a) is located.

4. The live-working robot system according to claim 2 or 3, further comprising:

a first through hole (7a) provided on the slide (3 a);

and a plurality of second through holes (8a) arranged on the insulating fixing rod (1a) at predetermined intervals, and sequentially penetrating through the first through hole (7a) and one of the second through holes (8a) by a fastener to fix the sliding base (3a) on the insulating fixing rod (1 a).

5. The live-working robot system according to claim 1, wherein the peeling tool comprises:

a base (1b) mounted on the moving arm (23), a traveling mechanism (18b) being provided inside the base (1 b);

the first clamping mechanism (2b) and the second clamping mechanism (12b) are respectively arranged on the base (1b), wherein the second clamping mechanism (12b) is connected with a rotating mechanism (25b) arranged on the traveling mechanism (18b), a cutting mechanism (43b) is arranged on the second clamping mechanism (12b), and a main guide wire (15) is placed on the first clamping mechanism (2b) and the second clamping mechanism (12 b);

the controller (49b) is connected with the travelling mechanism (18b), the first clamping mechanism (2b), the second clamping mechanism (12b) and the rotating mechanism (25b), the controller (49) drives the rotating mechanism (25b) to rotate so as to drive the cutting mechanism (43b) to cut the main guide wire (15), and the cutting mechanism (43b) drives the rotating mechanism (25b) to move towards the direction of the first clamping mechanism (2b) on the travelling mechanism (18 b).

6. The live-working robot system according to claim 5, wherein the traveling mechanism (18b) comprises:

at least one slide rail (19b) arranged inside the base (1b) in the extension direction of the base (1 b);

and one end of the sliding seat (20b) is connected with the sliding rail (19b) in a sliding manner, and the other end of the sliding seat extends to the upper part of the base (1b) and is fixedly connected with the rotating mechanism (25 b).

7. The live-working robot system according to claim 6, wherein the traveling mechanism (18b) further comprises:

a first drive mechanism (22b) connected to the controller (49 b);

a first rotating member (21b) connected to the first driving mechanism (22b), wherein a stopper plate (23b) is provided on the first rotating member (21 b);

the first detection assembly (24b) is arranged on the sliding seat (20b) and connected with the controller (49b), the walking mechanism (18b) drives the rotating mechanism (25b) to move towards the direction of the first clamping mechanism (2b), and when the first detection assembly (24b) touches the limiting plate (23b), the first detection assembly (24b) transmits an electric signal back to the controller (49b) so as to stop the rotation of the rotating mechanism (25 b).

8. The live-working robot system according to claim 1, wherein the wire clamp installation tool comprises:

a rack body (1c) mounted on the moving arm (23) and having a placing section on which the wiring mechanism (2c) is placed;

the clamping mechanism (3c) is arranged on the frame body (1c) and is provided with a clamping end which is positioned at the placing part and clamps the wiring mechanism (2 c);

the lead locking mechanism (4c) is arranged on the frame body (1c) corresponding to the structure of the wiring mechanism (2c), a main lead (15) and a drainage wire (16) can be correspondingly connected into the lead locking mechanism (4c) and the wiring mechanism (2c) respectively when the movable arm moves, and the main lead (15) and the drainage wire (16) are respectively fixed by the lead locking mechanism (4 c);

and the controller (5c) is respectively connected with the clamping mechanism (3c), the wire locking mechanism (4c) and the wiring driving mechanism for driving the wiring mechanism (2c) to perform wiring, and controls the actions of the clamping mechanism (3c), the wire locking mechanism (4c) and the wiring driving mechanism.

9. The live-working robot system according to claim 8, wherein the wiring mechanism (2c) has a main-lead wiring channel (11c), and a drainage-lead wiring channel (12c) in parallel with the main-lead wiring channel (11c), two wire locking mechanisms (4c) are provided corresponding to the main-lead wiring channel (11c) and the drainage-lead wiring channel (12c), respectively, and a guide frame (17c) is provided on the frame body (1c) corresponding to the main-lead wiring channel (11 c).

10. The live-working robot system according to claim 1, wherein the insulation cover mounting tool comprises:

the base body is arranged on the moving arm (23) and comprises a fixed part (2d) and a moving part (3d), one of the fixed part (2d) and the moving part (3d) is provided with an upper insulating cover part (5d), and the other of the fixed part (2d) and the moving part (3d) is provided with a lower insulating cover part (6 d);

the control assembly is arranged on the base body and connected with the movable part (3d), and when the control assembly monitors that the wire clamp is located at a preset position, the control assembly controls the movable part (3d) to move towards the fixed part (2d), so that the upper part (5d) of the insulating cover is connected with the lower part (6d) of the insulating cover.

11. The live-working robot system according to claim 10, further comprising at least one guide member, wherein the fixed portion (2d) is provided with a guide groove (7) corresponding to the wire groove (1d) of the insulating cover for limiting a wire (20d), the guide member is provided on the base in an extending direction of the guide groove (7d), and the control member controls the movable portion (3d) to move toward the fixed portion (2d) after the wire (20d) is located in the wire groove (1 d).

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