CN112952671B - Disconnected operation combination type robot that draws - Google Patents
Disconnected operation combination type robot that draws Download PDFInfo
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- CN112952671B CN112952671B CN202110322688.5A CN202110322688A CN112952671B CN 112952671 B CN112952671 B CN 112952671B CN 202110322688 A CN202110322688 A CN 202110322688A CN 112952671 B CN112952671 B CN 112952671B
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- 230000033001 locomotion Effects 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 14
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- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
- H02G1/1251—Machines the cutting element not rotating about the wire or cable
- H02G1/126—Machines the cutting element not rotating about the wire or cable making a longitudinal cut
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Abstract
The invention discloses a disconnection leading operation combined robot which is used for clamping, peeling and wire clamp installation cooperative operation of a wire and comprises an online operation robot body and a wire grabbing operation robot, wherein the wire grabbing operation robot comprises a base robot and a wire grabbing device in sliding connection with the base robot, the base robot comprises a base, a transverse module, a longitudinal module and a circumferential module, the circumferential module is fixedly connected in the base, the wire grabbing device is suitable for sliding along the transverse module to grab the wire, and the online operation robot body comprises a peeling operation robot, a wire clamp installation operation robot and an online walking robot. The combined robot for the disconnection and connection operation in the invention completes complex disconnection and connection lead cooperative operation by forming a combination by a plurality of robots, can greatly shorten the operation time and improve the operation efficiency.
Description
Technical Field
The invention relates to the technical field of live-wire work in the power industry, in particular to a disconnection and connection leading work combined robot.
Background
At present, distribution network uninterrupted operation in domestic power industry is very common, wherein live-line disconnection drainage wire operation almost accounts for half of the workload of live-line operation, and live-line operation demands are increasing day by day. However, for peeling and wire clamp installation operation, an independent robot is generally adopted to complete operation, so that the utilization rate of the operation robot is reduced, and the operation cost is increased; in addition, domestic uninterrupted operation robots are mostly operated in a mode of cooperation of two mechanical arms arranged on an insulating bucket arm vehicle, the mode adopts a flow of direct manual operation, tool heads need to be continuously replaced, the bucket arm vehicle needs to be positioned and moved, two arms need to be matched and the like, the labor intensity of manual operation is high, the manual operation level is uneven, and artificial potential safety hazards exist; high-altitude operation has high falling risk; and in a high-voltage environment, high-voltage electric shock risks exist.
Disclosure of Invention
The invention aims to provide a combined robot for disconnection and connection leading operation, which aims to solve the technical problem.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a disconnected operation combination type robot that draws for carry out centre gripping, skin and fastener installation operation to the wire, disconnected operation combination type robot that draws includes online operation robot body and grabs the line operation robot.
The lead grabbing robot comprises a base robot and a lead grabbing device in sliding connection with the base robot, the base robot comprises a base, a transverse module, a longitudinal module in sliding connection with the transverse module and a circumferential module in sliding connection with the bottom of the longitudinal module, the circumferential module is fixedly connected in the base, and the lead grabbing device is suitable for sliding along the transverse module to grab the lead;
the online operation robot body comprises a peeling operation robot, a wire clamp installation operation robot and an online walking robot, the peeling operation robot and the wire clamp installation operation robot are opposite to two sides of a wire, the online walking robot is arranged on the two sides of the peeling operation robot and the two sides of the wire clamp installation operation robot, and the peeling operation robot, the wire clamp installation operation robot and the online walking robot are all connected to the transverse module through a first slider connecting seat and a second slider connecting seat.
As a further aspect of the present invention, the robot walking on line includes a first holding device and a second holding device, one end of the first holding device is fixedly connected to the first slider connecting seat, the other end of the first holding device is fixedly connected to the wire clamp mounting operation robot, the second holding device is fixedly connected to the second slider connecting seat, and the first holding device and the second holding device are disposed along an axial direction of the wire.
As a further scheme of the present invention, the first holding device includes a sliding support, an upper driving wheel pressing plate mechanism, a lower guiding wheel pressing plate mechanism, and a first transmission screw rod passing through between the upper driving wheel pressing plate mechanism and the lower guiding wheel pressing plate mechanism and movably connected to the sliding support, and the upper driving wheel pressing plate mechanism and the lower guiding wheel pressing plate mechanism are located in the sliding support and are adapted to move relatively through the transmission screw rod so as to clamp the wire.
As a further scheme of the present invention, the upper guide wheel pressing plate mechanism includes a first upper pressing plate, a first driving wheel set mounted on the first upper pressing plate, a first upper thread mounting block fixed on the first upper pressing plate, and a first driving component fixed on a side wall of the first upper pressing plate, first sliding grooves are disposed on two sides of the first upper pressing plate, a first sliding rail is disposed on an inner side of the sliding support, the first sliding grooves are adapted to slide on the first sliding rail, the first upper thread mounting block is adapted to be inserted into the first transmission screw, and the first driving component is connected to one end of the first driving wheel set and drives the first driving wheel set to rotate.
As a further aspect of the present invention, there are two first driving wheel sets, each of the first driving wheel sets includes a first driving wheel, a first driving output shaft connected to the first driving wheel, and a driving wheel mounting sliding plate connected to the first driving output shaft, and the first driving output shaft is connected to the first driving member.
As a further scheme of the present invention, the lower guide wheel pressing plate mechanism includes a first lower pressing plate, a first driven wheel set mounted on the first lower pressing plate, and a first lower thread mounting block fixed on the first lower pressing plate, wherein second sliding grooves are formed on two sides of the first lower pressing plate, the first lower thread mounting block is adapted to be inserted into the first transmission screw, the second sliding grooves are formed on two sides of the first lower pressing plate, and the second sliding grooves are adapted to slide on the first sliding rail.
As a further scheme of the present invention, the first driven wheel sets and the first driving wheel sets are arranged in a one-to-one correspondence manner, and each of the first driven wheel sets includes two circular rollers arranged in parallel.
As a further scheme of the present invention, the second holding device includes a frame mechanism, a centering and clamping mechanism, an adjusting mechanism and a driving mechanism, the driving mechanism drives the adjusting mechanism to move so as to adjust the centering and clamping mechanism, the centering and clamping mechanism and the adjusting mechanism are mounted on the frame mechanism, and the bottom of the frame mechanism is fixedly connected to the second slider connecting seat and is adapted to horizontally move on the transverse module along with the second slider connecting seat.
As a further aspect of the present invention, the adjusting mechanism includes a horizontal adjusting mechanism and a vertical adjusting mechanism, the horizontal adjusting mechanism is adapted to adjust a horizontal displacement between the centering and clamping mechanisms, and the vertical adjusting mechanism is adapted to adjust a vertical displacement between the centering and clamping mechanisms to clamp the wire.
As a further aspect of the present invention, the horizontal adjustment mechanism includes a second extension driving unit, a second extension driving screw rod connected to the second extension driving unit, a second driving output shaft sliding block in threaded connection with the second extension driving screw rod, and a horizontal sliding rail, and the second driving output shaft sliding block is adapted to slide on the horizontal sliding rail.
As a further aspect of the present invention, the vertical adjustment mechanism includes a motor driving unit, a third telescopic transmission screw rod connected to the motor driving unit, and an upper pressing plate and a lower pressing plate connected to the third telescopic transmission screw rod by a screw thread, and the upper pressing plate and the lower pressing plate are adapted to move vertically on the third telescopic transmission screw rod.
As a further aspect of the present invention, the centering and clamping mechanism includes an upper driving wheel assembly and a lower clamping guide wheel assembly, the upper driving wheel assembly is located right above the lower clamping guide wheel assembly, and the upper driving wheel assembly is parallel to the central axis of the lower clamping guide wheel assembly.
As a further aspect of the present invention, the upper driving wheel assembly includes a second driving wheel and a second driving output shaft connected to the second driving wheel, the second driving wheel is a V-wheel structure, and a center of the V-wheel structure is suitable for the wire to pass through.
As a further aspect of the present invention, the lower clamping guide wheel assembly includes two clamping guide wheels arranged in parallel and a rotating shaft connected to the clamping guide wheels, and the rotating shaft is supported on the lower pressing plate.
As a further aspect of the present invention, the peeling robot includes a rotary transmission component and a peeling execution component, the rotary transmission component is mounted on one side of the peeling execution component and performs a rotary motion, and the peeling execution component can travel along the axial direction of the wire to complete peeling of the cortex of the wire.
As a further aspect of the present invention, the rotation transmission assembly includes a main body housing, a first driving motor, and a gear set including a first gear, a second gear, a third gear, and a C-shaped gear, the main body housing is connected to the rotation transmission assembly through a C-shaped sidewall, and power is transmitted from the first driving motor to the gear set.
As a further scheme of the invention, the peeling executing assembly is mounted on the C-shaped gear and can rotate along with the C-shaped gear, the peeling executing assembly comprises a screw rod mounting seat, a V-shaped self-adaptive clamp, a bidirectional screw rod, a guide shaft, a lower clamp assembly, a clamping motor, an emergency operating ring and a peeling control device, and the clamping motor can drive the bidirectional screw rod to drive the V-shaped self-adaptive clamp and the lower clamp assembly to clamp the wire.
As a further scheme of the invention, the wire clamp installation operation robot comprises a wire clamp, a driving device movably connected with the wire clamp, a power device movably connected with the driving device, and a power control device electrically connected with the power device, wherein the power control device provides signals to the power device, so that the power device drives the driving device to move, and drives the wire clamp to perform wire clamp installation operation on the lead wire and the lead wire.
As a further aspect of the present invention, the wire clamp device further includes a wire guide auxiliary device, the wire guide auxiliary device is provided on the second slider connection holder, and the wire guide auxiliary device is provided in parallel in an axial direction of the wire on a side of the wire clamp installation work robot.
As a further scheme of the invention, the wire clamp peeling machine further comprises a control device, wherein the control device is used for controlling motors and cylinders of the peeling operation robot, the wire clamp installation operation robot, the on-line walking robot and the wire grabbing operation robot and receiving signals of the sensors to act.
Compared with the prior art, the invention has the following advantages:
1. the invention relates to a combined robot for disconnection and leading operation, which assembles an on-line peeling robot, a wire clamp mounting robot and an on-line walking robot into a robot combined system, wherein the on-line operation robot and a lead grabbing operation robot work cooperatively, the on-line operation robot can use the lead grabbing operation robot to carry out on-line operation and lift the on-line operation robot to the vicinity of an operation lead, and the on-line operation robot can also be separated from the lead grabbing operation robot independently, and uses a bucket arm vehicle or other lifting devices to complete on-line operation and carry out disconnection and leading operation. But also can independently replace parts and expand functions, for example, the grabbing clamp at the front end of the lead grabbing robot is replaced by a lead breaking tool, and the lead breaking operation can be completed;
2. the base of the combined robot for the disconnection and connection operation is arranged on an insulating bucket arm vehicle, the structure formed by the combined device is that the opening is upward, the insulating bucket arm vehicle drives the combined robot for the disconnection and connection operation to enable the opening of the combined robot for the disconnection and connection operation to be upward and to be aligned with a wire, and the wire entering the combined device is in a wire feeding mode from bottom to top, so that the operation safety is ensured, the operation is easy, and the alignment is convenient;
3. the operation wire can be fixed between the first holding device and the second holding device and completely depends on the automatic operation in the robot, so that the uncertainty of all operation operations is reduced, and the operation quality is ensured;
4. the peeling operation robot and the wire clamp installation operation robot can complete the switching of operation functions, quick positioning and agile operation through mechanism translation motion or other mechanism motions (such as rotation and overturning);
5. the robot and the lead clamping jaw are designed on the same spatial degree of freedom, the concentricity of the lead and the lead mounting position is ensured from the mechanical structure, and the success rate and the efficiency of lead operation are ensured.
6. The operation robot and the lead grabbing operation robot are flexibly connected, the on-line operation robot is connected with the carrying robot through the sliding plate, and meanwhile, the on-line operation robot can vertically move up and down along the direction of the sliding plate and walk and operate on the lead along the direction of the lead; compared with a mode that two mechanical arms are arranged on an insulating bucket arm vehicle in a cooperation mode, the operation robot and the lead grabbing operation robot are in cooperation operation, the defect is overcome, the advantage is obvious, the operation position can be flexibly determined, and the limitation of a field environment is avoided;
7. the wire clamp installation operation robot can adapt to the parallel groove installation wire clamp in the current market through the spring, the automatic clamping mechanism and the like, improves the utilization rate of the robot, and reduces the cost;
8. the invention has the advantages of good safety, convenient use, simple operation, compact structure, convenient carrying, high operation efficiency and wide application range.
Drawings
Fig. 1 is a schematic overall structure diagram of a combined robot for disconnection and connection leading operation according to an embodiment of the present invention;
FIG. 2 is a schematic view of another directional structure of the combined robot for connecting and disconnecting operations according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the combined robot for the disconnection-connection pulling operation according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first holding device and a control device according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating an internal structure of the first holding device and the control device according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an upper driving wheel pressing plate mechanism and a lower guiding wheel pressing plate mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a first holding device according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an upper drive wheel platen mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a lower guide wheel pressing plate mechanism in the embodiment of the invention;
FIG. 10 is a schematic structural diagram of a second holding device according to an embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a peeling robot, a walking robot, a wire clamp mounting robot and a wire in an embodiment of the invention;
FIG. 12 is a schematic structural diagram of a lead assist device according to an embodiment of the present invention;
FIG. 13 is a schematic structural view of a wire clamp installation work robot in an embodiment of the present invention;
FIG. 14 is a schematic structural diagram of a base in an embodiment of the present invention;
fig. 15 is a schematic structural view of a wire grasping operation robot in the embodiment of the present invention;
FIG. 16 is a schematic diagram of a peeling robot in an embodiment of the present invention;
fig. 17 is a schematic structural diagram of a rotary transmission assembly according to an embodiment of the present invention.
Description of reference numerals:
100-online work robot body; 110-a peeling operation robot; 1101-a slewing gear assembly; 11011-main body case; 110121-first gear; 110122-second gear; 110123-third gear; 110124-C type gear; 11013-first drive motor; 1102-a peeling performing assembly; 11021-lead screw mounting base; 11022-V type adaptive clamp; 11023-bidirectional lead screw; 11024-guide shaft; 11025-lower clamp assembly; 11026-clamp motor; 11027-emergency operation ring; 11028-peeling control device; 1103-C type side wall; 120-installing a working robot by a wire clamp; 1201-wire clamp; 1202-a drive device; 1203-a power plant; 130-a walking robot on-line; 131-a first holding device; 1311-sliding support; 13111 — a first slide; 1312-an upper drive wheel platen mechanism; 13121 — a first upper platen; 131211-a first runner; 13122-a first set of drive wheels; 131221-a first drive wheel; 131222 — a first drive output shaft; 131223-drive wheel mounting slide plate; 13123-first upper threaded mounting block; 13124 — first drive component; 1313-lower guide wheel platen mechanism; 13131 — first lower platen; 131311-a second chute; 13132-a first driven wheel set; 13133-first lower threaded mounting block; 1314 — first drive screw; 132-a second holding device; 1321-a frame mechanism; 1322-centering clamping mechanism; 13221 — an upper drive wheel assembly; 132211-a second drive wheel; 132212-a second drive output shaft; 13222-lower clamp idler assembly; 132221-pinch rollers; 132222-axis of rotation; 13231-horizontal adjustment mechanism; 132311-a second extension drive unit; 132312-a second telescoping drive screw; 132313-second drive output shaft slide; 132314-horizontal slide rail; 13232-vertical adjustment mechanism; 132321-a third telescopic driving screw rod; 132322-second upper platen; 132323-a second lower platen; 1324-a drive mechanism; 140-a first slider connection mount; 150-a second slider connection mount; 160-lead assist device; 200-a wire grasping operation robot; 210-a base robot; 211-a base; 212-a transverse module; 213-longitudinal module; 214-a circumferential module; 220-a lead grasping device; 300-a control device; 400-conducting wire.
Detailed Description
The invention is explained in further detail below with reference to the figures and the specific embodiments.
As shown in the drawings, an embodiment of the present invention provides a combined break-and-lead operation robot for performing cooperative operations of clamping, peeling and clip-mounting a wire 400, the combined break-and-lead operation robot including an on-line operation robot body 100 and a lead grasping operation robot 200, wherein the lead grasping operation robot 200 is composed of a base robot 210 and a lead grasping apparatus 220, and the lead grasping apparatus 220 is slidably walkable on the base robot 210.
The base robot 210 comprises a base 211, a transverse module 212, a longitudinal module 213 and a circumferential module 214, wherein the transverse module 212 is vertically connected with the longitudinal module 213 in a sliding manner, the circumferential module 214 is connected with the bottom of the longitudinal module 213 in a sliding manner, the circumferential module 214 is fixedly connected in the base 211, and the lead wire grabbing device 220 can slide along the transverse module 212, so that the lead wire grabbing operation is facilitated.
It should be noted that the lead is an insulated cable which is fixed on the lower crosspiece of the electric pole or at other positions and is used for taking electricity from the main lead and is connected with the electric equipment below, and the tail end of the insulated cable is a bare metal wire which is peeled.
The online working robot body 100 is composed of a peeling working robot 110, a wire clamp mounting working robot 120 and an online walking robot 130, the peeling working robot 110 and the wire clamp mounting working robot 120 are just arranged on both sides of a wire 400, the online walking robot 130 is composed of two parts and is respectively arranged on both sides of the peeling working robot 110 and the wire clamp mounting working robot 120 and is respectively positioned on both sides of the wire 400, the peeling working robot 110, the wire clamp mounting working robot 120 and the online walking robot 130 are all connected on the transverse module 212 through a first slider connecting seat 140 and a second slider connecting seat 150, and therefore, the peeling working robot 110, the wire clamp mounting working robot 120 and the online walking robot 130 can respectively peel the wire 400 through the sliding of the first slider connecting seat 140 and the second slider connecting seat 150 on the transverse module 212, And (4) installing a wire clamp and clamping and pulling.
Therefore, the peeling operation robot 110, the wire clamp installation operation robot 120, the on-line walking robot 130 and the lead grabbing operation robot 200 form a robot combination, the working modes of the on-line operation robot body 100 and the lead grabbing operation robot 200 are cooperative work, the on-line operation robot body 100 can utilize the lead grabbing operation robot 200 to carry out on-line work, the lead grabbing operation robot 200 lifts the lead grabbing operation robot to the position near an operation wire 400, in addition, the on-line operation robot body 100 can also be separated from the lead grabbing operation robot 200 independently, the on-line operation is completed by using a bucket arm vehicle or other lifting devices, the complex function of the lead disconnecting operation is completed, the operation time can be greatly shortened, the lead wire grabbing operation robot body is independent and replaceable, and the functions can be expanded.
Specifically, as shown in fig. 1, 2 and 3, in the embodiment of the present invention, the on-line walking robot 130 includes a first holding device 131 and a second holding device 132, one end of the first holding device 131 is fixedly connected to the first slider connecting base 140, the other end is fixedly connected to the wire clamp mounting working robot 120, the second holding device 132 is fixedly connected to the second slider connecting base 150, and the first holding device 131 and the second holding device 132 are arranged along the axial direction of the wire 400. Thus, the wire 400 can be fixed between the first holding means 131 and the second holding means 132, passing through the internal operation of the robot, which allows all the tasks to be performed with less uncertainty.
Specifically, as shown in fig. 5, 6 and 7, in an embodiment of the present invention, the first holding device 131 includes a sliding support 1311, an upper driving wheel pressing plate mechanism 1312, a lower guiding wheel pressing plate mechanism 1313 and a first transmission screw 1314, the first transmission screw 1314 is inserted between the upper driving wheel pressing plate mechanism 1312 and the lower guiding wheel pressing plate mechanism 1313, and both ends of the first transmission screw 1314 are movably connected to the sliding support 1311, and the upper driving wheel pressing plate mechanism 1312 and the lower guiding wheel pressing plate mechanism 1313 are located in the sliding support 1311 and are adapted to move relatively through a screw action of the first transmission screw 1314 to hold the wire 400. Therefore, the upper driving wheel pressing mechanism 1312 and the lower guide wheel pressing mechanism 1313 are driven to move towards each other by the rotation of the first transmission screw 1314, so that the lead 400 is clamped between the upper driving wheel pressing mechanism 1312 and the lower guide wheel pressing mechanism 1313.
Specifically, as shown in fig. 7 and 8, in the embodiment of the present invention, the upper driving wheel pressing plate mechanism 1312 includes a first upper pressing plate 13121, a first driving wheel set 13122 mounted on the first upper pressing plate 13121, a first upper screw mounting block 13123 fixed on the first upper pressing plate 13121, and a first driving member 13124 fixed on a side wall of the first upper pressing plate 13121, wherein first sliding grooves 131211 are formed on two sides of the first upper pressing plate 13121, the first upper screw mounting block 13123 is adapted to be inserted into the first driving screw 1314, and the first driving member 13124 is connected to one end of the first driving wheel set 13122 and drives the first driving wheel set 13122 to rotate. The first drive wheel set 13122 is thus movable in both vertical and horizontal directions to facilitate adjustment of the position for entry and clamping of the wire 400.
Specifically, in the embodiment of the present invention shown in fig. 8, there are two first drive wheel sets 13122, each first drive wheel set 13122 includes a first drive wheel 131221, a first drive output shaft 131222 connected to first drive wheel 131221, and a drive wheel mounting slide plate 131223 connected to first drive output shaft 131222, and first drive output shaft 131222 is connected to first drive member 13124.
Thus, the first drive wheel 131221 is coupled to the drive wheel mounting slide plate 131223 via the first drive output shaft 131222, and the first drive member 13124 causes the first drive output shaft 131222 to rotate and the drive wheel mounting slide plate 131223 to move on the first drive output shaft 131222, thereby moving the first drive wheel 131221 in a horizontal direction.
Specifically, referring to fig. 9, in the embodiment of the present invention, the lower guide wheel pressing plate mechanism 1313 includes a first lower pressing plate 13131, a first driven wheel set 13132 mounted on the first lower pressing plate 13131, and a first lower screw mounting block 13133 fixed on the first lower pressing plate 13131, wherein second sliding grooves 131311 are disposed on two sides of the first lower pressing plate 13131, first sliding rails 13111 are disposed on an inner side of the sliding support 1311, the first sliding grooves 131211 are adapted to slide on the first sliding rails 13111, the first lower screw mounting block 13133 is adapted to pass through the first driving screw 1314, second sliding grooves 131311 are disposed on two sides of the first lower pressing plate 13131, and the second sliding grooves 131311 are adapted to slide on the first sliding rails 13111.
Thus, the lower guide wheel pressing mechanism 1313 and the upper driving wheel pressing mechanism 1312 are respectively close to the upper and lower sides of the lead wire 400, and the lead wire 400 can be clamped by adjusting the displacement.
Specifically, as shown in fig. 8 and 9, in the embodiment of the present invention, the first driven wheel sets 13132 are disposed in a one-to-one correspondence with the first driving wheel sets 13122, and each of the first driven wheel sets 13132 includes two circular rollers disposed in parallel.
Special design pattern lines are densely distributed on the first driven wheel set 13132 and the first driving wheel set 13122, the bidirectional double anti-skidding capacity is achieved, transverse lines perpendicular to the direction of the lead can be formed, friction force between the driving wheel set and the lead is increased, driving force for walking is provided, longitudinal lines parallel to the direction of the lead are formed, clamping force between the driven wheel set and the lead is increased, and slippage is prevented during operation.
Specifically, referring to fig. 10, in the embodiment of the present invention, the second holding device 132 includes a frame mechanism 1321, a centering clamping mechanism 1322, an adjusting mechanism 1324, the driving mechanism 1324 drives the adjusting mechanism to move to adjust the centering clamping mechanism 1322, the centering clamping mechanism 1322 and the adjusting mechanism 3 are installed on the frame mechanism 1321, and the bottom of the frame mechanism 1321 is fixedly connected to the second slider connecting seat 150 and is adapted to move horizontally on the transverse module 212 along with the second slider connecting seat 150.
Therefore, two wire holding devices are used, wherein the first holding device 131 is used for holding in a double wheel mode, and the second holding device 132 is used for holding in a single wheel mode, so that the operation wire is located in the middle of the holding position, and the straightness of the wire is guaranteed.
Specifically, as shown in fig. 10, in the embodiment of the present invention, the adjusting mechanism includes a horizontal adjusting mechanism 13231 and a vertical adjusting mechanism 13232, the horizontal adjusting mechanism 13231 is adapted to adjust the horizontal displacement between the centering clamping mechanisms 1322, and the vertical adjusting mechanism 13232 is adapted to adjust the vertical displacement between the centering clamping mechanisms 1322 to clamp the wire 400.
Specifically, as shown in fig. 10, in the embodiment of the present invention, the horizontal adjustment mechanism 13231 includes a second extension driving unit 132311, a second extension driving screw 132312 connected to the second extension driving unit 132311, a second driving output shaft slider 132313 in threaded connection with the second extension driving screw 132312, and a horizontal slide rail 132314, and the second driving output shaft slider 132313 is adapted to slide on the horizontal slide rail 132314.
Specifically, in the embodiment of the present invention, as shown in fig. 10, the vertical adjustment mechanism 13232 includes a motor driving unit, a third telescopic transmission screw 132321 connected with the motor driving unit, and a second upper pressing plate 132322 and a second lower pressing plate 132323 which are in threaded connection with the third telescopic transmission screw 132321, and the second upper pressing plate 132322 and the second lower pressing plate 132323 are adapted to vertically move on the third telescopic transmission screw 132321.
Specifically, as shown in connection with fig. 10, in an embodiment of the present invention, the centering clamp mechanism 1322 includes an upper drive wheel assembly 13221 and a lower clamping idler assembly 13222, the upper drive wheel assembly 13221 is positioned directly above the lower clamping idler assembly 13222, and the upper drive wheel assembly 13221 is parallel to the central axis of the lower clamping idler assembly 13222.
Specifically, in the embodiment of the present invention shown in fig. 10, the upper driving wheel assembly 13221 includes a second driving wheel 132211 and a second driving output shaft 132212 connected to the second driving wheel 132211, and the second driving wheel 132211 has a V-wheel structure with a center adapted to pass the wire 400.
Specifically, as shown in fig. 10, in the embodiment of the present invention, the lower clamp guide wheel assembly 13222 includes two clamp guide wheels 132221 arranged in parallel and a rotating shaft 132222 connected to the clamp guide wheel 132221, and the rotating shaft 132222 is supported on the second lower pressing plate 132323.
Specifically, as shown in fig. 1, 16 and 17, in an embodiment of the present invention, the peeling robot 110 includes a rotary transmission assembly 1101 and a peeling execution assembly 1102, the rotary transmission assembly 1101 is mounted on one side of the peeling execution assembly 1102 and performs a rotary motion, and the peeling execution assembly 1102 can travel along an axial direction of the wire 400 to complete peeling of the cortex of the wire.
Specifically, referring to fig. 17, in the embodiment of the present invention, the rotation transmission assembly 1101 includes a main body housing 11011, a first driving motor 11013 and a gear set, the gear set includes a first gear 110121, a second gear 110122, a third gear 110123 and a C-shaped gear 110124, the main body housing 11011 is connected to the rotation transmission assembly 1101 through a C-shaped sidewall 1103, and power is transmitted to the gear set by the first driving motor 11013.
Specifically, as shown in fig. 16 and 17, in the embodiment of the present invention, the peeling executing assembly 1102 is mounted on the C-shaped gear 110124 and can rotate with the C-shaped gear 110124, the peeling executing assembly 1102 includes a lead screw mounting base 11021, a V-shaped adaptive clamp 11022, a bidirectional lead screw 11023, a guide shaft 11024, a lower clamp assembly 11025, a clamping motor 11026, an emergency operating ring 11027 and a peeling control device 11028, the clamping motor 11026 can drive the bidirectional lead screw 11023 to drive the V-shaped adaptive clamp 11022 and the lower clamp assembly 11025 to clamp the wire 400;
referring to fig. 13, the wire clamp mounting robot 120 includes a wire clamp 1201, a driving device 1202 movably connected to the wire clamp 1201, a power device 1203 movably connected to the driving device 1202, and a power control device electrically connected to the power device 1203, where the power control device provides a signal to the power device 1203, so that the power device 1203 drives the driving device 1202 to move, and drives the wire clamp 1201 to perform a wire clamp mounting operation on the lead 400 and the lead.
Specifically, as shown in fig. 3 and 12, in the embodiment of the present invention, a lead auxiliary device 160 is further included, and the lead auxiliary device 160 is disposed on the second slider connecting holder 150, and the lead auxiliary device 160 is disposed in parallel in the axial direction of the lead wire 400 on the side of the clip mounting operation robot 120.
Specifically, as shown in fig. 2, 3, 4 and 5, in the embodiment of the present invention, the control device 300 is further included, and the control device 300 is configured to control motors and cylinders of the peeling operation robot 110, the wire clamp mounting operation robot 120, the wire walking robot 130 and the base robot 210, and to perform an operation in response to a sensor signal.
The working process is as follows: firstly, the grab arm vehicle lifts the combined robot for the disconnection and leading operation (the body 100 of the on-line operation robot and the wire grabbing operation robot 200 are lifted to a certain height, the proper direction is adjusted through the base robot 210 of the wire grabbing operation robot 200, the wire near the electric pole is grabbed through the wire grabbing device 220, after the wire is fixed by the clamping mechanism on the wire grabbing device 220, the wire and the clamping mechanism are sent back together by the wire grabbing operation robot 200, the wire is inserted into the hole of the wire clamp installation operation robot 120, after the wire is fixed by the wire auxiliary device 160, the wire is loosened by the wire grabbing device 220, the grab arm vehicle or other lifting devices send the combined robot for the disconnection and leading operation to the operation position of the wire 400, the opening of the body 100 of the on-line operation robot is adjusted to the upward state, the wire 400 is positioned above the opening, thereby the on-line mode of the body 100 of the on-line operation robot is the on-line mode from bottom to top, the operation safety is ensured, the operation is easy, and the alignment is convenient; the online operation robot body 100 and the lead grabbing operation robot 200 work in cooperation in a working mode, wherein the online operation robot body 100 uses the lead grabbing operation robot 200 to carry out online operation, lifts the lead grabbing operation robot to the vicinity of the operation lead 400, uses a bucket arm vehicle or other lifting devices to complete online operation, and carries out peeling and disconnection operation. Firstly, the upper and lower pressing plates of the first holding device 131 and the second holding device 132 are respectively close to the upper and lower edges of the wire 400, at this time, the holding devices are in an initial state, and the first driving wheel 131221 and the second driving wheel 132211 are both retracted inside and not extended out, so that the wire 400 can conveniently enter the inside of the port C of the online operation robot body 100; when the lead 400 is detected to be in place, the extension driving unit provides rotary power for the first driving output shaft 131222 and the second driving output shaft 132212, and simultaneously drives the telescopic transmission screw rods which are arranged in parallel with the first driving output shaft 131222 and the second driving output shaft 132212 respectively, so that the driving wheel mounting sliding plate 131223 and the second driving output shaft sliding block 132313 do linear motion to drive the first driving wheel 131221 and the second driving wheel 132211 to extend, and the first driving wheel 131221 and the second driving wheel 132211 also do rotary motion, and at the same time, the two states exist simultaneously;
when the central axes of the first driving wheel 131221 and the second driving wheel 132211 parallel to the direction of the wire 400 are aligned with the central axes of the first driven wheel set 13132 and the pinch guide wheel 132221, respectively, the telescopic transmission screw rod is disengaged from the extension driving unit, but the first driving output shaft 131222 and the second driving output shaft 132212 are always connected with the extension driving unit, and the first driving wheel 131221 and the second driving wheel 132211 can keep rotating; at the moment, a spring is arranged in the middle gap between the second driving output shaft sliding block and the edge position of the second upper pressure plate, and the spring is subjected to the compression force of the second driving output shaft sliding block 132313; at the moment, the second driving wheel 132211 comes to a position and stops rotating, the screw threads are arranged on the second upper pressing plate and the second lower pressing plate in the main frame and are simultaneously connected to the third telescopic transmission screw rod 132321, when the third telescopic transmission screw rod 132321 rotates, the second upper pressing plate and the second lower pressing plate simultaneously move linearly along the third telescopic transmission screw rod 132321, the second upper pressing plate drives the second driving wheel 132211 to move downwards, the second lower pressing plate moves upwards along the two clamping guide wheels 132221, the two clamping guide wheels displace synchronously, the axis of the wire 400 is kept consistent with the axis of the robot body while the wire 400 is clamped, so that the robot body is concentric with the clamped insulated wire 400, and meanwhile, when the upper pressing plate and the lower pressing plate clamp the wire, the stopper on the second lower pressing plate blocks the second driving output shaft sliding block 132313 to prevent the wire from moving backwards, and the telescopic transmission screw rod is continuously kept disengaged from the extending driving unit, at this time, the second driving wheel 132211 can normally rotate, and can rotate in both forward and reverse directions, which makes the robot have the function of walking on-line. After the clamping operation is completed, the tool module is switched to the peeling operation robot 110 for peeling operation through linear motion or other motion modes.
When the fastener installation operation needs to be carried out, the clamping metal locking block driving device of the fastener installation operation robot 120 comprises two impact wrenches and two driving motors which are connected in parallel, the driving motors tighten the bolts of the parallel groove fasteners, the main guide wire and the lead wire are fixed together by the fastener, the lead wire is connected with the main guide wire at the moment, after the operation is completed, the fastener installation operation robot 120 starts to move downwards vertically, the impact wrenches are pushed by a cylinder or the motors, the fastener installation operation robot 120 is separated from the installed fastener, the fastener and the lead wire are fixed on the main guide wire, and the lead wire connection operation is completed.
After the guide connection operation is completed, the upper clamping plate and the lower clamping plate are opened, the stop dog is separated from the second driving output shaft sliding block 132313, the extending driving unit rotates reversely, the second driving output shaft sliding block 132313 is pushed into the driving lead screw by a spring existing in a gap between the edge positions of the second driving output shaft sliding block 132313 and the upper clamping plate, the second driving output shaft sliding block has the capability of moving transversely again and moves in a contraction mode, and therefore the upper clamping guide wheel is collected into the clamping structure. At this time, the robot body is separated from the wire 400, and the whole robot is lowered by the arm car or other lifting devices, thereby completing the whole operation flow.
The working principle of the invention is as follows: by using the combined robot for the disconnection leading operation, the automatic clamping of the wire can be realized through the first wire holding device and the second wire holding device, the peeling operation robot can automatically and adaptively feed the wire, auxiliary tools are not needed, clamps with various specifications are not needed, the peeling operation of the wire is automatically completed under the condition of ensuring the straightness of the wire, the aluminum core of the wire can be ensured not to be damaged, the combined robot can adapt to wire skins with various standards and non-standard thicknesses, the advancing of the wire can be ensured to be smooth and uniform, the width of each circle of the peeled wire skin is consistent, and the peeled wire skin does not fall off. The wire grips the stability that the device can realize wire operation of skinning and fastener installation operation, simplifies the operation step, reduces live working intensity of labour and human cost, improves operation reliability and security greatly, solves the current operation's the not firm trouble of fastener installation of skinning. The operation robot and the lead grabbing operation robot are flexibly connected, the on-line operation robot is connected with the carrying robot through the sliding plate, and meanwhile, the on-line operation robot can vertically move up and down along the direction of the sliding plate and walk and operate on the lead along the direction of the lead; the two robots are cooperatively operated, and one of the two robots is not available, so that the advantages of the robot are ensured, the operation position can be flexibly determined, and the robot is not limited by the field environment.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.
Claims (19)
1. The combined robot for the disconnection and connection operation is characterized by comprising an online operation robot body (100) and a wire grabbing operation robot (200);
the lead grabbing robot (200) comprises a base robot (210) and a lead grabbing device (220) in sliding connection with the base robot (210); the base robot (210) comprises a base (211), a transverse module (212), a longitudinal module (213) connected with the transverse module (212) in a sliding manner, and a circumferential module (214) connected with the bottom of the longitudinal module (213) in a sliding manner, wherein the circumferential module (214) is fixedly connected in the base (211), and the lead wire grabbing device (220) can slide along the transverse module (212) and is used for grabbing a lead wire;
the online operation robot body (100) comprises a peeling operation robot (110), a wire clamp installation operation robot (120) and an online walking robot (130), the peeling operation robot (110) and the wire clamp installation operation robot (120) are arranged on two sides of a wire (400) in a facing mode, the online walking robot (130) is arranged on two sides of the peeling operation robot (110) and the wire clamp installation operation robot (120), and the peeling operation robot (110), the wire clamp installation operation robot (120) and the online walking robot (130) are all connected to the transverse module (212) through a first slider connecting seat (140) and a second slider connecting seat (150);
the second holding device (132) comprises a frame mechanism (1321), a centering clamping mechanism (1322), an adjusting mechanism and a driving mechanism (1324), the driving mechanism (1324) drives the adjusting mechanism to move so as to adjust the centering clamping mechanism (1322), the centering clamping mechanism (1322) and the adjusting mechanism are installed on the frame mechanism (1321), and the bottom of the frame mechanism (1321) is fixedly connected to the second slider connecting seat (150) and can horizontally move on the transverse module (212) along with the second slider connecting seat (150).
2. The combined break-make and lead-out robot according to claim 1, wherein the robot (130) comprises a first holding means (131) and a second holding means (132), one end of the first holding means (131) is fixedly connected to the first slider connecting base (140) and the other end is fixedly connected to the wire clamp mounting work robot (120), the second holding means (132) is fixedly connected to the second slider connecting base (150), and the first holding means (131) and the second holding means (132) are arranged along the axial direction of the wire (400).
3. The combined break-make-and-break operation robot as claimed in claim 2, wherein said first holding means (131) comprises a sliding support (1311), an upper driving wheel pressing plate mechanism (1312), a lower guiding wheel pressing plate mechanism (1313) and a first driving screw (1314) passing between said upper driving wheel pressing plate mechanism (1312) and said lower guiding wheel pressing plate mechanism (1313) and movably connected to said sliding support (1311), said upper driving wheel pressing plate mechanism (1312) and said lower guiding wheel pressing plate mechanism (1313) being located in said sliding support (1311) and adapted to move relatively through said driving screw (1314) to hold said wire (400).
4. The combined disconnecting and connecting work robot according to claim 3, wherein the upper driving wheel pressing plate mechanism (1312) includes a first upper pressing plate (13121), a first driving wheel set (13122) mounted on the first upper pressing plate (13121), a first upper screw mounting block (13123) fixed to the first upper pressing plate (13121), and a first driving member (13124) fixed to a side wall of the first upper pressing plate (13121), two sides of the first upper pressing plate (13121) are provided with first sliding grooves (131211), the inner side of the sliding support (1311) is provided with a first sliding rail (13111), the first sliding groove (131211) is used for sliding on the first sliding rail (13111), the first upper thread mounting block (13123) is arranged on the first transmission screw rod (1314) in a penetrating way, the first driving component (13124) is connected to one end of the first driving wheel set (13122) and drives the first driving wheel set (13122) to rotate.
5. The combined break-make-and-break operation robot as claimed in claim 4, wherein there are two of said first driving wheel sets (13122), each of said first driving wheel sets (13122) comprising a first driving wheel (131221), a first driving output shaft (131222) connected to said first driving wheel (131221), and a driving wheel mounting sliding plate (131223) connected to said first driving output shaft (131222), said first driving output shaft (131222) being connected to said first driving member (13124).
6. The combined disconnection and connection task robot according to claim 5, wherein the lower guide wheel pressing mechanism (1313) comprises a first lower pressing plate (13131), a first driven wheel set (13132) mounted on the first lower pressing plate (13131), and a first lower screw mounting block (13133) fixed to the first lower pressing plate (13131), wherein second sliding grooves (131311) are formed on both sides of the first lower pressing plate (13131), the first lower screw mounting block (13133) is inserted into the first drive screw (1314), second sliding grooves (131311) are formed on both sides of the first lower pressing plate (13131), and the second sliding grooves (131311) are slidable on the first sliding rails (13111).
7. The combined break-make and break-make work robot according to claim 6, characterized in that the first driven wheel set (13132) is arranged in one-to-one correspondence with the first driving wheel set (13122), and each of the first driven wheel sets (13132) comprises two parallel arranged circular rollers.
8. The combined break-make and break-make robot according to claim 7, wherein said adjusting mechanism comprises a horizontal adjusting mechanism (13231) and a vertical adjusting mechanism (13232), said horizontal adjusting mechanism (13231) is used for adjusting the horizontal displacement between said centering clamping mechanisms (1322), said vertical adjusting mechanism (13232) is used for adjusting the vertical displacement between said centering clamping mechanisms (1322) for clamping said wire (400).
9. The combined break-make and break-make work robot according to claim 8, characterized in that the horizontal adjustment mechanism (13231) comprises a second extension driving unit (132311), a second extension driving screw (132312) connected to the second extension driving unit (132311), a second driving output shaft slider (132313) screw-connected to the second extension driving screw (132312), and a horizontal slide rail (132314), and the second driving output shaft slider (132313) is slidable on the horizontal slide rail (132314).
10. The combined break-make and break-make work robot according to claim 9, characterized in that the vertical adjustment mechanism (13232) comprises a motor drive unit, a third telescopic transmission screw (132321) connected with the motor drive unit, and a second upper platen (132322) and a second lower platen (132323) in threaded connection with the third telescopic transmission screw (132321), the second upper platen (132322) and the second lower platen (132323) being adapted to move vertically on the third telescopic transmission screw (132321).
11. The combined break-make and break-make robot according to claim 10, wherein said centering and holding mechanism (1322) comprises an upper driving wheel assembly (13221) and a lower clamping guide wheel assembly (13222), said upper driving wheel assembly (13221) is positioned right above said lower clamping guide wheel assembly (13222), and said upper driving wheel assembly (13221) is parallel to the central axis of said lower clamping guide wheel assembly (13222).
12. The combined break-make and break-make work robot according to claim 11, wherein said upper driving wheel assembly (13221) comprises a second driving wheel (132211) and a second driving output shaft (132212) connected to said second driving wheel (132211), said second driving wheel (132211) is a V-wheel structure, and the center of said second driving wheel (132211) is adapted to pass said wire (400).
13. The combined break-make and lead-work robot according to claim 12, wherein the lower clamp guide wheel assembly (13222) comprises two clamp guide wheels (132221) arranged in parallel and a rotation shaft (132222) connected to the clamp guide wheels (132221), and the rotation shaft (132222) is supported on the second lower pressing plate (132323).
14. The combined robot for disconnection-connection-leading operation according to claim 8, wherein the peeling operation robot (110) comprises a rotation transmission assembly (1101) and a peeling execution assembly (1102), the rotation transmission assembly (1101) is installed at one side of the peeling execution assembly (1102) and performs rotation movement, and the peeling execution assembly (1102) travels along the axial direction of the wire (400) to complete the peeling of the cortex of the wire.
15. The combined break-make and break-make robot according to claim 14, characterized in that said rotary transmission assembly (1101) comprises a main body housing (11011), a first driving motor (11013) and a gear train including a first gear (110121), a second gear (110122), a third gear (110123) and a C-shaped gear (110124), said main body housing (11011) is connected with said rotary transmission assembly (1101) through a C-shaped sidewall (1103), and power is transmitted to said gear train by said first driving motor (11013).
16. The connecting and disconnecting operation combined robot according to claim 15, wherein the peeling execution assembly (1102) is mounted on the C-shaped gear (110124) and can rotate with the C-shaped gear (110124), the peeling execution assembly (1102) comprises a lead screw mounting base (11021), a V-shaped adaptive clamp (11022), a bidirectional lead screw (11023), a guide shaft (11024), a lower clamp assembly (11025), a clamping motor (11026), an emergency operation ring (11027) and a peeling control device (11028), and the clamping motor (11026) can drive the bidirectional lead screw (11023) and drive the V-shaped adaptive clamp (11022) and the lower clamp assembly (11025) to clamp the wire (400).
17. The combined robot for the wire connecting and disconnecting operation according to claim 1, wherein the wire clamp mounting operation robot (120) comprises a wire clamp (1201), a driving device (1202) movably connected with the wire clamp (1201), a power device (1203) movably connected with the driving device (1202), and a power control device electrically connected with the power device (1203), wherein the power control device provides signals to the power device (1203), so that the power device (1203) drives the driving device (1202) to move, and drives the wire clamp (1201) to perform the wire clamp mounting operation on the lead wire (400) and the lead wire.
18. The combined type robot for the disconnection-connection-and-leadingwork according to claim 1, further comprising a leadwire assisting device (160), wherein said leadwire assisting device (160) is provided on said second slider-attachment seat (150), and said leadwire assisting device (160) is provided side by side in parallel on a side where said wire clamp is mounted to the work robot (120) in an axial direction of said leadwire.
19. The combined break-make and break-make robot according to claim 1, further comprising a control means (300), said control means (300) controlling motors and cylinders of said peeling robot (110), said wire clamp mounting robot (120), said walking-on-wire robot (130) and said base robot (210), and operating in response to sensor signals.
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| CN202110322688.5A CN112952671B (en) | 2021-03-25 | 2021-03-25 | Disconnected operation combination type robot that draws |
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Effective date of registration: 20220112 Address after: 430000 floors 1-4 of Building 1 / unit of industrial robot industrialization R & D and manufacturing base (all for self use), No. 16, liufangyuan Heng Road, Donghu New Technology Development Zone, Wuhan City, Hubei Province (Wuhan area of free trade zone) Applicant after: WUHAN FENJIN INTELLIGENT MACHINE Co.,Ltd. Address before: 430000 floor 1-4 of No.1 Factory Building / unit of industrial robot industrialization R & D and manufacturing base, No.16, liufangyuanheng Road, Donghu New Technology Development Zone, Wuhan City, Hubei Province Applicant before: Wuhan xinfenjin Power Technology Co.,Ltd. |
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