CN113572079A - Lead lapping device of live working robot and wire clamp installation method - Google Patents
Lead lapping device of live working robot and wire clamp installation method Download PDFInfo
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- CN113572079A CN113572079A CN202111132366.0A CN202111132366A CN113572079A CN 113572079 A CN113572079 A CN 113572079A CN 202111132366 A CN202111132366 A CN 202111132366A CN 113572079 A CN113572079 A CN 113572079A
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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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Abstract
The invention relates to a lead lapping device of an electric working robot, which comprises a frame and a wire clamp, wherein a wire clamp clamping mechanism and a wire clamp screwing mechanism are arranged on the frame; the wire clamp comprises a wire clamp front side and a wire clamp rear side, and the wire clamp front side and the wire clamp rear side are connected through at least one pair of bolts; the wire clamp clamping mechanism comprises a plurality of wire clamp positioning plates, and the wire clamp positioning plates are arranged on the rack; the wire clamp comprises a wire clamp body and a pair of wire clamp clamping jaws, wherein one ends of the pair of wire clamp clamping jaws are respectively positioned on the front side of the wire clamp and the rear side of the wire clamp towards one side of a lead wire entering the wire clamp; the wire clamp screwing mechanism comprises a feeding mechanism, a bolt fastening mechanism and a torque adjustable sleeve, wherein the output end of the bolt fastening mechanism is connected with the torque adjustable sleeve, and the feeding mechanism drives the bolt fastening mechanism to move on the rack, so that a nut on a bolt of the wire clamp can be sleeved into the torque adjustable sleeve; the invention reduces the labor amount of maintainers, improves the working efficiency and provides reliable technical guarantee for the development of live working robots.
Description
Technical Field
The invention belongs to the technical field of hot-line work devices, and particularly relates to a lead lapping device and a wire clamp mounting method for a hot-line work robot.
Background
Distribution network live working mainly accomplishes operation tasks such as insulating wire skinning, electrified disconnected lead wire, foreign matter are clear away, in order to improve live working's automation level and security, alleviate operating personnel's intensity of labour and the personal threat of strong electromagnetic field to operating personnel, it is very necessary to adopt the live working robot that has higher security and adaptability to replace the manual work to carry out live working, accords with electric power enterprise development demand and current situation.
The existing hot-line work robot technology is still in an initial development stage, no practical application and popularization exist, the development of hot-line work tools is immature, hot-line lead connecting work is still carried out in a manual mode, workers need to install wire clamps at high altitude, and the workers use hand tools to tighten bolts and nuts, so that the automation level is low, the labor intensity is high, the efficiency is low, the operators directly contact the high-voltage leads, electric shock accidents are easily caused, and great potential safety hazards exist.
Therefore, the research on the special lapping lead operation tool for the live working robot is very important, and particularly, the current situation of the wire clamp installation tool seriously restricts the practical application and popularization of the live working robot in a power grid.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the lead lapping device and the method for the live working robot, which can realize the functions of torque adjustment, flexible exit and automatic gripping of a wire clamp and improve the live working efficiency.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the lead lapping device for the live working robot comprises a frame and a wire clamp, wherein a wire clamp clamping mechanism and a wire clamp screwing mechanism are arranged on the frame;
the wire clamp comprises a wire clamp front side and a wire clamp rear side, the wire clamp front side and the wire clamp rear side are connected through at least one pair of bolts, and a wire groove and a lead groove for a main lead and a lead to pass through are formed between the wire clamp front side and the wire clamp rear side;
the wire clamp clamping mechanism comprises a plurality of wire clamp positioning plates, and the wire clamp positioning plates are arranged on the rack; the wire clamp comprises a rack, a pair of wire clamp clamping jaws and a positioning plate, wherein the wire clamp comprises a main wire clamping jaw rotating shaft, a pair of wire clamp clamping jaws and a pair of positioning plates, the main wire clamping jaw rotating shaft is arranged on the rack, the positioning plate is arranged on the main wire clamping jaw rotating shaft, and the positioning plate is used for clamping and fixing a wire clamp;
the wire clamp tightening mechanism comprises a feeding mechanism, a bolt fastening mechanism and a torque-adjustable sleeve, the output end of the bolt fastening mechanism is connected with the torque-adjustable sleeve, the feeding mechanism drives the bolt fastening mechanism to move on the rack, so that a nut on a bolt of the wire clamp can be sleeved into the torque-adjustable sleeve, the bolt fastening mechanism drives the torque-adjustable sleeve to rotate to tighten the nut, and the torque-adjustable sleeve can withdraw from the nut without being clamped under the condition that the bolt fastening mechanism does not stop rotating.
Further, the adjustable sleeve of moment includes anti-sticking sleeve, conical body, anti-sticking sleeve one end endotheca is equipped with the synchronizing gear axle, on the synchronizing gear axle with on the anti-sticking sleeve contact surface have the first through-hole of a plurality of, be equipped with the first recess that corresponds with first through-hole on the anti-sticking sleeve inner wall, installation moment adjustment steel ball in the first recess, the conical body is located the synchronizing gear axle, and the conical surface and the contact of moment adjustment steel ball of conical body, anti-sticking sleeve internal thread installation screws up the screw, the conical body with screw up and install the spring between the screw, screw up the compression capacity that comes regulating spring through the adjustment to the adjustment torque value.
Furthermore, an annular second groove is formed in the outer wall of the synchronous gear shaft, at least 1 pair of second through holes are formed in the anti-blocking sleeve, a locking steel ball and a locking screw are arranged in each second through hole, the locking steel ball abuts against the second groove in the synchronous gear shaft, and the locking screw prevents the locking steel ball from being separated from the locking steel ball, so that the anti-blocking sleeve and the synchronous gear shaft are prevented from slipping along the radial direction when rotating relatively.
Further, still include lead wire clamping mechanism, lead wire clamping mechanism includes the lead wire clamping jaw, lead wire clamping jaw one end is rotated with the frame and is connected, the lead wire clamping jaw other end is equipped with arc groove structure, the lead wire clamping jaw passes through lead wire clamping motor drive and revolves round lead wire clamping jaw pivot for the arc groove structure of lead wire clamping jaw firmly presss from both sides tightly to the lead wire.
Further, the bolt fastening mechanism comprises a synchronous gear box and a motor, and an output end of the motor penetrates through the synchronous gear box and drives a synchronous gear shaft to rotate.
Further, feed mechanism includes feed motor, feed motor support and a pair of rack axle, feed motor and motor are all installed on the feed motor support, and is a pair of the rack axle is fixed in the frame, and is a pair of the rack axle passes synchronous gear box, feed motor's output pass through the gear respectively with a pair of the meshing of rack axle makes it drives during the rotation of feed motor bolt-tightening mechanism follows the rack axle advances or retreats.
Further, the anti-blocking sleeve is provided with a conical structure with an enlarged opening on the side facing the nut.
The wire clamp comprises a wire clamp support, the wire clamp support comprises a horizontal supporting plate and a vertical supporting plate, the horizontal supporting plate and the vertical supporting plate are fixedly connected to form an upper-shaped structure, and two shoulder structures extending outwards from two sides are formed in the upper portion of the vertical supporting plate, so that the wire clamp is supported on the wire clamp support through bolts.
Furthermore, a horn-shaped lead guide sleeve is arranged on the frame, and the inlet of the lead guide sleeve and the lead groove are positioned on the same axis.
The method for installing the wire clamp by using the lead lapping device of the hot-line work robot comprises the following steps:
adjusting the torque value of the torque adjustable sleeve to ensure that the tightening torque of the bolt on the wire clamp reaches the standard requirement;
the wire clamp is placed on a wire clamp support, the lead lapping device is connected to the live-line work mechanical arm, the action of automatically grabbing the wire clamp from the wire clamp support is completed, and the wire clamp is clamped and fixed through a wire clamp clamping mechanism;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the lead penetrates into the lead slot through the lead guide sleeve, and the lead clamping jaw clamps the lead;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the main guide wire enters the wire groove;
starting a feeding mechanism to drive a bolt fastening mechanism to advance, starting a motor of the bolt fastening mechanism to drive an adjustable torque sleeve to rotate, aligning and sleeving an anti-blocking sleeve with a nut, screwing the nut to a set torque value, enabling the anti-blocking sleeve to slip relative to a synchronous gear shaft, driving the bolt fastening mechanism to retreat by the feeding mechanism under the condition that the bolt fastening mechanism does not stop rotating, and enabling the anti-blocking sleeve to retreat from the nut;
the wire clamp clamping mechanism is opened, the lead clamping jaw is also opened, and the live-wire operation mechanical arm drives the lead lapping device to move, so that the installation of the wire clamp is completed.
The invention has the advantages and positive effects that:
according to the invention, through the ingenious design of the positions and the shapes of the lead guide sleeve, the torque adjustable sleeve, the wire clamp clamping jaw and the lead clamping jaw, and the matching of the tooth transmission mechanism and the double-output speed reducing mechanism, the wire clamp torque bolt is completely and accurately aligned, and is flexibly withdrawn, so that the smooth proceeding of the whole link is ensured, a complex detection structure is not required to be added, the whole structure is simplified, and the investment cost is reduced; the invention can completely replace manual work to grab the wire clamp, clamp the lead wire and synchronously fasten the double bolts of the wire clamp, complete the locking of the main lead wire and the lead wire, realize the operation process of connecting the lead wire, ensure the personal safety of the operating personnel, greatly reduce the labor amount of the maintainers, improve the operation efficiency and provide reliable technical support for the development of the live working robot.
Drawings
The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a lead wire lapping device of an electric working robot provided in embodiment 1 of the present invention;
FIG. 2 is a right side view of FIG. 1;
fig. 3 is a schematic structural view of a lead clamping mechanism of a lead lapping device of an electric working robot according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a synchronous gearbox of a lead wire lapping device of an electric working robot provided in embodiment 1 of the invention;
fig. 5 is a schematic structural diagram of a feeding mechanism of a lead wire lapping device of an electric working robot according to embodiment 1 of the present invention;
fig. 6 is a schematic structural diagram of a torque adjustable sleeve of a lead lapping device of an electric working robot provided in embodiment 1 of the invention;
fig. 7 is a schematic structural diagram of a clamp holder of a lead wire overlapping device of an electric working robot according to embodiment 1 of the present invention.
Detailed Description
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and furthermore, the terms "comprises" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1-7, the present embodiment provides a lead overlapping device for an electric working robot, which includes a frame 10 and a clamp, wherein a clamp clamping mechanism and a clamp tightening mechanism are mounted on the frame;
the wire clamp comprises a wire clamp front side 3 and a wire clamp rear side 5, the wire clamp front side 3 and the wire clamp rear side 5 are connected through a pair of bolts, and a wire groove and a lead groove for a main lead and a lead to pass through are formed between the wire clamp front side 3 and the wire clamp rear side 5; it should be noted that, in order to make the connection and fixation effect on the front side 3 and the rear side 5 of the wire clamp better, it may be considered that when the front side 3 and the rear side 5 of the wire clamp are connected, the contact positions of the front side 3 and the rear side 5 of the wire clamp and the bolt and the nut are provided with the wire clamp sizing block 4;
the wire clamp clamping mechanism comprises a plurality of wire clamp positioning plates, the wire clamp positioning plates are arranged on the rack, specifically, as shown in fig. 1, a wire clamp front positioning plate 18 and a wire clamp rear positioning plate (not marked in the drawing) are arranged on the rack and are used for respectively positioning the wire clamp front side 3 and the wire clamp rear side 5, a pair of wire clamp side positioning plates 19 are further arranged on the rack and are used for respectively positioning the same sides of the wire clamp front side 3 and the wire clamp rear side 5, the wire clamp positioning plates play a limiting role in limiting the wire clamp in the front-back direction and the side direction and are matched to realize the locking and positioning role of the wire clamp when the wire clamp is automatically grabbed; still the symmetry is equipped with U type riser 15 on the frame 10, is provided with mated guide bracket 2 on the U type riser 15, and mated guide bracket 2 is 90 overall arrangement, plays the guide effect to the main traverse when going on the production line, and the guide main traverse 1 gets into the metallic channel of fastener, is provided with the lead wire guide pin bushing 14 of loudspeaker shape on the U type riser 15 of lead wire 13 incoming side, and the centre bore and the lead wire groove of lead wire guide pin bushing 14 are centering, and lead wire 13 gets into the lead wire inslot under the guide of lead wire guide pin bushing 14.
In addition, a quick-change device 23 is mounted on the rack 10, the quick-change device is arranged at the lower end of the rack 10, and the lead lapping device can be connected with the live-line work mechanical arm through the quick-change device; and, the frame is mountable and is pressed from both sides horizontal adjustment board 17 to the height of supplementary adjustment fastener makes the nut on the fastener highly match with fastener tightening mechanism, the subsequent screwing up of nut of being convenient for.
The wire clamp comprises a rack, a pair of wire clamp clamping jaws and a positioning plate, wherein the wire clamp comprises a front wire clamp side 3 and a rear wire clamp side 5, one end of each wire clamp clamping jaw is respectively positioned at one side of the front wire clamp side 3 and the other side of the rear wire clamp side 5 facing a lead wire entering a wire clamp, and the pair of wire clamp clamping jaws rotate around a main wire clamping jaw rotating shaft on the rack, so that the wire clamp clamping jaws can pick and place a wire clamp when being far away from the wire clamp, and the positioning plate can be assisted by the wire clamp clamping jaws to clamp and fix the wire clamp when contacting the wire clamp; specifically, as shown in fig. 2, the structure of the wire clamp jaw at the front side 3 of the wire clamp is: the wire clamp clamping motor base 24 is arranged on the machine frame 10 body, the wire clamp clamping motor 25 is installed on the wire clamp clamping motor base 24, the wire clamp clamping motor 25 is connected with and drives the wire clamp clamping jaw 21 through the wire clamp clamping jaw connecting rod 22, the main conductor clamping jaw rotating shaft 20 penetrates through the wire clamp clamping jaw 21 and is installed on the machine frame, the wire clamp clamping motor 25 drives the wire clamp clamping jaw 21 to rotate around the main conductor clamping jaw rotating shaft 20, so that the wire clamp can be firmly clamped when the wire clamp clamping jaw 21 is contacted with the wire clamp front side 3, and the wire clamp can be easily placed into when the wire clamp clamping jaw 21 rotates to a position separated from the wire clamp front side 3.
The wire clamp tightening mechanism comprises a feeding mechanism, a bolt fastening mechanism and a torque-adjustable sleeve, the output end of the bolt fastening mechanism is connected with the torque-adjustable sleeve, the feeding mechanism drives the bolt fastening mechanism to move on the rack, so that a nut on a bolt of the wire clamp can be sleeved into the torque-adjustable sleeve, the bolt fastening mechanism drives the torque-adjustable sleeve to rotate to tighten the nut, and the torque-adjustable sleeve can withdraw from the nut without being clamped under the condition that the bolt fastening mechanism does not stop rotating.
Specifically, the torque-adjustable sleeve 6 comprises an anti-jamming sleeve 41 and a conical body 44, a synchronizing gear shaft 48 is sleeved in one end of the anti-jamming sleeve 41, a plurality of first through holes are formed in a contact surface of the synchronizing gear shaft 48 and the anti-jamming sleeve 41, a first groove corresponding to the first through holes is formed in the inner wall of the anti-jamming sleeve 41, a torque-adjusting steel ball 45 is installed in the first groove, the conical body 44 is located in the synchronizing gear shaft 48, the conical surface of the conical body 44 is in contact with the torque-adjusting steel ball 45, a tightening screw 42 is installed in the internal thread of the anti-jamming sleeve 41, a spring 43 is installed between the conical body 44 and the tightening screw 42, and the compression amount of the spring 43 is adjusted by adjusting the tightening screw 42, so that the torque value is adjusted; when the synchronous gear shaft 48 and the anti-jamming sleeve 41 rotate relatively, the moment adjusting steel ball 45 is in contact with the first groove on the inner wall of the anti-jamming sleeve 41, so that the torque limiting effect is achieved; it should be noted that, the anti-jamming sleeve 41 is matched with the nut in number and shape; the anti-blocking sleeve 41 is of a 6-corner quincunx structure, when the nut is screwed down by the sleeve, the sleeve is in surface contact without point-line contact, the situation that the nut is blocked and is difficult to exit the sleeve does not exist, a conical structure with an enlarged opening is arranged on the front side of the anti-blocking sleeve 41, and the nut can smoothly enter the anti-blocking sleeve 41 along the conical structure.
In addition, an annular second groove is formed in the outer wall of the synchronous gear shaft 48, at least 1 pair of second through holes are formed in the anti-blocking sleeve 41, a locking steel ball 46 and a locking screw 47 are arranged in each second through hole, the locking steel ball 46 abuts against the second groove in the synchronous gear shaft 48, and the locking screw 47 prevents the locking steel ball 46 from slipping out, so that the anti-blocking sleeve 41 and the synchronous gear shaft 48 are prevented from slipping along the radial direction when rotating relatively.
In this embodiment, the lead clamping mechanism further comprises a lead clamping mechanism, the lead clamping mechanism comprises a lead clamping jaw 26, one end of the lead clamping jaw 26 is rotatably connected with the frame, the other end of the lead clamping jaw 26 is provided with an arc-shaped groove structure, the lead clamping jaw 26 is driven to rotate around a lead clamping jaw rotating shaft 27 by a lead clamping motor 29, so that the arc-shaped groove structure of the lead clamping jaw 26 firmly clamps a lead, specifically, as shown in fig. 3, the lead clamping mechanism comprises a lead clamping jaw 26, a lead clamping jaw rotating shaft 27, a lead clamping motor base 28, a lead clamping motor 29 and a lead clamping jaw connecting rod 30, the lead clamping motor base 28 is arranged on the body of the frame 10, the lead clamping motor 29 is connected with the lead clamping jaw connecting rod 30 and drives the lead clamping jaw 26 to rotate around the lead clamping jaw rotating shaft 27, wherein the lead clamping jaw rotating shaft 27 is fixedly mounted on the frame, one end of the lead clamping jaw 26 is rotatably connected with the lead clamping jaw rotating shaft 27, lead wire 13 can easily be put into when lead wire clamping jaw 26 is opened, can firmly press from both sides lead wire 13 when closing to lead wire clamping jaw 26 end is equipped with arc groove structure, adopts insulating material to make, plays insulating isolated effect, and lead wire 13 can conveniently pass when opening, can firmly press from both sides lead wire 13 when closed.
The bolt fastening mechanism comprises a synchronous gear box 7 and a motor 9, and the output end of the motor penetrates through the synchronous gear box and drives a synchronous gear shaft 48 to rotate; specifically, in this embodiment, the synchronous gear box is a dual-output speed reducing mechanism, the output end of the motor 9 is connected to the speed reducer 8, the output end of the speed reducer 8 is a speed reducer output gear 32, and the two synchronous gears 31 are mounted on the synchronous gear box and meshed with the speed reducer output gear 32 at the same time, so as to ensure synchronous output of the gear shaft; the speed reducer 8 is a speed reducing mechanism, the input end of the speed reducing mechanism is connected with the motor, and the output end of the speed reducing mechanism is connected with the double-output speed reducing mechanism. The motor 9 is a brush motor, is arranged at the input side of the double-output speed reducing mechanism and provides power for nut fastening.
The feeding mechanism comprises a feeding motor 40, a feeding motor bracket 39 and a pair of rack shafts 33, the feeding motor 40 and the motor 9 are both mounted on the feeding motor bracket 39, the pair of rack shafts 33 are fixed on the rack, the pair of rack shafts 33 penetrate through the synchronous gear box, the output end of the feeding motor 40 is respectively meshed with the pair of rack shafts 33 through gears, so that the feeding motor 40 drives the bolt fastening mechanism to move forwards or backwards along the rack shafts 33 when rotating, concretely, as shown in fig. 4 and 5, the feeding mechanism comprises the rack shafts 33, a feeding pinion 34, a feeding gear shaft 35, a feeding gearwheel 36, a feeding worm 37, a feeding transmission shaft 38, a feeding motor bracket 39 and a feeding motor 40, the rack shafts 33 are arranged on the rack 10, the bolt fastening mechanism slides on the rack shafts 33, the feeding motor 40 is connected with the feeding worm 37 through the feeding transmission shaft 38, the feeding worm 37 is meshed with the feeding large gear 36, the feeding large gear 36 and the feeding small gear 34 are installed on the feeding gear shaft 35, the feeding small gear 34 is meshed with the rack shaft 33, the bolt fastening mechanism is driven to move forwards and backwards along the rack shaft 33, and the torque-adjustable sleeve is pushed to move forwards to be sleeved into the nut tightening clamp and move back flexibly.
The wire clamp comprises a wire clamp support 50 and a wire clamp fixing device, wherein the wire clamp support comprises a horizontal support plate 5001 and a vertical support plate 5002, the horizontal support plate and the vertical support plate are fixedly connected to form an upper-shaped structure, and two shoulder structures extending outwards from two sides are formed at the upper part of the vertical support plate, so that the wire clamp is supported on the wire clamp support through bolts; the two sharp shoulders of the head of the vertical supporting plate are low, the wire clamp front side 3 and the wire clamp rear side 5 are respectively arranged at two sides of the wire clamp bracket 50 and are connected with the wire clamp sizing block 4 through bolts and nuts, and the wire clamp is suitable for placing and grabbing different wire clamps.
Finally, it is also conceivable to install the control module 12 and the power supply 11 on the rack, and the control module cooperates with the remote controller to drive the motor to move and detect the position.
The method for installing the wire clamp by using the lead lapping device of the hot-line work robot comprises the following steps:
the torque value of the torque adjustable sleeve 6 is adjusted to ensure that the tightening torque of the bolt on the wire clamp reaches the standard requirement;
the wire clamp front side 3, the wire clamp rear side 5 and the wire clamp sizing block 4 are connected through two bolts, a wire clamp is placed on a wire clamp support 50, a lead lapping device is connected to a live working mechanical arm and overturned for 180 degrees to move above the wire clamp, a wire clamp clamping jaw 21 and a lead clamping jaw 26 are opened simultaneously, the lead lapping device vertically moves downwards to a limited position, the wire clamp clamping jaw 21 is closed, the action of automatically grabbing the wire clamp from the wire clamp support 50 is completed, and the clamping and fixing of the wire clamp are realized through a wire clamp clamping mechanism;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the lead 13 penetrates into the lead slot through the lead guide sleeve 14, the lead clamping jaw 26 clamps the lead 13, specifically, the lead lapping device is turned over for 180 degrees and moves to the position of the lead 13, the lead 13 penetrates into the lead slot from one side through the lead guide sleeve 14, and the lead clamping jaw 26 clamps the lead 13;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the main guide wire 1 enters the wire groove; specifically, the lead lapping device moves to a proper position below the main lead 1, then vertically moves upwards, and the main lead 1 enters a lead groove of the wire clamp under the guidance of the two pairs of guide brackets 2;
starting a feeding mechanism to drive the bolt fastening mechanism to advance, starting a motor 9 of the bolt fastening mechanism to drive the adjustable torque sleeve 6 to rotate, aligning and sleeving the anti-blocking sleeve 41 with the nut, screwing the nut to reach a set torque value, enabling the anti-blocking sleeve 41 to slip relative to the synchronous gear shaft 48, firmly locking the main lead wire 1 and the lead wire 13 at the moment, driving the bolt fastening mechanism to retreat by the feeding mechanism under the condition that the bolt fastening mechanism does not stop rotating, and enabling the anti-blocking sleeve 41 to withdraw from the nut;
the clamp clamping mechanism is opened, the lead clamping jaw 26 is also opened, and the live-wire operation mechanical arm drives the lead lapping device to move, so that the installation of the clamp is completed.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. Live working robot lead wire bridging device, its characterized in that: the wire clamp tightening mechanism is arranged on the rack;
the wire clamp comprises a wire clamp front side and a wire clamp rear side, the wire clamp front side and the wire clamp rear side are connected through at least one pair of bolts, and a wire groove and a lead groove for a main lead and a lead to pass through are formed between the wire clamp front side and the wire clamp rear side;
the wire clamp clamping mechanism comprises a plurality of wire clamp positioning plates, and the wire clamp positioning plates are arranged on the rack; the wire clamp comprises a rack, a pair of wire clamp clamping jaws and a positioning plate, wherein the wire clamp comprises a main wire clamping jaw rotating shaft, a pair of wire clamp clamping jaws and a pair of positioning plates, the main wire clamping jaw rotating shaft is arranged on the rack, the positioning plate is arranged on the main wire clamping jaw rotating shaft, and the positioning plate is used for clamping and fixing a wire clamp;
the wire clamp tightening mechanism comprises a feeding mechanism, a bolt fastening mechanism and a torque-adjustable sleeve, the output end of the bolt fastening mechanism is connected with the torque-adjustable sleeve, the feeding mechanism drives the bolt fastening mechanism to move on the rack, so that a nut on a bolt of the wire clamp can be sleeved into the torque-adjustable sleeve, the bolt fastening mechanism drives the torque-adjustable sleeve to rotate to tighten the nut, and the torque-adjustable sleeve can withdraw from the nut without being clamped under the condition that the bolt fastening mechanism does not stop rotating.
2. The live working robot lead wire lapping device according to claim 1, wherein: the adjustable sleeve of moment includes anti-sticking sleeve, conical body, anti-sticking sleeve one end endotheca is equipped with synchronous gear shaft, synchronous gear shaft go up with anti-sticking sleeve contact surface on have the first through-hole of a plurality of, be equipped with the first recess that corresponds with first through-hole on the anti-sticking sleeve inner wall, installation moment adjustment steel ball in the first recess, the conical body is located synchronous gear shaft, and conical surface and the contact of moment adjustment steel ball of conical body, and the screw is screwed up in the installation of anti-sticking sleeve internal thread, the conical body with screw up between the screw installation spring, screw up the compression capacity that the screw comes adjusting spring through the adjustment to adjustment torque value.
3. The live working robot lead wire lapping device according to claim 2, wherein: the synchronous gear shaft is provided with an annular second groove on the outer wall, the anti-blocking sleeve is provided with at least 1 pair of second through holes, a locking steel ball and a locking screw are arranged in the second through holes, the locking steel ball abuts against the second groove on the synchronous gear shaft, and the locking screw prevents the locking steel ball from being separated from the anti-blocking sleeve, so that the anti-blocking sleeve and the synchronous gear shaft are prevented from slipping along the radial direction when rotating relatively.
4. The live working robot lead wire lapping device according to claim 1, wherein: still include lead wire clamping mechanism, lead wire clamping mechanism includes the lead wire clamping jaw, lead wire clamping jaw one end is rotated with the frame and is connected, the lead wire clamping jaw other end is equipped with arc groove structure, the lead wire clamping jaw passes through lead wire clamping motor drive and rotates round lead wire clamping jaw pivot for the arc groove structure of lead wire clamping jaw firmly presss from both sides tightly to the lead wire.
5. The live working robot lead wire lapping device according to claim 2 or 3, wherein: the bolt fastening mechanism comprises a synchronous gear box and a motor, and the output end of the motor penetrates through the synchronous gear box and drives a synchronous gear shaft to rotate.
6. The live working robot lead wire lapping device according to claim 5, wherein: the feeding mechanism comprises a feeding motor, a feeding motor support and a pair of rack shafts, the feeding motor and the motor are installed on the feeding motor support, the rack shafts are fixed to the rack, the rack shafts penetrate through the synchronous gearbox, the output end of the feeding motor is meshed with the rack shafts through gears respectively, and therefore the feeding motor is driven to rotate to drive the bolt fastening mechanism to advance or retreat along the rack shafts.
7. The live working robot lead wire lapping device according to claim 2, wherein: the anti-blocking sleeve forms a conical structure with an enlarged opening on the side facing the nut.
8. The live working robot lead wire lapping device according to claim 1, wherein: the wire clamp comprises a wire clamp support and is characterized by further comprising a horizontal supporting plate and a vertical supporting plate, the horizontal supporting plate and the vertical supporting plate are fixedly connected to form an upper-shaped structure, and two shoulder structures extending outwards from two sides are formed in the upper portion of the vertical supporting plate, so that the wire clamp is supported on the wire clamp support through bolts.
9. The live working robot lead wire lapping device according to claim 2, wherein: and a horn-shaped lead guide sleeve is arranged on the frame, and the inlet of the lead guide sleeve and the lead groove are positioned on the same axis.
10. Method for clip mounting with the lead overlapping device of an electric working robot according to any of the claims 1-9, characterized by the following steps:
adjusting the torque value of the torque adjustable sleeve to ensure that the tightening torque of the bolt on the wire clamp reaches the standard requirement;
the wire clamp is placed on a wire clamp support, the lead lapping device is connected to the live-line work mechanical arm, the action of automatically grabbing the wire clamp from the wire clamp support is completed, and the wire clamp is clamped and fixed through a wire clamp clamping mechanism;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the lead penetrates into the lead slot through the lead guide sleeve, and the lead clamping jaw clamps the lead;
the live-wire operation mechanical arm drives the lead lapping device to move, so that the main guide wire enters the wire groove;
starting a feeding mechanism to drive a bolt fastening mechanism to advance, starting a motor of the bolt fastening mechanism to drive an adjustable torque sleeve to rotate, aligning and sleeving an anti-blocking sleeve with a nut, screwing the nut to a set torque value, enabling the anti-blocking sleeve to slip relative to a synchronous gear shaft, driving the bolt fastening mechanism to retreat by the feeding mechanism under the condition that the bolt fastening mechanism does not stop rotating, and enabling the anti-blocking sleeve to retreat from the nut;
the wire clamp clamping mechanism is opened, the lead clamping jaw is also opened, and the live-wire operation mechanical arm drives the lead lapping device to move, so that the installation of the wire clamp is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132366.0A CN113572079B (en) | 2021-09-27 | 2021-09-27 | Lead lapping device of live working robot and wire clamp installation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132366.0A CN113572079B (en) | 2021-09-27 | 2021-09-27 | Lead lapping device of live working robot and wire clamp installation method |
Publications (2)
| Publication Number | Publication Date |
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| CN113572079A true CN113572079A (en) | 2021-10-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107732621A (en) * | 2017-11-17 | 2018-02-23 | 杭州贝特设备制造有限公司 | A kind of special-shaped wire clamp surely fills device and method |
| CN114552497A (en) * | 2022-01-26 | 2022-05-27 | 福建大观电子科技有限公司 | Lead lapping device and method for live working robot |
| CN114654406A (en) * | 2022-03-23 | 2022-06-24 | 中铁建电气化局集团第一工程有限公司 | Installation tool assembly for installing dropper on contact wire |
| CN115825812A (en) * | 2022-10-14 | 2023-03-21 | 高睿 | Power detection open circuit maintenance process |
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| CN111431097A (en) * | 2020-06-10 | 2020-07-17 | 天津滨电电力工程有限公司 | Automatic installation device for wire clamp of live working robot and use method of automatic installation device |
| CN113067279A (en) * | 2021-04-28 | 2021-07-02 | 浙江清大智能机器人有限公司 | Distribution network live-line full-flow operation robot |
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| GB1592827A (en) * | 1977-03-29 | 1981-07-08 | Innocente Riganti Off Mec | Self gripping clamp with interchangeable liners |
| CN105449392A (en) * | 2015-10-23 | 2016-03-30 | 云南电网有限责任公司临沧供电局 | Live-line overlap joint and drainage wire dismounting work apparatus for 10-kV line and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107732621A (en) * | 2017-11-17 | 2018-02-23 | 杭州贝特设备制造有限公司 | A kind of special-shaped wire clamp surely fills device and method |
| CN114552497A (en) * | 2022-01-26 | 2022-05-27 | 福建大观电子科技有限公司 | Lead lapping device and method for live working robot |
| CN114552497B (en) * | 2022-01-26 | 2023-09-19 | 福建大观电子科技有限公司 | Live working robot lead lapping device and lapping method |
| CN114654406A (en) * | 2022-03-23 | 2022-06-24 | 中铁建电气化局集团第一工程有限公司 | Installation tool assembly for installing dropper on contact wire |
| CN115825812A (en) * | 2022-10-14 | 2023-03-21 | 高睿 | Power detection open circuit maintenance process |
| CN115825812B (en) * | 2022-10-14 | 2023-11-21 | 国网浙江省电力有限公司常山县供电公司 | Electric power detection circuit breaking overhaul process |
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