CN209868643U

CN209868643U - Special tool with wire clamp clamping mechanism

Info

Publication number: CN209868643U
Application number: CN201920620404.9U
Authority: CN
Inventors: 孙昊; 刘永成; 马孝林; 王明瑞
Original assignee: Shandong Lepwell Automation Technology Co Ltd
Current assignee: Shandong Lepwell Automation Technology Co Ltd
Priority date: 2019-05-01
Filing date: 2019-05-01
Publication date: 2019-12-31
Anticipated expiration: 2029-05-01

Abstract

The utility model discloses a specialized tool with fastener fixture, including base and fastener fixture, fastener fixture includes the centre gripping arm, centre gripping drive assembly, connecting rod connecting plate and parallelogram link mechanism, parallelogram link mechanism includes first connecting rod, second connecting rod and third connecting rod, the connecting rod connecting plate is installed in the base, the centre gripping arm sets up two sets ofly, the first link motion of centre gripping drive assembly drive, second connecting rod one end is articulated with first connecting rod, the other end is articulated with the centre gripping arm, the second connecting rod includes articulated portion, articulated portion is articulated with the connecting rod connecting plate, third connecting rod one end is articulated with the connecting rod connecting plate, the other end is articulated with the centre gripping arm, first connecting rod, the second connecting rod, the third connecting rod all is equipped with two sets ofly. The wire clamp clamping mechanism has a large opening degree, and the problem of certain positioning error in the operation of the robot can be effectively solved.

Description

Special tool with wire clamp clamping mechanism

Technical Field

The utility model relates to a special end tool of live working robot especially relates to specialized tool with fastener fixture.

Background

The following background is provided to aid the reader in understanding the present invention and is not admitted to be prior art.

Along with the development of economic society, the requirement of power users on the power supply reliability is higher and higher, and particularly, live-line work is more and more common when the 10kV overhead distribution line is overhauled and transformed. With the continuous development of the robot technology, the adoption of the robot to carry out the live working gradually becomes a trend.

The live working robot at the present stage is mainly applied to the operation of a 10KV distribution network line. The robot can perform operations such as live line disconnection, live line connection, live lightning arrester replacement, live disconnecting switch replacement, obstacle cleaning and the like. The high-voltage live working robot mainly comprises a mechanical arm, a lifting bucket arm vehicle, an insulating platform, a special tool and the like.

The robot carries out live-wire connection operation and is connected to electrified main line with uncharged drainage wire, and both connect through the puncture fastener, and relevant enterprise standard has: technical conditions of an electrified fire-connecting device for 10kV overhead insulated line puncture wire clamps (Q/GDW 12-007-2017). The insulating puncture wire clamp is a commonly used hardware fitting, is suitable for an insulating wire, comprises a puncture blade, a torque nut, a screw rod, an insulating shell and the like, realizes electrical connection by puncturing an insulating layer of the insulating wire by the puncture blade, and controls the puncture depth by the torque nut.

At present, a wire clamp clamping mechanism of a special tool does not have large opening degree during operation of a connecting and leading wire, and a robot has positioning error during operation.

Disclosure of Invention

An object of the utility model is to provide a specialized tool with fastener fixture, fastener fixture have great aperture, the positioning error problem that exists when can solving the robot operation.

The utility model provides a technical scheme that its technical problem adopted is: the special tool with the wire clamp clamping mechanism comprises a wire clamp clamping mechanism arranged on a base, wherein the wire clamp clamping mechanism comprises a clamping arm, a clamping driving assembly, a connecting rod connecting plate and a parallelogram connecting rod mechanism, the parallelogram connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the connecting rod connecting plate is installed on the base, the clamping arm is provided with two groups, the clamping driving assembly drives the first connecting rod to move, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to the clamping arm, the second connecting rod comprises a hinged portion, the hinged portion is hinged to the connecting rod connecting plate, one end of the third connecting rod is hinged to the connecting rod connecting plate, the other end of the third connecting rod is hinged to the. Preferably, the second link includes a first sub-lever and a second sub-lever, and a hinge portion is formed at a connection of the first sub-lever and the second sub-lever. Preferably, the second secondary lever is formed by extending the first secondary lever, and the first secondary lever and the second secondary lever form an acute angle therebetween. The clamping distance for clamping the puncture wire clamp is arranged between the two groups of clamping arms, and the clamping distance between the clamping arms is changed by a parallelogram connecting rod mechanism consisting of connecting rods, so that the problem of certain positioning error in the operation of the robot can be effectively solved.

Preferably, the clamping driving assembly comprises a wire clamp clamping motor, a coupler, a clamping screw and a clamping screw nut, the wire clamp clamping motor is fixed on the connecting rod connecting plate, an output shaft of the wire clamp clamping motor is connected with the clamping screw through the coupler, the clamping screw nut is matched with the clamping screw, the wire clamp clamping mechanism comprises a connecting piece, and the first connecting rod is connected with the clamping screw nut through the connecting piece. The wire clamp clamping motor drives the clamping screw rod and the clamping screw nut to move through the coupler, and then the clamping screw nut drives the parallelogram connecting rod mechanism formed by the connecting rods to move to drive the clamping arms to open and close. The maximum opening degree of clamping and the clamping of the puncture wire clamp are determined by changing the locked-rotor current of the wire clamp clamping motor, when the current reaches a preset value I1, the wire clamp clamping motor is locked-rotor, and at the moment, the wire clamp clamping motor is in a state of clamping the puncture wire clamp; when the wire clamp clamping motor rotates reversely and the current reaches a preset value I2, the wire clamp clamping motor is locked, and the wire clamp clamping mechanism is in a maximum opening state and is used for grabbing the puncture wire clamp.

Preferably, the wire clamp clamping mechanism comprises a bearing assembly, the bearing assembly comprises a bearing and a bearing seat, the clamping screw is fixed with the bearing seat through the bearing, and the bearing seat is fixed on the connecting rod connecting plate. The wire clamp clamping motor drives the clamping screw to rotate, the clamping screw needs to be supported when rotating, and the clamping screw is supported through a bearing and used for reducing friction. Preferably, the wire clamp clamping mechanism comprises a connecting plate, and the connecting rod connecting plate is fixed with the base through the connecting plate. Preferably, the connecting rod connecting plate comprises a motor fixing part, a connecting rod hinging part and a bearing seat fixing part, the motor fixing part, the connecting rod hinging part and the bearing seat fixing part form a closed quadrilateral structure, the wire clamp clamping motor is fixed on the motor fixing part, the motor fixing part is provided with a lead screw through hole for clamping a lead screw to pass through, the bearing seat fixing part is fixed with the bearing seat, one end of the connecting rod hinging part is fixed with the connecting plate, and the other end of the connecting rod hinging part is.

Preferably, the clamping arms are symmetrically arranged along the clamping screw.

Preferably, each group of clamping arms is provided with a group of clamping jaws, and the two groups of clamping jaws are symmetrically arranged along the clamping screw rod. The clamping jaw is more favorable for firmly clamping the puncture wire clamp.

Preferably, the clamping jaw comprises a clamping ramp and a clamping flat. The puncture fastener is conveniently snatched to the centre gripping inclined plane, and the centre gripping inclined plane is touchd the puncture fastener edge, can incline and slide into, if right angle side then can block. The side wall of the movable clamp of the puncture wire clamp is provided with a clamping groove, and when the puncture wire clamp is clamped, the clamping plane is contacted with the side face of the clamping groove, so that the clamping jaw clamps the puncture wire clamp.

Preferably, the clamping arm is provided with a telescopic groove, and the inner wall of the telescopic groove is provided with a return spring connected with the clamping jaw. The clamping jaw stretches out and draws back along flexible groove, can solve positioning deviation's problem. Preferably, the clamping jaw is provided with a limiting column, the clamping arm is provided with a limiting hole for accommodating the limiting column, and the telescopic groove is vertically communicated with the limiting hole. The limiting column prevents the clamping jaw from being separated. Preferably, the clamping jaw is provided with a hole, and the limiting column is a screw. When the clamping jaw is located the flexible groove, the clamping jaw and the clamping arm are connected through the screw, the screw comprises a nut, and the nut can freely move in the limiting hole.

Preferably, the clamping arm is provided with a support block having a support slope. When the puncture wire clamp is clamped, the supporting inclined plane is in contact with the surface of the movable clamp so as to support the movable clamp and clamp the puncture wire clamp more stably.

The utility model has the advantages that: the wire clamp clamping mechanism has a large opening degree, and the problem of certain positioning error in the operation of the robot can be effectively solved.

Drawings

Fig. 1 is a schematic structural view of the cable extending into the end face of the present invention.

Fig. 2 is a schematic structural view of the cable-extending end surface of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a schematic structural view of the puncture clamp.

FIG. 5 is a schematic structural view of a drainage wire clamping mechanism.

FIG. 6 is a front view of the drainage wire clamping mechanism.

Fig. 7 is a schematic structural view of a connecting rod connecting plate.

Fig. 8 is a combined structure diagram of the clamping jaw and the clamping arm.

Fig. 9 is a schematic view of the separated structure of the clamping jaw and the clamping arm, wherein (a) is a schematic view of the clamping jaw, and (b) is a schematic view of the structure of the clamping arm.

Fig. 10 is a schematic structural view of the main line mounting mechanism.

Fig. 11 is a front view of the main wire mounting mechanism on one side.

Fig. 12 is a schematic view of the nut tightening mechanism.

FIG. 13 is a schematic structural view of a drainage wire clamping and tensioning mechanism.

FIG. 14 is a front view of a drainage wire clamping and tensioning mechanism.

FIG. 15 is a schematic structural view of a thread cutting mechanism.

FIG. 16 is a front view of a drainage line shearing mechanism.

Fig. 17 is a schematic view of a rotary cutter.

Fig. 18 is a schematic view of a quick change mechanism.

Fig. 19 is a schematic view of the structure of the flange.

Fig. 20 is a schematic structural view of an outer arm connecting disc.

The labels in the figure are: a base 1;

the clamp clamping mechanism 2, the clamping arm 201, the telescopic groove 2011, the reset spring 2012, the limiting hole 2013, the supporting block 2014, the clamping driving component 202, the clamp clamping motor 2021, the coupler 2022, the clamping lead screw 2023, the clamping lead screw nut 2024, the connecting rod connecting plate 203, the motor fixing part 2031, the connecting rod hinging part 2032, the bearing seat fixing part 2033, the parallelogram connecting rod mechanism 204, the first connecting rod 2041, the second connecting rod 2042, the third connecting rod 2043, the first auxiliary rod 20421, the second auxiliary rod 20422, the hinging part 20423, the clamping interval 205, the bearing component 206, the connecting plate 207, the clamping jaw 208, the clamping inclined plane 2081, the clamping plane 2082, the limiting column 2083, the hole 2084, the groove-type photoelectric sensor 301, the groove-shaped plate 3011 and the notch 3012,

the main line mounting mechanism 4, the throat tongue 401, the entering inclined plane 4011, the moving inclined plane 4012, the perforation 4013, the elastic component 402, the spring 4021, the guide shaft 4022, the guide bearing seat 4023, the adaptor 403, the proximity sensor 404, the claw 405, the expansion section 4051 and the deviation prevention section 4052;

the nut tightening mechanism 5, a sleeve 501, a tightening motor 502, a first speed reducing mechanism 503, a second speed reducing mechanism 504, and a connecting bracket 505;

the device comprises a drainage wire shearing mechanism 6, an electric cutter 601, a rotary cutter 6011, a fixed cutter 6012, an opening 6013, a first stopping end 6014, a second stopping end 6015, a shearing driving component 602, a shearing motor 6021, a shearing driving wheel 6022, a first limit sensor 603 and a second limit sensor 604;

the drainage wire clamping and tensioning mechanism 7 comprises a moving arm 701, a clamping part 7011, a shaft part 7012, a moving arm driving assembly 702, a clamping motor 7021, a clamping driving wheel 7022, a clamping driven wheel 7023, a clamping lead screw 7024, a clamping lead screw slider 7025, a fixed arm 703, a tensioning part 7031, an upper rod part 7032, a lower rod part 7033, a fixed arm driving assembly 704, a tensioning motor 7041, a tensioning driving wheel 7042, a first tensioning driven wheel 7043, a second tensioning driven wheel 7044, a penetrating distance 705, a guide rod 706, a first bracket 707, a second bracket 708, a through hole 7081, a clamping ratchet 709, a clamping ratchet oscillating bar 710, a third bracket 711, a tensioning ratchet 712, a tensioning ratchet oscillating bar 713, a first connecting frame 714, a second connecting frame 715 and a third connecting frame 716;

a power supply mechanism 8;

the puncture wire clamp 9, the movable clamp 91, the fixed clamp 92, the screw 93, the torque nut 94, the main wire clamp opening 95, the drainage wire clamp opening 96 and the clamping groove 911;

the quick replacement mechanism 10 comprises a flange 1001, a bolt hole 10011, a flange connecting hole 10012, a limiting block 10013, an end 10014, a connecting part 10015 and a protrusion 10017; the outer arm connecting disc 1002 corresponds to the hole 10021, the outer arm connecting hole 10022, the groove 10023, the bottom ring 10024, the ring plate 10025, and the insertion hole 10027.

Detailed Description

The structures referred to in the present invention or these terms of art used are further described below. These illustrations are merely exemplary of how the present invention may be implemented and are not intended to limit the present invention in any way.

A special tool for operation of connecting a 10KV line live working robot with a drainage wire comprises a wire clamp clamping mechanism, a main wire mounting mechanism, a nut screwing mechanism, a drainage wire clamping and tensioning mechanism, a drainage wire shearing mechanism and a power supply mechanism, and can realize autonomous functions of grabbing and clamping a puncture wire clamp, threading and clamping the drainage wire, mounting the main wire, screwing the nut, tensioning the drainage wire, shearing redundant drainage wire, unlocking and releasing and the like, referring to Figs. 1-3.

Puncture wire clamp

The puncture wire clamp 9 is prior art, and as shown in fig. 4, comprises an insulating housing, a puncture blade, a screw 93 and a torque nut 94, wherein the insulating housing comprises a movable clamp 91 and a fixed clamp 92, the movable clamp 91 and the fixed clamp 92 form a main wire clamping opening 95 and a drainage wire clamping opening 96, the main wire clamping opening 95 is located above, and the drainage wire clamping opening 96 is located below; two sets of screws 93 are arranged in parallel for connecting the moving clamp 91 and the fixed clamp 92.

Base seat

The special tool comprises a base 1, a wire clamp clamping mechanism 2, a main wire hanging mechanism 4, a nut screwing mechanism 5, a drainage wire shearing mechanism 6, a drainage wire clamping and tensioning mechanism 7 and a power supply mechanism 8 which are all arranged on the base 1, and the special tool is shown in the figures 1-3.

Preferably, the bottom end of the base 1 is provided with a mounting hole for connecting the flange 1001.

Wire clamp clamping mechanism

As shown in fig. 5-9, the clip holding mechanism 2 is used to hold a piercing clip 9. As shown in fig. 3, the special tool comprises a cable extending end 11 and a cable extending end 12, the piercing clamp 9 is located between the cable extending end 11 and the cable extending end 12,

as a preferable scheme, the wire clamp clamping mechanism 2 includes a clamping arm 201, a clamping driving assembly 202, a connecting rod connecting plate 203 and a parallelogram connecting rod mechanism 204, as shown in fig. 5-6, the parallelogram connecting rod mechanism 204 includes a first connecting rod 2041, a second connecting rod 2042 and a third connecting rod 2043, the connecting rod connecting plate 203 is installed on the base 1, two sets of clamping arms 201 are provided, the clamping driving assembly 202 drives the first connecting rod 2041 to move, one end of the second connecting rod 2042 is hinged to the first connecting rod 2041, the other end is hinged to the clamping arm 201, the second connecting rod 2042 includes a hinge 20423, the hinge 20423 is hinged to the connecting rod connecting plate 203, one end of the third connecting rod 2043 is hinged to the connecting rod connecting plate 203, the other end is hinged to the clamping arm 201, and two sets of the first connecting rod 2041, the second connecting rod 2042 and the. Preferably, the second connecting rod 2042 includes a first sub-rod 20421 and a second sub-rod 20422, and a hinge 20423 is formed at the joint of the first sub-rod 20421 and the second sub-rod 20422. Preferably, the second auxiliary rod 20422 is formed by extending the first auxiliary rod 20421, and the first auxiliary rod 20421 and the second auxiliary rod 20422 form an acute angle therebetween. The clamping distance 205 for clamping the puncture wire clamp 9 is formed between the two groups of clamping arms 201, and the clamping distance between the clamping arms 201 is changed by the parallelogram link mechanism 204 formed by the connecting rods, so that the problem of certain positioning error in the operation of the robot can be effectively solved.

Preferably, the clamping driving assembly 202 includes a wire clamp clamping motor 2021, a coupler 2022, a clamping lead screw 2023, and a clamping lead screw nut 2024, the wire clamp clamping motor 2021 is fixed to the connecting rod connecting plate 203, an output shaft of the wire clamp clamping motor is connected to the clamping lead screw 2023 through the coupler 2022, the clamping lead screw nut 2024 is matched with the clamping lead screw 2023, the wire clamp clamping mechanism 2 includes a connecting member 206, and the first connecting rod 2041 is connected to the clamping lead screw nut 2024 through the connecting member 206. The wire clamp clamping motor 2021 drives the clamping lead screw 2023 and the clamping lead screw nut 2024 to move through the coupler 2022, and then the clamping lead screw nut 2024 drives the parallelogram link mechanism 204 composed of the connecting rods to move, and drives the clamping arm 201 to open and close. The maximum opening of clamping and the clamping of the puncture wire clamp are determined by changing the locked-rotor current of the wire clamp clamping motor 2022, when the current reaches a set value I1, the wire clamp clamping motor 2022 is locked-rotor, and at the moment, the wire clamp clamping motor is in a state of clamping the puncture wire clamp; when the wire clamp clamping motor 2022 rotates reversely to reach the set current I2, the wire clamp clamping motor 2022 is locked, and the wire clamp clamping mechanism 2 is in the maximum opening state at the moment and is used for grabbing the puncture wire clamp 9.

Preferably, as shown in fig. 6, the wire clamp clamping mechanism 2 includes a bearing assembly 206, the bearing assembly 206 includes a bearing and a bearing seat, the clamping screw 2023 is fixed to the bearing seat through the bearing, and the bearing seat 2061 is fixed to the connecting rod connecting plate 203. The wire clamp clamping motor 2021 drives the clamping lead screw 2023 to rotate, and the clamping lead screw 2023 rotates to be supported by a bearing for reducing friction. Preferably, the wire clamp holding mechanism 2 includes a connecting plate 207, and the connecting rod connecting plate 203 is fixed with the base 1 through the connecting plate 207. Preferably, as shown in fig. 7, the connecting rod connecting plate 203 includes a motor fixing portion 2031, a connecting rod hinge portion 2032, and a bearing seat fixing portion 2033, the motor fixing portion 2031, the connecting rod hinge portion 2032, and the bearing seat fixing portion 2033 form a closed quadrilateral structure, the wire clamp clamping motor 2021 is fixed to the motor fixing portion 2031, the motor fixing portion 2031 is provided with a lead screw through hole for passing the clamping lead screw 2023 therethrough, the bearing seat fixing portion 2033 is fixed to the bearing seat, one end of the connecting rod hinge portion 2032 is fixed to the connecting plate, and the other end is hinged to the second connecting.

Preferably, as shown in fig. 6, the clamp arms 201 are symmetrically disposed along the clamp screw 2023.

Preferably, as shown in fig. 6, each set of clamping arms 201 is provided with one set of clamping jaws 208, and the two sets of clamping jaws 208 are symmetrically arranged along the clamping screw 2023. The clamping jaws 208 are more conducive to securely holding the piercing clip 9.

Preferably, as shown in fig. 9 (a), the jaw 208 includes a gripping bevel 2081 and a gripping flat 2082. Centre gripping inclined plane 2081 conveniently snatchs puncture fastener 9, and centre gripping inclined plane 2081 touches puncture fastener edge, can incline the slip in, if right angle limit then can block. The lateral wall of the movable clamp 91 of the puncture wire clamp is provided with a clamping groove 911, and when the puncture wire clamp 9 is clamped, the clamping plane 2082 is in contact with the lateral surface of the clamping groove 911, so that the clamping jaw clamps the puncture wire clamp.

Preferably, as shown in fig. 9 (b), the gripping arm 201 is provided with a telescopic groove 2011, and a return spring 2012 connected to the gripping jaw 208 is provided on an inner wall of the telescopic groove 2011. The clamping jaw 208 extends and retracts along the telescopic groove 2011, so that the problem of positioning deviation can be solved. Preferably, as shown in fig. 8, the clamping jaw 208 is provided with a limiting column 2083, the clamping arm 201 is provided with a limiting hole 2013 for accommodating the limiting column 2083, and the telescopic groove 2011 is vertically communicated with the limiting hole 2013. The retaining posts 2083 prevent the jaws 208 from disengaging. Preferably, the clamping jaw 208 is provided with a hole 2084, and the limiting column 2083 is a screw. When the clamping jaw 208 is located in the telescopic groove 2011, the clamping jaw 208 and the clamping arm 201 are connected through a screw, and the screw comprises a nut which can freely move in the limiting hole 2013.

Preferably, as shown in fig. 9 (b), the clamp arm 201 is provided with a support block 2014, and the support block 2014 has a support slope 2015. When centre gripping puncture fastener 9, support inclined plane 2015 and the surface contact who removes clamp 91 to this supports and removes clamp 91, realizes more firmly the centre gripping puncture fastener.

Main line mounting mechanism

The main line mounting mechanism 4 is used for mounting the main line, see fig. 10-11. The main line mounting mechanism 4 adopts a complete mechanical mechanism, a spring penetrates through the guide shaft and is positioned between the throat tongue and the guide bearing seat, and the throat tongue is opened by means of the pressure and the lifting force of the mechanical arm, so that the main line is mounted.

The main thread mounting mechanism 4 comprises two groups of laryngeal tongues 401, the two groups of laryngeal tongues 401 are provided, the puncture wire clamp 9 is positioned between the two groups of laryngeal tongues 401, and the laryngeal tongues 401 are provided with an entering inclined plane 4011 and a moving-out inclined plane 4012, as shown in fig. 11. The main wire attaching mechanism 4 includes an elastic member 402, as shown in fig. 10, the elastic member 402 is mounted on the base 1, and the tongue 401 is connected to the elastic member 402. As shown in fig. 11, the elastic assembly 402 includes a spring 4021, a guide shaft 4022, and a guide bearing seat 4023, the spring 4021 is sleeved outside the guide shaft 4022, and the spring 4021 is located between the throat tongue 401 and the guide bearing seat 4023. The guide shaft 4022 plays a role of guide support. Specifically, the throat tongue 401 is provided with a through hole 4013, one end of the guide shaft 4022 is connected with the guide bearing seat 4023, the other end of the guide shaft 4022 is connected with the through hole 4013, the main line mounting mechanism 4 comprises an adapter 403, and the guide bearing seat 4023 is fixed with the base 1 through the adapter 403. Preferably, the elastic members 402 are arranged in two sets, which are arranged in parallel up and down. The two sets of elastic elements 402 provide more stable movement of the laryngeal tongue 401. When the main line is hung, the puncture wire clamp is positioned between the two groups of the tongue 401, when the mechanical arm drives the main line to penetrate into the main line clamp opening 95 along the entering inclined plane 4011, the tongue 401 overcomes the resistance of the elastic component spring 4021 to move rightwards, and when the mechanical arm drives the main line to move out, the tongue 401 overcomes the resistance of the spring 4021 to move rightwards along the moving inclined plane 4012. At present, when a mechanical arm drives a main line to move out, the main line mounting mechanism adopts a motor driving mode to enable the laryngeal tongue to move backwards, penetration of the main line is greatly influenced by control, the structure is complex, and the laryngeal tongue 401 with the moving-out inclined plane 4012 is adopted, so that the structure is simple, and the operation is convenient.

Preferably, as shown in fig. 10 to 11, the main line mounting mechanism 4 includes two sets of proximity sensors 404, the two sets of proximity sensors 404 are respectively located at both sides of the puncture clamp 9, and the proximity sensors 404 and the main line clamp opening 95 are located on the same straight line. The proximity sensors 404 are used for judging whether the main line penetrates in place or moves out, only when two groups of proximity sensors 404 have signals, the main line is in place or moves out, and if only one group of proximity sensors 404 have signals, the main line is inclined to be mounted, only one part of the main line enters the puncture wire clamp, and the mounting action needs to be carried out again. Preferably, the proximity sensors 404 are arranged on the adaptor 403, the laryngeal tongues 401 correspond to the proximity sensors 404 one by one, and each group of proximity sensors 404 is respectively located below each group of laryngeal tongues 401. The proximity sensor 404 is positioned below the laryngeal tongue 401 to make a timely and accurate determination.

Preferably, as shown in fig. 10 to 11, the main line mounting mechanism 4 includes a claw 405, the claw 405 is fixed to the base 1, and the adaptor 403 is fixed to the claw 405. The latch 405 is used to prevent the main line from deviating when the main line is mounted. Preferably, the jaw 405 includes an expanding section 4051 and a deviation preventing section 4052, the expanding section 4051 is flared to two opposite sides, and the deviation preventing section 4052 is U-shaped. To prevent both the main and drainage wires from deviating, the length of the deviation prevention section 4052 is greater than or equal to the sum of the lengths of the main wire clamp opening and the drainage wire clamp opening.

Nut tightening mechanism

The nut tightening mechanism 5 is used to clamp the main and drainage wires and to break the torque nut 94 to disengage the piercing clamp from the special tool, see fig. 12.

The nut tightening mechanism 5 includes a sleeve 501, a tightening motor 502, a first speed reduction mechanism 503 and a second speed reduction mechanism 504, the tightening motor 502 is fixed to the base 1 through a connecting bracket 505, an output shaft of the tightening motor is connected to the first speed reduction mechanism 503, the first speed reduction mechanism 503 is connected to the second speed reduction mechanism 504, the sleeve 501 is fixedly connected to an output shaft of the second speed reduction mechanism 504, and the sleeves 501 are arranged in two sets in parallel, as shown in fig. 12. Preferably, the first speed reduction mechanism 503 is a planetary gear reducer, the second speed reduction mechanism 504 is a helical gear transmission mechanism, the input end of the first speed reduction mechanism is an output shaft of the first speed reduction mechanism, the output end of the first speed reduction mechanism is a rotary driving shaft, and the rotary driving shaft is connected with the sleeve 501. The second speed reducing mechanism has the functions of power separation and speed reduction.

The torque nut 94 of the puncture wire clamp is inserted into the sleeve 501, the first speed reducing mechanism 503 and the second speed reducing mechanism 504 are controlled by the screwing motor 502 to move the fixing clamp 92 towards the moving clamp 91, the main wire and the drainage wire are clamped, the puncture blade pierces the insulating layer of the main wire and the drainage wire, finally, the torque nut is screwed off, and the puncture wire clamp is separated from the sleeve 501.

Drainage wire clamping and tensioning mechanism

As shown in fig. 13-14, the drainage wire clamping and tensioning mechanism 7 is located at the cable insertion end 11 and is used for clamping the drainage wire, preventing the drainage wire from slipping off due to gravity, tensioning the drainage wire, and avoiding potential safety hazards caused by bending and stacking of the drainage wire.

As shown in FIG. 13, the drainage wire clamping and tensioning mechanism 7 comprises a moving arm 701, a moving arm drive assembly 702, a fixed arm 703 and a fixed arm drive assembly 704, wherein a drainage wire penetrating penetration space 705 is formed between the moving arm 701 and the fixed arm 703, the moving arm drive assembly 702 drives the moving arm 701 to move, the drainage wire is clamped between the fixed arm 703 and the moving arm 701, and the moving arm 701 clamps the drainage wire; the stationary arm drive assembly 703 rotates the stationary arm 703, which pulls the drainage wire taut through friction between the stationary arm 703, the moving arm 701, and the drainage wire.

Preferably, as shown in fig. 13, the moving arm driving assembly 702 comprises a clamping motor 7021, a clamping driving wheel 7022, a clamping driven wheel 7023, a clamping lead screw 7024 and a clamping lead screw sliding block 7025, the clamping motor 7021 is mounted on the base 1, an output shaft of the clamping motor is connected with the clamping driving wheel 7022, the clamping driving wheel 7022 is in meshing transmission with the clamping driven wheel 7023, the clamping driven wheel 7023 is fixed with the clamping lead screw 7024, the clamping lead screw 7024 is matched with the clamping lead screw sliding block 7025, and the clamping lead screw sliding block 7025 is connected with the moving arm 701. The moving arm 701 can reciprocate in the horizontal direction to clamp or release the drainage wire.

Preferably, as shown in FIG. 13, the drainage wire clamping and tensioning mechanism 7 includes a guide rod 706, and the guide rod 706 is mounted to the base 1. The guide rod 706 has guiding and supporting functions.

Preferably, as shown in fig. 13, the drainage wire clamping and tensioning mechanism 7 comprises a first bracket 707 and a second bracket 708, the clamping motor 7021 is fixed to the base 1 through the first bracket 707, the moving arm 701 is fixed to the clamping screw block 7025 through the second bracket 708, the second bracket 708 is provided with a through hole, and the guide rod 706 penetrates through the second bracket 708 and is fixed to the first bracket 707.

Preferably, as shown in FIG. 13, the drainage wire clamping and tensioning mechanism 7 comprises a clamping ratchet 709 and a clamping ratchet swing link 710, the clamping ratchet 709 is arranged at the top of the movable arm 701, and the clamping ratchet swing link 710 is mounted on the base 1. Preferably, the drainage wire clamping and tensioning mechanism 7 comprises a third bracket 711, the third bracket 711 is fixed with the second bracket 707, and the clamping ratchet 709 is arranged on the third bracket 711. Preferably, as shown in fig. 14, the moving arm 701 includes a clamping portion 7011 and a shaft portion 7012, the clamping portion 7011 is connected to the shaft portion 7012, and the shaft portion 7012 is fixed to the clamping ratchet 709. Preferably, the clamping portion 7011 is concave wheel-shaped. The clamping ratchet 709 and the clamping ratchet swing link 710 can ensure the rotation direction of the moving arm 701 and prevent reverse rotation.

Preferably, the moving arm 701 is rotatably provided between the second bracket 707 and the third bracket 708. The moving arm 701 may rotate circumferentially, taking advantage of the friction between the stationary arm 703, the moving arm 701, and the guidewire to tension the guidewire.

Preferably, as shown in fig. 13, the fixed arm driving assembly 704 includes a tension motor 7041, a tension driving wheel 7042, a first tension driven wheel 7043 and a second tension driven wheel 7044, the tension motor 7041 is mounted to the base 1, an output shaft of the tension motor is connected to the tension driving wheel 7042, the tension driving wheel 7042 is in meshing transmission with the first tension driven wheel 7043, the first tension driven wheel 7043 is in meshing transmission with the second tension driven wheel 7044, and the second tension driven wheel 7044 is fixed to the fixed arm 703.

Preferably, as shown in fig. 13, the drainage wire clamping and tensioning mechanism 7 comprises a tensioning ratchet 712 and a tensioning ratchet swing link 713, the tensioning ratchet 712 is connected with the output shaft of the tensioning motor, the tensioning ratchet 712 is positioned above the tensioning driving wheel 7042, the drainage wire clamping and tensioning mechanism 7 comprises a first connecting frame 714 and a second connecting frame 715, and the tensioning motor 7041 is fixed with the base 1 through the first connecting frame 714; the second connecting frame 715 is fixed to the first connecting frame 714, and the tension ratchet oscillating bar 713 is disposed on the second connecting frame 715. The drainage wire clamping and tensioning mechanism comprises a third connecting frame 716, the third connecting frame 716 is fixed with the base 1, as shown in fig. 14, the fixed arm 703 comprises a tensioning part 7031, an upper rod part 7032 and a lower rod part 7033, the upper rod part 7032 is fixed with the second tensioning driven wheel 7044, and the lower rod part 7033 is fixed with the third connecting frame 716 through a bearing. The tightening part 7031 is concave wheel-shaped. The drainage wire before tensioning the drainage wire is positioned between the movable arm 701 and the fixed arm 703, when the drainage wire is tensioned, the fixed arm 703 rotates to tension the drainage wire, the movable arm 701 rotates along with the drainage wire, and the tensioning ratchet 712 and the tensioning ratchet oscillating bar 713 can ensure the rotation direction of the fixed arm 703 and prevent reversion.

Preferably, the drainage wire clamping and tensioning mechanism is lower than the main wire nip 95.

Preferably, the end of the guide bar 706 is fixed to the third connecting frame 716.

The threading sequence of the drainage wire: the threading spacing 705, the drainage wire clamping opening 96, the electric cutter opening 6013, the claw 405 and the notch 3012.

Drainage wire shearing mechanism

The thread cutting mechanism 6 is used to cut excess thread, see fig. 15-17.

Preferably, as shown in FIG. 15, the drainage wire cutting mechanism 6 includes an electric cutter 601, and the electric cutter 601 is located at the cable protruding end 12.

Preferably, as shown in fig. 15 to 16, the electric cutter 601 includes a rotary cutter 6011 and a fixed cutter 6012, the rotary cutter 6011 is hinged to the fixed cutter 6012, gear teeth are provided at an edge of the rotary cutter 6011, the drainage thread cutting mechanism 6 includes a cutting driving assembly 602, the cutting driving assembly 602 includes a cutting motor 6021 and a cutting driving wheel 6022, an output shaft of the cutting motor is connected to the cutting driving wheel 6022 through a coupling, and the cutting driving wheel 6022 is in meshing transmission with the gear teeth.

Preferably, as shown in fig. 16, the electric cutter 601 has an opening 6013, the opening 6013 is formed by hinging a fixed cutter 6012 and a rotary cutter 6011, and the opening 6013 is in the same line with the drainage wire clamping opening 96. It should be noted that the opening 6013 is moderate, and if it is too large, it causes a tooth loss, and if it is too small, it is difficult for the drainage wire to penetrate.

Preferably, as shown in fig. 16, the drainage wire cutting mechanism 6 includes a first limit sensor 603 and a second limit sensor 604 which are mounted on the base 1, the rotary cutter 6011 is provided with a first stopping end 6014 and a second stopping end 6015, the first stopping end 6014 is located below the first limit sensor 603, and the second stopping end 6015 is located below the second limit sensor 604. Preferably, the first limit sensor 604 is fixed to the jaw 405 through the adaptor 403, and the second limit sensor 603 is fixed to the jaw 405. When the rotating cutter 6011 rotates to the largest small opening, the first stopping end 6014 triggers the first limit sensor 603, and the rotating cutter 6011 stops rotating; when the rotating cutter 6011 rotates to the maximum opening 6013, the second stopping end 6015 triggers the second limit sensor 604, and the rotating cutter 6011 stops rotating, so that the rotating cutter 6011 is prevented from being out of teeth in two directions.

Preferably, as shown in fig. 2, the electric cutter 601 is adjacent to the drainage clip opening 96.

When the thread cutting action is executed, when the rotary cutter 6011 does not contact the drainage thread, the no-load motion is adopted, and the current of the cutting motor 6021 is small; when the rotary cutter 6011 contacts the drainage wire and starts to cut the wire, the cutting motor 6021 is in load motion, and the current gradually increases; when the cutter 6011 is rotated to cut the drainage wire, the cutting motor 6021 is in idle motion again, and the current is reduced. When the current is detected to be changed from small to large and then reduced, the drainage wire is cut, the wire cutting action is finished, and at the moment, the cutting motor 6021 stops moving to avoid the tooth stripping caused by the continuous rotation of the rotary cutter 6011.

In order to prevent the drainage wire shearing mechanism 6 from accidentally causing current stalling and failing to stop the machine and causing the rotating cutter 6011 to lose teeth, a first limit sensor 603 is arranged at the minimum opening position (namely the position when the wire shearing is completed) of the rotating cutter 6011, and if the shearing motor 6021 cannot stop the machine after the wire shearing, the shearing motor 6021 continuously moves to trigger the first limit sensor 603 so that the shearing motor 6021 stops rotating. The problem of tooth stripping of the rotary cutter 6011 when the drainage thread is cut off is avoided through double protection.

Preferably, as shown in FIG. 2, the drainage wire cutting mechanism 6 includes a groove-shaped photosensor 301 provided on the base 1, the groove-shaped photosensor 301 being located at the cable protruding end 12. The groove-shaped photoelectric sensor 301 is used for judging whether the drainage wire passes through the puncture wire clamp 9 and the electric cutter 601. The groove type photoelectric sensor comprises a groove type plate 3011, the groove type plate 3011 is provided with a notch 3012 allowing a drainage wire to pass through, the groove type plate 3011 is in a U shape, the external dimension of the groove type photoelectric sensor 301 is 75 mm X72 mm X20mm, the opening dimension is 50mm X45mm, and the shell material is ABS.

Power supply mechanism

The power supply means 8 are used for supplying power to the special tool, see fig. 2.

Preferably, the power supply mechanism 8 includes a battery pack 801, the battery pack 801 is fixed on the base 1, and the battery pack 801 is a lithium battery, as shown in fig. 2.

Quick replacement mechanism

The quick change mechanism 10 is used to quickly mount or dismount a special tool from an outer arm, illustratively a robotic arm or a hand-held insulated arm, as shown in fig. 18-20.

As shown in fig. 19 to 20, the quick-change mechanism 10 includes a flange 1001 and an outer arm connecting plate 1002, the flange 1001 is provided with a bolt hole 10011, and the outer arm connecting plate 1002 is provided with a corresponding hole 10021 corresponding to the bolt 10011. During the use, embolia in the flange 1001 through bolt hole 10011 and corresponding hole 10021 outer arm connection pad 1002, the mounting hole on the rethread base 1 is connected with flange 1001 to the realization is changed specialized tool fast. Preferably, as shown in fig. 19, the flange 1001 includes an end portion 10014 and a connecting portion 10015, the flange connecting hole 10012 is disposed at the end portion 10014, the bolt hole 10011 is disposed at the connecting portion 10015, and the bolt holes 10011 are disposed along the connecting portion 10015 with a circle center symmetry. Preferably, the bolt hole 10011 is a kidney-shaped hole. The slotted holes may change the relative positions at which the flange 1001 and outer arm interface plate 1002 are mounted. Preferably, when the bolt hole 10011 is a waist-shaped hole, one end of the waist-shaped hole is open. Preferably, the outer wall of the connecting portion 10015 is provided with a protrusion 10017, and the bolt hole 10011 penetrates through the protrusion 10017 and the connecting portion 10015.

Preferably, as shown in fig. 19 to 20, the inner wall of the flange 1001 is provided with a stopper 10013, and the outer wall of the outer arm connecting disc 1002 is provided with a groove 10023 matched with the stopper 10013. The stopper 10013 prevents the outer arm connecting plate 1002 from rotating inside the flange 1001, and also plays a role in positioning. Preferably, the stopper 10013 is disposed on the inner wall of the connecting portion 10015. Preferably, outer arm connection pad 1002 includes bottom ring 10024 and ring board 10025, and bottom ring 10024 is located ring board 10025 bottom, and bottom ring 10024 protrusion is in ring board 10025, and the central point of ring board 10025 puts and is equipped with and is used for the male inserted hole 10027 of outer arm, and bottom ring 10024 is located to outer arm connecting hole 10022, and the inner wall of ring board 10025 is located to recess 10023. When the stopper 10013 is inserted into the groove 10023, the bottom ring 10024 blocks the stopper 10013. Preferably, the limit blocks 10013 are provided with four sets along the circumferential direction of the flange 1001. Preferably, four sets of limit blocks 10013 are distributed at equal intervals.

Preferably, as shown in fig. 19 to 20, a flange connection hole 10012 corresponding to the mounting hole is formed at the edge of the flange 1001, and as shown in fig. 20, an outer arm connection hole 10022 connected to the outer arm is formed at the outer arm connection plate 1002.

The outer arm connecting disc 1002 is sleeved in the flange 1001 and limited by the limiting block 10013, and then screwed in opposite directions by symmetrically arranged bolts, so that the outer arm is fastened.

Taking an external mechanical arm as an example, the working process of the operation of connecting the live working robot with the 10KV line with the drainage wire is as follows:

(1) the wire clamp clamping mechanism clamps a puncture wire clamp, when the current reaches a preset value I1, the wire clamp clamping motor blocks the rotation, the wire clamp clamping motor is in a state of clamping the puncture wire clamp, and meanwhile, the torque nut is sleeved in the sleeve; when the wire clamp clamping motor rotates reversely and the current reaches a preset value I2, the wire clamp clamping motor is locked, and the wire clamp clamping mechanism is in a maximum opening state and is used for grabbing the puncture wire clamp;

(2) a drainage wire penetrates into a drainage wire clamping opening, whether the drainage wire penetrates through a puncture wire clamp or not is judged, if yes, the step (3) is carried out, and if not, threading is continued;

(3) the drainage wire is positioned between the movable arm and the fixed arm, the movable arm moves towards the direction close to the fixed arm to clamp the drainage wire, and the fixed arm rotates to strain the drainage wire;

(4) the mechanical arm drives the main line to penetrate into the main line clamping opening along the entering inclined plane, and the laryngeal tongue overcomes the resistance of the spring and moves towards one direction;

(5) the nut screwing mechanism enables the fixing clamp to move towards the movable clamp, clamps the main line and the drainage line and screws off the torque nut;

(6) cutting off redundant drainage wires by the drainage wire cutting mechanism, reducing the current after cutting off the drainage wires, stopping the rotation of the cutting motor, and carrying out the next step;

(7) the movable arm moves towards the direction far away from the fixed arm, the drainage wire is loosened, and when the mechanical arm drives the main wire to move out, the laryngeal tongue moves towards the opposite direction along the moving-out inclined plane by overcoming the resistance of the spring, and the main wire is released.

The utility model shown and described herein may be implemented in the absence of any element, limitation, or limitations specifically disclosed herein. The terms and expressions which have been employed are used as terms of description and not of limitation, and there is no intention in the use of such terms and expressions of excluding any equivalents of the features shown and described or portions thereof, and it is recognized that various modifications are possible within the scope of the invention. It should therefore be understood that although the present invention has been specifically disclosed by various embodiments and optional features, modification and variation of the concepts herein described may be resorted to by those skilled in the art, and that such modifications and variations are considered to be within the scope of this invention as defined by the appended claims.

The contents of the articles, patents, patent applications, and all other documents and electronically available information described or cited herein are hereby incorporated by reference in their entirety to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such articles, patents, patent applications, or other documents.

Claims

1. The special tool with the wire clamp clamping mechanism comprises a base and is characterized by comprising the wire clamp clamping mechanism, wherein the wire clamp clamping mechanism comprises a clamping arm, a clamping driving assembly, a connecting rod connecting plate and a parallelogram connecting rod mechanism, the parallelogram connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the connecting rod connecting plate is installed on the base, the clamping arm is provided with two groups, the clamping driving assembly drives the first connecting rod to move, one end of the second connecting rod is hinged with the first connecting rod, the other end of the second connecting rod is hinged with the clamping arm, the second connecting rod comprises a hinged part, the hinged part is hinged with the connecting rod connecting plate, one end of the third connecting rod is hinged with the connecting rod connecting plate, the other end of the third connecting rod is hinged with the clamping.

2. The special tool with a wire clamp gripping mechanism of claim 1, wherein the second link includes a first secondary lever and a second secondary lever, the first secondary lever and the second secondary lever forming a hinge at the junction; the second auxiliary rod is formed by extending the first auxiliary rod, and an acute angle is formed between the first auxiliary rod and the second auxiliary rod.

3. The special tool of claim 2, wherein the clamp driving assembly comprises a clamp clamping motor, a coupling, a clamping screw, and a clamping screw nut, the clamp clamping motor is fixed to the connecting rod connecting plate, an output shaft of the clamp clamping motor is connected with the clamping screw through the coupling, the clamping screw nut is engaged with the clamping screw, the clamp clamping mechanism comprises a connecting member, and the first connecting rod is connected with the clamping screw nut through the connecting member.

4. The special tool for holding a wire clamp according to claim 3, wherein the wire clamp holding mechanism comprises a bearing assembly, the bearing assembly comprises a bearing and a bearing seat, the holding screw is fixed with the bearing seat through the bearing, and the bearing seat is fixed with the connecting rod connecting plate.

5. A special tool having a wire clamp gripping mechanism according to claim 4, wherein the gripping arms are symmetrically arranged along the gripping screw, each set of gripping arms having a set of gripping jaws.

6. The special tool having a wire clamp gripping mechanism of claim 5, wherein the jaws include a gripping ramp and a gripping flat.

7. The special tool with a wire clamp clamping mechanism as claimed in claim 6, wherein the clamping arm is provided with a telescopic groove, and the inner wall of the telescopic groove is provided with a return spring connected with the clamping jaw.

8. The special tool with the wire clamp clamping mechanism according to claim 7, wherein the clamping jaw is provided with a limiting post, the clamping arm is provided with a limiting hole for accommodating the limiting post, and the telescopic groove is vertically communicated with the limiting hole.

9. The special tool with a wire clamp gripping mechanism of claim 8, wherein the jaws have holes and the restraint posts are screws.

10. The special tool having a wire clamp gripping mechanism of claim 9, wherein the gripping arm is provided with a support block having a support ramp.