CN211018049U - A working manipulator of a distribution network with a power-off and lead-connecting robot - Google Patents

Abstract

The utility model discloses an operation manipulator of joining in marriage electrified disconnected, meet lead wire machine people of net, arm and the terminal tool of arm including many joints multi freedom. The operation tool comprises a wire stripping tool and a C-shaped wire clamp installation tool, the two tools are fixed at designated positions, the end part of the mechanical arm is automatically connected with the operation tool through a male head and a female head of an electric rotary joint, and the mechanical arm is sequentially connected with the wire stripping tool and the C-shaped wire clamp installation tool to the position of an insulated wire to carry out wire stripping and C-shaped wire clamp installation operation. The cutting driving device of the wire stripping tool enables the wire clamping device which clamps the wire to rotate around the insulated wire to stably cut the insulated wire, and the structure optimization performance is improved. The C-shaped wire clamp mounting tool comprises a C-shaped wire clamp clamping device, and a C-shaped wire clamp drainage wire clamping position support rod device and a drainage wire clamping device which are arranged on the left side and the right side of the C-shaped wire clamp clamping device, and is optimized in structure, so that the whole mounting process is automatic and smooth, and the performance is stable.

Description

A working manipulator of a distribution network with a power-off and lead-connecting robot

technical field

The utility model belongs to the field of live distribution network operation, in particular to a working manipulator for a distribution network live disconnection and lead wire connection robot.

Background technique

With the rapid development of social economy, people's requirements for continuous and stable supply of electricity in production and life are getting higher and higher. The distribution network is located at the end of the power system and is a key link to ensure the continuous supply of power. Its reliability occupies a very important position in the entire power supply system. At present, the traditional live maintenance of the distribution network is mainly carried out manually. Most of the workers wear insulating clothing and stand in the high-altitude insulating bucket to perform live disconnection and drainage line operations. line work. However, the distribution network lines are usually very compact, and the distance between the lines is small. When the operator is working with electricity, it is easy to cause a short circuit and cause personal casualties and other accidents. At the same time, most of this operation method is labor-intensive, low in work efficiency and high in operation risk factor. In some areas, the distribution of distribution network lines and geographical conditions are poor, and it is difficult to carry out related live work, so the line has to be repaired and maintained for power outages. It seriously affects the continuous and stable operation of the distribution network. Therefore, in order to ensure the safety of live operators in the distribution network, improve the efficiency of live operation of the distribution network, and make the distribution network run continuously and stably, it is more and more important for robots to replace the staff to perform live disconnection and drainage line operations in the distribution network.

The robot can directly replace the manual operation, eliminate the hidden danger that the live operator seriously threatens the personal safety due to the tight interphase distance, realize the automatic working mode and improve the working efficiency.

However, looking at the existing live working robot systems at home and abroad, the method of wheeled vehicle is generally adopted, that is, the insulated mobile platform adopts a wheeled aerial work vehicle, and the working robot is installed at the end of the telescopic arm of the wheeled aerial work vehicle. The vehicle's movement method is not suitable for complex terrain environments. The working robot is installed on the insulating bucket, which makes it bulky, and the change of its working position is realized by the telescopic arm of the working vehicle, which is not suitable for narrow working spaces and complex working objects. Some robots perform peeling and wire clip installation operations through the end connected by the mechanical arm, but the structure of the end is complex and the performance is not high, which leads to failures during the operation.

Utility model content

The purpose of the utility model is to provide an operation manipulator with optimized operation end structure and good operation performance, so as to reduce the failure rate of the robot when the power distribution network is disconnected and the drainage line is connected.

The utility model provides the working manipulator of the distribution network live-disconnection and wire-connecting robot, which includes a multi-joint and multi-degree-of-freedom manipulator and a work tool at the end of the manipulator. The working tool includes a wire stripping tool and a C-type wire clip installation tool. The wire stripping tool and the C-type wire clip installation tool are fixed at a designated position. The end of the mechanical arm and the work tool pass through the male and female heads of the electric rotary joint. Automatic connection, the robotic arm connects the wire stripping tool and the C-clamp installation tool successively to the insulated wire to perform the wire stripping and C-clamp installation operations as needed.

In an embodiment of the above technical solution, the wire stripping tool includes a wire clamping device and a cutting driving device; the wire clamping device includes a pair of wire clamping blocks and a clamping driving device for opening and closing the wire clamping blocks, and the clamping The driving device is fixed on the mounting frame, and one of the wire clamping blocks is fixed with a cutting blade facing the clamping groove; the cutting driving device includes a rotary motor and a transmission mechanism driven by it. Drive the wire clamping device to make a circular motion around the wire to be stripped.

In an embodiment of the above technical solution, the mounting frame includes a mounting box and an L-shaped mounting plate vertically connected to one side of the mounting box, so that the mounting frame forms a U-shaped structure.

In an embodiment of the above technical solution, the clamping drive device includes a clamping motor, a positive and negative screw rod and a nut connected to both ends thereof, and the output shaft end of the clamping motor is fixed on the installation box. , the output shaft is connected with an output gear located in the installation box, one end of the positive and negative screw rod is connected with a transmission gear that meshes with the output gear, and the two ends of the positive and negative screw rod are respectively fixed on the installation box and the L-shaped mounting plate.

In an embodiment of the above technical solution, a guide thread is provided on the surface of the clamping groove of the wire clamping block, the two wire clamping blocks are respectively connected and fixed with the nut with the clamping grooves facing each other, and the L-shaped mounting plate corresponds to the nut. There is a wire passing slot at the middle position of the positive and negative screw rods, and there is a corresponding boss at the outer side of the L-shaped mounting plate corresponding to the wire passing groove; A guide rod passing through two wire clamp blocks is connected; the wall of the clamp groove of one wire clamp block has a mounting hole perpendicular to the clamp groove, and a cutting insert mounting seat is connected to the mounting hole, the front end of the cutting insert is fixed, and the cutting insert mounting seat It includes a blade fixing head and a screw rod connected to its outer end. The outer end section of the screw rod is a polished rod section extending out of the wire clamp block. The polished rod section is connected and fixed with the wire clamp block through a bearing and an end cover. The segments are located in the mounting holes.

In an embodiment of the above technical solution, the transmission mechanism includes a worm gear mechanism, a cylindrical gear and a C-shaped cylindrical gear, one end of the worm is connected to the output shaft of the rotary electric machine, the cylindrical gear and the worm gear are coaxially assembled, and the cylindrical gear It meshes with the C-type cylindrical gear. One end of the C-type cylindrical gear hub is integrated with the boss, and the peripheral ring of the end hub is sleeved with a connecting seat. The rotary motor is fixed on the connecting seat through the mounting seat. It is fixed on the connecting seat and the mounting seat, and the mounting seat is provided with the female head of the electric rotary joint.

In an embodiment of the above technical solution, the C-type wire clip installation tool includes a fixing frame and a C-type wire clip clamping device connected to it, a C-type wire clip drainage wire clamping position support rod device, and a drainage wire clip. The tightening device and the drainage wire traverse device; the drainage wire clamping device is fixed on the drainage wire traverse device, and the C-type wire clamp drainage wire clamping strut device and the drainage wire traverse device are located separately in the C-type wire clamp clamping device the left and right sides; the fixing frame includes a pair of vertical side plates and a C-type wire clip support block at the top between the two vertical side plates. There is a T-shaped connector at the bottom of the T-shaped connector, and the female connector of the electric rotary joint is connected to the T-shaped connector.

In an embodiment of the above technical solution, it is characterized in that: the C-type wire clip clamping device includes a driving motor, a vertical screw nut mechanism, a vertical guide arm and a wire clip fixing claw, and the output shaft of the driving motor passes through the The coupling is connected with the lower end of the vertical screw rod. The wire clamp fixing claw is a concave arc shape, which is fixed on the nut on the vertical screw rod. The vertical screw rod passes through the vertical groove of the vertical guide arm. After passing, the wire clip fixing claw slides along the vertical guide arm; the drive motor is connected to the side plate of the fixing frame through the mounting seat, and the lower end of the vertical guide arm is fixed on the mounting seat; It includes a drive motor, a horizontal screw nut mechanism, a horizontal guide rail and a strut. The drive motor is connected to the side plate of the fixed frame through the mounting seat, one end of the horizontal guide rail is connected to the mounting seat, and one end of the horizontal screw rod is connected to the output of the drive motor. The shaft is connected by a coupling, the horizontal screw rod is located in the installation groove in the length direction of the horizontal guide rail, the strut rod is located parallel to the top of the C-type clamp support block, and the outer end of the strut rod is connected to the nut on the horizontal screw rod through the connecting block. connection; the structure of the drainage wire clamping device is the same as that of the C-type wire clamp clamping device; the drainage wire traverse device includes a drive motor, a horizontal screw nut mechanism, a drainage wire support block, and the traverse motor is arranged horizontally. The output shaft is connected with an output gear, the horizontal screw rod is arranged in parallel above the driving motor, and one end of the horizontal screw rod is connected with a transmission gear that meshes with the output gear. , the drainage wire support block is connected to the nut on the horizontal screw rod, the wire clamp support block has installation grooves along the horizontal screw rod and the drainage wire, and the outer end of the drainage wire support block protrudes from the wire clamp support block; the drive motor passes through The lower bracket is connected to the bottom of the wire clamp support block; the mounting seat of the driving motor of the drainage wire clamping device is fixed on the drainage wire support block of the drainage wire driving device.

The utility model adopts a multi-joint multi-degree-of-freedom mechanical arm to cooperate with a newly designed high-performance wire stripping tool and a C-type wire clip installation tool, and the mechanical arm and the two different tools can be automatically connected through an electric rotary joint. The connecting wire stripping tool of the robotic arm can automatically replace the connecting C-clamp installation tool after stripping the insulation layer of the insulated wire at the designated position. Automatically connect leads. When stripping the insulation layer, the wire stripping tool first clamps the wire through the wire clamping device, and then rotates the entire wire clamping device around the insulated wire through the cutting drive device, so that the cutting blade on the wire clamping device can stably cut the insulation layer. , so that the structure of the wire stripping tool is not only optimized, but also the operating performance is improved. When installing the C-type wire clip, the fixed block of the C-type wire clip is clamped by the C-type wire clip clamping device, and the C-type wire clip drainage wire clamping positions are respectively set on the left and right sides of the C-type wire clip clamping device. Support rod device and drainage wire clamping device, after the drainage wire clamping position at the bottom of the C-type wire clip is stretched by the support rod of the C-type wire clamp drainage wire clamping device, the drainage wire clamping device will peel the drainage wire. The end is sent to the drainage wire clamping position of the C-type wire clamp. After the support rod is withdrawn, tighten the nuts on the connecting bolts between the movable clamping block and the fixed clamping block of the C-shaped wire clamp, so that the movable clamping block simultaneously strips the wire and drains the current. The wire is clamped at the same time. Due to the above-mentioned structural optimization of the C-type wire clamp installation tool, the entire installation process of the C-type wire clamp is automatic and smooth, and the performance is stable. Thereby, the performance of the conductive disconnection and drain lines of the entire distribution network is greatly improved, and operation failures can be avoided.

Description of drawings

FIG. 1 is a schematic diagram of an application state of an embodiment of the present invention.

FIG. 2 is a schematic front view of the structure of the wire stripping tool of the present embodiment.

FIG. 3 is a schematic top view of FIG. 2 .

FIG. 4 is a schematic left side view of FIG. 2 .

FIG. 5 is a schematic diagram of I-I in FIG. 4 .

FIG. 6 is a schematic diagram of II-II in FIG. 4 .

FIG. 7 is a schematic diagram of an axial side structure of the wire stripping tool of the present embodiment.

FIG. 8 is a schematic front view structure diagram of the C-type wire clip installation tool of the present embodiment.

FIG. 9 is a schematic top view of FIG. 8 .

FIG. 10 is a schematic left side view of FIG. 8 .

FIG. 11 is a schematic diagram of III-III in FIG. 10 .

FIG. 12 is a schematic diagram of a shaft side structure of the C-type wire clip installation tool in this embodiment.

FIG. 13 is a schematic diagram of another shaft side structure of the C-type wire clip installation tool in this embodiment.

Detailed ways

As shown in FIG. 1 , the working manipulator of the distribution network live-disconnecting and wire-connecting robot disclosed in this embodiment includes a manipulator 1 with multiple joint degrees of freedom and a working tool at the end thereof. The working tool of this embodiment includes a wire stripping tool 2 and a C-type wire clip installation tool 3 .

The manipulator 1 adopts the prior art, and in this embodiment, it is preferable to purchase the UR series collaborative manipulator arm of Denmark Universal Robots, which has its own electric rotary joint for connecting the working tool. In other embodiments, a servo-driven six-degree-of-freedom robotic arm can be purchased as required.

It can be seen from FIG. 1 that the robot in this embodiment has two manipulators, left and right, the manipulator on the right in the figure is an auxiliary manipulator, and the manipulator on the left is a working manipulator. The auxiliary manipulator can be connected to the existing gripper to clamp the wire to prevent it from shaking when the working manipulator strips the wire and installs the C-clamp, and can also connect the existing trimmer after the C-clamp is installed on the wire Cut the drain wire at the appropriate location. Figure 1 shows the operation manipulator connecting the wire stripping tool 2 to strip the insulated wire, and the auxiliary manipulator connecting the gripper to clamp the insulated wire.

As shown in Figure 1, in the process of breaking and connecting the lead, the working manipulator of this embodiment automatically connects different tools to operate as needed, and firstly fixes the wire stripping tool and the C-type clip installation tool on the platform PT in the figure ( The C-clamp installation tool on the platform is not shown, the wire cutter is shown).

As shown in FIGS. 2 to 7 , the wire stripping tool 2 of this embodiment includes a wire clamping device 21 and a cutting driving device 22 .

The wire clamping device 21 includes a pair of wire clamping blocks 211, a clamping motor 212, a positive and negative screw rod 213, and nuts connected to both ends thereof. The output shaft end of the clamping motor 212 is fixed on the installation box 214, and the output The shaft is connected with an output gear 215 located in the installation box 214 , and one end of the positive and negative wires 213 is connected with a transmission gear 216 that meshes with the output gear 215 .

The lower side of the installation box 214 is vertically connected by an L-shaped installation plate 217, so that the installation box 214 and the L-shaped installation plate 217 form a U-shaped installation frame.

Both ends of the positive and negative screw rods 213 are respectively fixed on the mounting box 214 and the L-shaped mounting plate 217 .

The groove surface of the wire clamp block 211 is provided with guide threads, and the two wire clamp blocks 211 are respectively connected and fixed with the nuts on both ends of the front and back screw rods 213 with the clamping grooves facing each other. The L-shaped mounting plate 217 has a wire passing groove at the middle position corresponding to the positive and negative screw rods 213, and the outer side of the L-shaped mounting plate 217 has a corresponding boss 2171 corresponding to the wire passing groove. Between the installation box 214 and the L-shaped installation plate 217 and the parallel sides of the installation box, a guide rod 218 passing through the two wire clamp blocks 211 is connected.

2 and 7, it can be seen that the left side of the clamping groove of the upper wire clamp block 211 is connected with a cutting insert mounting seat, the front end of the cutting insert is fixed to the mounting seat, facing the clamping groove, and the cutting insert mounting seat includes a blade fixing head. And the screw 219 connected to its outer end, the outer end section of the screw is a polished rod section extending out of the wire clamp block 211, the polished rod section is connected and fixed with the wire clamp block 211 through a bearing and an end cover, and the blade fixing head and the screw thread section of the screw It is located in the mounting hole on the wire clamp block 211 that is perpendicular to the clamp groove. The cutting force of the cutting insert can be adjusted by rotating the screw. The right end of the wire clamp block 211 on the upper side is connected with an insulating layer chip guide bucket 2110 .

The cutting drive device 22 includes a rotary motor 221 and a transmission mechanism connected to its output shaft. The transmission mechanism includes a worm gear mechanism, a cylindrical gear 222 and a C-shaped cylindrical gear 223. One end of the worm is connected to the output shaft of the rotary motor 221. The worm gear is assembled coaxially, the cylindrical gear 222 meshes with the C-shaped cylindrical gear 223, one end of the C-shaped cylindrical gear hub is integrated with the boss 2171, and the peripheral ring of the end hub is sleeved with a connecting seat LJZ. The rotary motor 221 is fixed on the connecting seat through the mounting seat AZZ, the axle of the cylindrical gear 222 is fixed on the connecting seat and the mounting seat, and the female head of the electric rotary joint is used as the mechanical arm connector LJT on the mounting seat. Of course, the fixed position of the female head It can be selected on the connecting seat or the mounting seat according to the actual situation, so as to facilitate the connection of the manipulator and the force performance during operation.

Both the clamping motor 212 and the rotating motor 221 are servo motors.

The working principle of this wire stripping tool is as follows:

First, the insulated wire is clamped by the wire clamping device, and then the wire clamping device is moved circularly around the insulated wire by the cutting driving device, so that the cutting blade can cut the insulation layer on the surface of the insulated wire circumferentially.

Specifically:

The clamping motor of the wire clamping device works to rotate the positive and negative screw rods, and the nuts at both ends of the wire are opened with the wire clamping blocks opposite to each other, so that the two wire clamping blocks are located on both sides of the insulated wire, and then clamped. When the motor works in reverse, the two wire clamps move towards each other and close together to clamp the insulated wire. At this time, the insulated wire is also located in the center hole of the C-shaped cylindrical gear. Then the rotary motor of the cutting drive works to rotate the worm, the worm rotates through the worm gear to rotate the spur gear, the spur gear rotates the C-type spur gear, and the hub end of the C-type spur gear is connected to the L-shaped mounting plate of the wire clamping device mounting frame The connection is integrated, so the C-shaped cylindrical gear rotates around the insulated wire with the entire wire clamping device, and the cutting blade on the wire clamping block rotates around the insulated wire to cut the insulation layer, and the guide thread groove and cutting blade formed in the two wire clamping blocks Under the action of cutting force, the wire clamping device moves axially along the cutting edge of the insulated wire.

This embodiment is suitable for the installation of the C-type wire clip on the wire. Before the C-shaped wire clip is installed on the insulated wire, first loosen the nut of the connecting bolt between the fixed clamp block and the movable clamp block.

As shown in FIG. 8 to FIG. 13 , the C-clamp installation tool 3 includes a fixing frame 31 , a C-clamp clamping device 32 , a C-clamp drainage wire clamping brace device 33 , a drainage wire clamping device 34 and Drainage wire traverse device 35 .

The fixing frame 31 includes a pair of vertical side plates 311 and a C-shaped wire clip support block 312 at the top between the two vertical side plates, a mechanical arm connector at the bottom-the female head of the electric rotary joint, and the C-shaped wire clip support block The top surface of 312 is a concave arc shape. Of course, the specific fixed position of the female head of the electric rotary joint can be selected according to the actual situation, so as to facilitate the connection of the mechanical arm and the force performance during operation.

The C-type wire clip clamping device 32 includes a driving motor QDDJ, a vertical screw nut mechanism SGJG, a vertical guide arm DXB and a wire clip fixing claw GDZ, and the output shaft of the driving motor is connected to the lower end of the vertical screw through a coupling , the wire clip fixing claw is a concave arc shape, fixed on the nut on the vertical screw rod, the vertical screw rod passes through the vertical groove of the vertical guide arm DXB, and the wire clip fixing claw 321 is vertically The guide arm slides; the drive motor QDDJ is connected to the vertical side plate 311 of the fixing frame 31 through the mounting seat AZZ, and the lower end of the vertical guide arm DXB is fixed on the mounting seat AZZ.

The C-type wire clamp and drainage wire clamp position support rod device 33 includes a drive motor QDDJ, a horizontal screw nut mechanism 331, a horizontal guide rail 332 and a support rod 333. The drive motor QDDJ is connected to the vertical side plate 311 of the fixing frame 31 through the mounting seat AZZ One end of the horizontal guide rail 332 is connected to the mounting seat AZZ, one end of the horizontal screw rod is connected to the output shaft of the drive motor through a coupling, the horizontal screw rod is located in the installation groove in the length direction of the horizontal guide rail 332, and the support rod 333 is located in parallel. Above the C-clamp support block 312, the outer end of the support rod 333 is connected with the nut on the horizontal screw rod through the connection block.

The structure of the drainage wire clamping device 34 is the same as that of the C-shaped wire clamping device 32, except that the length of the vertical guide arm of the drainage wire clamping device is smaller than that of the C-shaped wire clamping device.

The drainage wire traverse device 35 includes a driving motor, a horizontal screw nut mechanism, and a drainage wire support block 351. The driving motor is arranged horizontally, and its output shaft is connected with an output gear. The horizontal screw is arranged in parallel above the driving motor. One end is connected with a transmission gear meshing with the output gear, the axles of the output gear and the transmission gear are fixed on the wire clamp support block 312, the drainage wire support block is connected to the nut on the horizontal screw rod, and the wire clamp support block has horizontal The screw rod and the drainage wire installation slot, the outer end of the drainage wire support block 351 protrudes out of the wire clip support block 312 ; the drive motor is connected to the bottom of the wire clip support block 312 through the lower bracket 352 .

The mounting seat AZZ of the driving motor of the drain wire clamping device 34 is fixed on the drain wire support block 351 of the drain wire traverse device 35 .

All drive motors of the C-clamp installation tool are servo motors.

The method for conducting wire stripping in this embodiment includes the following steps:

(1) The clamping motor of the wire clamping device works to rotate the positive and negative screw rods, so that the two wire clamp blocks connected with the nuts at both ends of the positive and negative screw rods move opposite each other and open;

(2) The clamping grooves of the two wire clamp blocks clamp the insulated wire in them, and the clamping motor works in the reverse direction, so that the two wire clamp blocks move toward each other and close together to clamp the insulated wire;

(3) The rotary motor of the cutting drive device works, the cylindrical gear of the transmission mechanism drives the C-shaped cylindrical gear to rotate, and the C-shaped cylindrical gear drives the wire clamping device to rotate around the insulated wire through the mounting frame, so that the cutting blade on the wire clamping block cuts insulating layer up to the set cutting length;

(4) Repeat step (1), the robotic arm takes the wire stripping tool away from the insulated wire, and returns the wire stripping tool to a designated position.

Next, the robotic arm can automatically connect the C-clamp installation tool through the electric rotary joint to install the C-clamp.

In this embodiment, before the C-type clamp installation tool is connected to the robotic arm, the C-type clamp with the connecting bolts loosened is pre-clamped, and the C-type clamp installation tool with the C-type clamp pre-clamped is placed on the platform . The process of clamping the C-type clamp with the C-type clamp installation tool is as follows: place the fixing block of the C-type clamp that has loosened the connecting bolt on the C-type clamp support block on the fixed frame at the lower end; The drive motor of the wire clamp clamping device works, so that the wire clamp fixing claw moves down to clamp the fixed clamping block of the C-type wire clamp.

After the manipulator is connected to the C-clamp installation tool, the working vehicle lifts the robot as a whole to the wire position, and the manipulator's manipulator moves to hang the C-clamp on the wire with the insulation layer removed.

Then, the drainage wire is sent to the working manipulator through the auxiliary manipulator, the drainage wire clamping device clamps the drainage wire, and the peeling end of the drainage wire is extended to the side of the C-type wire clamp clamping device. The end of the drainage wire can be pre-fixed on the platform.

Next, the drive motor of the C-type wire clamp drainage wire clamping position strut device works, so that the support rod moves to the C-shaped wire clamp and is inserted into the drainage wire clamping position of the C-shaped wire clamp.

Then the drive motor of the drainage wire traverse device works to move the drainage wire clamping device to the C-type wire clamp, insert the peeled end of the drainage wire into the drainage wire clamping position at the bottom of the C-shaped wire clamp, and at the same time make the C-shaped wire clamp support Rod back.

Then, tighten the nuts on the connecting bolts between the fixed clamp block and the movable clamp block of the C-type wire clip through the automatic nut-tightening device, so that the C-type wire clip clamps the wire and the drain wire at the same time.

Finally, the C-clamp clamping device releases the fixing block of the C-clamp, and the robotic arm exits with the C-clamp clamping device.

This embodiment uses a multi-joint multi-degree-of-freedom robotic arm with a newly designed high-performance wire stripping tool and a C-type wire clip installation tool. The robotic arm and two different tools can be automatically connected through an electric rotary joint. The connecting wire stripping tool of the robotic arm can automatically replace the connecting C-clamp installation tool after stripping the insulation layer of the insulated wire at the designated position. Automatically connect leads. When stripping the insulation layer, the wire stripping tool first clamps the wire through the wire clamping device, and then rotates the entire wire clamping device around the insulated wire through the cutting drive device, so that the cutting blade on the wire clamping device can stably cut the insulation layer. , so that the structure of the wire stripping tool is not only optimized, but also the operating performance is improved. When installing the C-type wire clip, the fixed block of the C-type wire clip is clamped by the C-type wire clip clamping device, and the C-type wire clip drainage wire clamping positions are respectively set on the left and right sides of the C-type wire clip clamping device. Support rod device and drainage wire clamping device, after the drainage wire clamping position at the bottom of the C-type wire clip is stretched by the support rod of the C-type wire clamp drainage wire clamping device, the drainage wire clamping device will peel the drainage wire. The end is sent to the drainage wire clamping position of the C-type wire clamp. After the support rod is withdrawn, tighten the nuts on the connecting bolts between the movable clamping block and the fixed clamping block of the C-shaped wire clamp, so that the movable clamping block simultaneously strips the wire and drains the current. The wire is clamped at the same time. Due to the above-mentioned structural optimization of the C-type wire clamp installation tool, the entire installation process of the C-type wire clamp is automatic and smooth, and the performance is stable. Thereby, the performance of the conductive disconnection and drain lines of the entire distribution network is greatly improved, and operation failures can be avoided.

Claims (8)

1. The utility model provides a join in marriage operation manipulator that net electrified was disconnected, was connected to lead wire machine people, includes the terminal operation instrument of arm and arm of many joints multi freedom, its characterized in that: the operation tool comprises a wire peeling tool and a C-shaped wire clamp mounting tool, the wire peeling tool and the C-shaped wire clamp mounting tool are fixed at specified positions, the end portion of the mechanical arm is automatically connected with the operation tool through a male head and a female head of the electric rotary joint, and the mechanical arm is sequentially connected with the wire peeling tool and the C-shaped wire clamp mounting tool to the position of an insulated wire to perform wire peeling and C-shaped wire clamp mounting operation.

2. The work robot of claim 1, wherein: the wire stripping tool comprises a wire clamping device and a cutting driving device; the wire clamping device comprises a pair of wire clamping blocks and a clamping driving device for opening and closing the wire clamping blocks, the clamping driving device is fixed on the mounting frame, and a cutting blade facing the clamping groove is fixed on one wire clamping block; the cutting driving device comprises a rotary motor and a transmission mechanism driven by the rotary motor, the output end of the transmission mechanism is connected to the mounting frame, and the mounting frame drives the wire clamping device to make circular motion around a wire to be stripped.

3. The work robot of claim 2, wherein said mounting bracket comprises a mounting box and an L-shaped mounting plate vertically attached to one side of the mounting box, such that the mounting bracket forms a U-shaped configuration.

4. The operating manipulator according to claim 3, wherein the clamping driving device comprises a clamping motor, a positive and negative screw rod and nuts connected to two end sections of the positive and negative screw rod, an output shaft end of the clamping motor is fixed on the mounting box, an output gear in the mounting box is connected to an output shaft, a transmission gear meshed with the output gear is connected to one end of the positive and negative screw rod, and two ends of the positive and negative screw rod are respectively fixed on the mounting box and the L type mounting plate.

5. The manipulator of claim 4, wherein the wire clamp blocks have guide threads on their groove surfaces, the two wire clamp blocks are fixed to the nuts in a way that the clamp grooves are opposite to each other, the L-type mounting plate has a wire passing groove at a position corresponding to the center of the positive and negative wire rods, the L-type mounting plate has a corresponding boss at a position corresponding to the wire passing groove at the outer side, guide rods passing through the two wire clamp blocks are connected between the parallel sides of the mounting box and the L-type mounting plate, the clamp groove wall of one of the wire clamp blocks has a mounting hole perpendicular to the clamp groove, the mounting hole is connected with a cutting blade mounting seat, the cutting blade is fixed at the front end thereof, the cutting blade mounting seat comprises a blade fixing head and a screw rod connected to the outer end thereof, the outer end section of the screw rod is a polished rod section extending out of the wire clamp block, the polished rod section is fixed to the wire clamp blocks by a bearing and an end cap, and the thread sections of the blade fixing head and the screw rod are.

6. The work robot of claim 5, wherein: the transmission mechanism comprises a worm and gear mechanism, a cylindrical gear and a C-shaped cylindrical gear, one end of the worm is connected with an output shaft of the rotary motor, the cylindrical gear and the worm gear are coaxially assembled, the cylindrical gear is meshed with the C-shaped cylindrical gear, one end of a C-shaped cylindrical gear hub is connected with the boss into a whole, a connecting seat is sleeved on the periphery of the end hub in a surrounding manner, the rotary motor is fixed on the connecting seat through a mounting seat, a wheel shaft of the cylindrical gear is fixed on the connecting seat and the mounting seat, and a female head of the electric rotary joint is arranged on the mounting seat.

7. The work robot of claim 1, wherein: the C-shaped wire clamp mounting tool comprises a fixing frame, and a C-shaped wire clamp clamping device, a C-shaped wire clamp drainage wire clamping stay bar device, a drainage wire clamping device and a drainage wire transverse moving device which are connected to the fixing frame; the C-shaped wire clamp drainage wire clamping position support rod device and the drainage wire transverse moving device are respectively arranged on the left side and the right side of the C-shaped wire clamp clamping device; the fixing frame comprises a pair of vertical side plates and a C-shaped wire clamp supporting block at the top between the two vertical side plates, the top surface of the C-shaped wire clamp supporting block is in a concave arc shape, a T-shaped connector is arranged at the bottom of the fixing frame, and the T-shaped connector is connected with a female head of the electric rotary joint.

8. The work robot of claim 7, wherein: the C-shaped wire clamp clamping device comprises a driving motor, a vertical screw rod nut mechanism, a vertical guide arm and a wire clamp fixing claw, wherein an output shaft of the driving motor is connected with the lower end of a vertical screw rod through a coupler, the wire clamp fixing claw is in a concave-upward arc shape and is fixed on a nut on the vertical screw rod, the vertical screw rod penetrates through a vertical groove of the vertical guide arm, and the wire clamp fixing claw slides along the vertical guide arm; the driving motor is connected to the side plate of the fixed frame through the mounting seat, and the lower end of the vertical guide arm is fixed on the mounting seat;

the C-shaped wire clamp drainage wire clamping support rod device comprises a driving motor, a horizontal screw rod nut mechanism, a horizontal guide rail and a support rod, wherein the driving motor is connected to a side plate of a fixed frame through a mounting seat, one end of the horizontal guide rail is connected to the mounting seat, one end of the horizontal screw rod is connected with an output shaft of the driving motor through a coupler, the horizontal screw rod is positioned in a mounting groove in the length direction of the horizontal guide rail, the support rod is positioned above the C-shaped wire clamp support block in parallel, and the outer end of the support rod is connected with a nut on the horizontal screw rod through a;

the structure of the drainage wire clamping device is the same as that of the C-shaped wire clamp clamping device;

the drainage wire transverse moving device comprises a driving motor, a horizontal screw rod nut mechanism and a drainage wire supporting block, wherein the transverse moving motor is horizontally arranged, an output shaft of the transverse moving motor is connected with an output gear, the horizontal screw rod is arranged above the driving motor in parallel, one end of the horizontal screw rod is connected with a transmission gear meshed with the output gear, the output gear and a wheel shaft of the transmission gear are both fixed on the wire clamp supporting block, the drainage wire supporting block is connected on a nut on the horizontal screw rod, a groove for installing the drainage wire along the horizontal screw rod is arranged on the wire clamp supporting block, and the outer end of the drainage wire; the driving motor is connected to the bottom of the wire clamp supporting block through the lower supporting seat;

the drive motor of the drainage thread clamping device is fixed on the drainage thread supporting block of the drainage thread traversing device through the mounting seat.

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