CN214589628U - Intelligent puncture line clamping branch robot system - Google Patents
Intelligent puncture line clamping branch robot system Download PDFInfo
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- CN214589628U CN214589628U CN202120138802.4U CN202120138802U CN214589628U CN 214589628 U CN214589628 U CN 214589628U CN 202120138802 U CN202120138802 U CN 202120138802U CN 214589628 U CN214589628 U CN 214589628U
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Abstract
The utility model discloses an intelligent puncture wire clamping branch line robot system, which comprises a base, a workbench, lifting hooks, a hoisting motor, wire clamping seats, clamping movable seats, a movable seat driving motor, a contact switch, a travel switch and a controller, wherein the workbench is arranged on the base; the utility model discloses a press from both sides tight sliding seat, make the branch line axial press from both sides tightly, radially rotatable, the in-process of branch line installation, the robot can not produce the slope, effectively ensures the correct gesture of robot operation.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an intelligence puncture clamp wiring robot system.
Background
At present, with the development of regional economic construction, distribution networks often face the task of capacity expansion in the construction. The expansion task of the distribution network comprises not only the expansion of the distribution area capacity, but also the newly-added laying of the power supply line, so that the construction cost of the newly-added power distribution line is reduced and the construction timeliness is accelerated for fully utilizing the existing power distribution line, and the construction is often carried out by adopting a mode of connecting branches on the original power supply line. The puncture wire clamp is produced by transporting, when a cable needs to be branched or connected, a cable branch line terminal is inserted into a waterproof terminal cap sleeve, after a main line branch position is determined, a torque nut on the wire clamp is screwed by a socket wrench, a contact blade can puncture a cable insulation layer in the process and is in contact with a conductor, a sealing gasket annularly presses the periphery of the punctured position of the cable, silicone grease in a shell overflows, when the torque reaches a set value, a nut torque mechanism falls off, the main line and the branch line are communicated, and the waterproof performance and the electric effect reach parameters of standard requirements. However, the branch lines are located below and above the cross arm of the utility pole from the robot to the bus bar, and rotational stress is generated. If the branch line and the robot are rigidly connected, the stress will tilt the robot pose. Therefore, the branch clamping mechanism on the robot is required to fix the wire and provide a degree of freedom for the branch to rotate, and at present, a robot capable of correspondingly rotating the branch is lacked.
For example, chinese patent application with publication number CN201911347358.0, application date of 2019, 12 and 24 discloses an efficient live working robot for a distribution network connecting line, which comprises a chassis, a suspension arm, a wire clamp seat, a wire clamp tightening device, a camera and a remote controller, wherein the suspension arm and the wire clamp seat are all installed on the chassis, the wire clamp seat has two wire clamp seats, two wire clamp seats are arranged side by side along the extending direction of a target wire, two puncture wire clamps are all installed on the wire clamp seat, the target wire passes through the puncture wire clamp, the wire clamp tightening device is fixedly connected with the chassis, the wire clamp tightening device is connected with the puncture wire clamp, the camera is installed on the chassis and aligned with the puncture wire clamp, the camera shoots a video image of the puncture wire clamp, the camera and the wire clamp tightening device are all connected with the remote controller, and the remote controller is provided with a display screen. The branch line connecting live working robot can quickly carry out branch line connecting work of a power distribution network, but cannot freely rotate branch lines, so that the working efficiency is reduced.
Disclosure of Invention
The utility model mainly solves the problem that the distribution network branch line hot-line work robot in the prior art can not realize that the branch line is clamped and can rotate at the same time; the utility model provides an intelligence puncture line presss from both sides connects branch line robot system, gives the branch line a rotatable degree of freedom when fixing the branch line, improves the work efficiency that the net joined in marriage the net and connect the branch line.
The above technical problem of the present invention can be solved by the following technical solutions: an intelligent puncture wire clamping branch line robot system comprises a base, a workbench, a lifting hook, a hoisting motor, wire clamping seats, clamping movable seats, movable seat driving motors, a contact switch, a travel switch and a controller, wherein the workbench is arranged on the base, the lifting hook is provided with two lifting hooks, the two lifting hooks are arranged on two sides of the base, the hoisting motor is arranged on the base and is connected with the lifting hook, the two wire clamping seats, the two travel switches and the clamping movable seats are respectively arranged on the workbench, a puncture wire clamp is arranged on the wire clamping seats, the two clamping movable seats are arranged on the workbench, bearings are arranged in the clamping movable seats, the movable seat driving motors are arranged on the workbench, the movable seat driving motors are connected with the clamping movable seats, the travel switch is matched with the clamping movable seats, and limiting the clamping movable seat, wherein the contact switch, the travel switch, the movable seat driving motor and the winding motor are all connected with a controller. The cable branch line of the distribution network is penetrated through the puncture wire clamp of the wire clamp seat, the support is connected with the cable main line, the branch line is clamped by the clamping movable seat on the workbench and cannot be separated from the clamping movable seat, the branch line can rotate due to the bearing arranged in the clamping movable seat, and the robot cannot incline in the installation process of the branch line, so that the correct posture of the robot in operation is effectively guaranteed.
Preferably, the bottom of the workbench is provided with a case and a battery box, the controller is arranged in the case, a power supply battery is arranged in the battery box and supplies power for the controller, the hoisting motor and the movable seat driving motor, and the case is provided with a plurality of heat dissipation holes. The battery box is arranged, so that the power supply battery can be conveniently placed, the machine case is provided with the heat dissipation holes, the placement controller is overheated, and the circuit safety is improved.
Preferably, the lifting hook comprises a claw, a traction rope and a cable disc, the cable disc is rotatably installed on the base, one end of the traction rope is wound on the cable disc, the other end of the traction rope is fixedly connected with the claw, the two claws of the lifting hook are connected through an insulating rod, and the cable disc is connected with the hoisting motor. The staff catches on distribution network cable thread with two hook through the insulator spindle, and hook and insulator spindle can break away from the robot and rise, and hook and insulator spindle rise in-process, haulage rope connection hook and base, start hoist motor after the hook catches on the cable thread, make on haulage rope winding cable drum, drive base and workstation and rise, and the other connecing of faster completion branch line.
Preferably, the clamping movable seat comprises a fixed assembly and a movable assembly, the movable assembly is connected with a movable seat driving motor, the fixed assembly is fixedly connected with the workbench, and the movable assembly is in sliding connection with the workbench. The position of the fixed component contacting with the movable component can be provided with a slide rail, and the movable component is correspondingly provided with a slide block matched with the slide rail and can also be a smooth contact surface.
Preferably, the bearing is circumferentially grooved. The bearing is made to be a grooved bearing, when the branch line connected by the bearing is an aluminum stranded wire with an insulating skin, the axial locking and the radial rotation of the branch line can be realized through the clamping mode of the grooved bearing.
Preferably, the high-voltage direct current power supply further comprises piezoelectric ceramics, a comparator and a reference voltage, the movable assembly is of a U-shaped structure, the U-shaped opening end of the movable assembly faces the branch direction, the piezoelectric ceramics have elasticity, the piezoelectric ceramics are mounted at the upper end of the U-shaped movable assembly and are in contact with the branch, the piezoelectric ceramics are connected with a first input end of the comparator, the reference voltage is connected with a second input end of the comparator, the output end of the comparator is connected with a first end of the contact switch, and a second end of the contact switch is connected with the controller. When the branch line passes through the first clamping movable seat and the second clamping movable seat, the branch line props against the contact switch, the contact switch is closed, the comparator is communicated with the controller, the comparator outputs high level at the moment, the controller starts the movable seat driving motor to enable the movable component to approach the fixed component and lock the branch line, in the process that the movable component is close to and locked with the fixed component, the piezoelectric ceramic cup extrudes to generate voltage according to the positive piezoelectric effect of the piezoelectric ceramic, the generated voltage is larger along with the larger extrusion force, when the generated voltage exceeds the reference voltage, the comparator outputs low level, the controller closes the movable seat driving motor, the movable assembly stops approaching the fixed assembly, the controller here involves only simple judgments of high and low levels, i.e., similar to 0 and 1, and does not involve a complicated procedure, enabling automatic turning on and off of the movable-seat drive motor.
The utility model has the advantages that: (1) the branch line is axially clamped and radially rotatable through the clamping movable seat, and the robot cannot tilt in the process of installing the branch line, so that the working efficiency is improved; (2) through piezoelectric ceramics and a contact switch, the branch line can be automatically clamped after entering the clamping movable seat, and the automatic opening and closing of the driving motor of the movable seat are realized.
Drawings
Fig. 1 is a schematic structural diagram of a branch line connecting robot system according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a lifting hook according to a first embodiment of the present invention.
Fig. 3 is a schematic structural view of a clamping movable seat according to a first embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a movable assembly according to a first embodiment of the present invention.
In the figure, 1, a cable main line, 2, a branch line, 3, a base, 4, a workbench, 5, a case, 6, a battery box, 7, a wire clamp seat, 8, a clamping movable seat, 9, a contact switch, 10, a movable seat driving motor, 11, a claw, 12, a traction rope, 13, a cable disc, 14, a hoisting motor, 15, a fixed component, 16, a movable component, 17, a bearing, 18, a travel switch, 19 and a limiting block are arranged.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
The first embodiment is as follows: an intelligent puncture wire connecting and branching line 2 robot system comprises a base 3, a workbench 4, lifting hooks, a hoisting motor 14, wire clamp seats 7, clamping movable seats 8, a movable seat driving motor 10, a contact switch 9, a travel switch 18 and a controller, wherein the workbench 4 is arranged on the base 3, the lifting hooks are two, the two lifting hooks are arranged on two sides of the base 3, the hoisting motor 14 is arranged on the base 3, the hoisting motor 14 is connected with the lifting hooks, the wire clamp seats 7, the travel switch 18 and the clamping movable seats 8 are respectively provided with two numbers, the two wire clamp seats 7 are arranged on the workbench 4, puncture wire clamps are arranged on the wire clamp seats 7, the two clamping movable seats 8 are arranged on the workbench 4, bearings 17 are arranged in the clamping movable seats 8, the movable seat driving motor 10 is arranged on the workbench 4, the movable seat driving motor 10 is connected with the clamping movable seats 8, the travel switch 18 is arranged in a matching way with the clamping movable seats 8, and the clamping movable seat 8 is limited, and the contact switch 9, the travel switch 18, the movable seat driving motor 10 and the hoisting motor 14 are all connected with a controller.
The bottom of the workbench 4 is provided with a case 5 and a battery box 6, the controller is arranged in the case 5, a power supply battery is arranged in the battery box 6 and supplies power for the controller, the hoisting motor 14 and the movable seat driving motor 10, and the case 5 is provided with a plurality of heat dissipation holes.
As shown in fig. 2, the lifting hook comprises a claw 11, a traction rope 12 and a cable tray 13, the cable tray 13 is rotatably installed on the base 3, one end of the traction rope 12 is wound on the cable tray 13, the other end of the traction rope 12 is fixedly connected with the claw 11, the claws 11 of the two lifting hooks are connected through an insulating rod, and the cable tray is connected with the hoisting motor.
As shown in fig. 3 and 4, the clamping movable seat 8 comprises a fixed component 15 and a movable component 16, the movable component 16 is connected with a movable seat driving motor 10, the fixed component 15 is fixedly connected with the workbench 4, the movable component 16 is slidably connected with the workbench 4, a bearing 17 is circumferentially provided with a groove, the movable component 16 is provided with a limit block 19, the limit block 19 is used for preventing the branch line 2 from being damaged due to the fact that the movable component 16 excessively clamps the branch line 2, meanwhile, the limit block 19 is used for being in contact with a travel switch 18 and preventing the movable component 16 from leaving the workbench 4 in the process of loosening the branch line 2, and a limit is set for the movable range of the movable component 16.
The second embodiment is a robot system for connecting a branch 2 with an intelligent puncture wire, and the second embodiment is different from the first embodiment in that piezoelectric ceramic, a comparator and reference voltage are added in the first embodiment, the movable component 16 is of a U-shaped structure, the U-shaped opening end of the movable component faces the direction of the branch 2, the piezoelectric ceramic has elasticity, the piezoelectric ceramic is installed at the upper end of the U-shaped movable component 16 and is in contact with the branch 2, the piezoelectric ceramic is connected with a first input end of the comparator, the reference voltage is connected with a second input end of the comparator, an output end of the comparator is connected with a first end of the contact switch 9, a second end of the contact switch 9 is connected with the controller, and the rest structures are the same as those of the first embodiment.
In the specific application, a worker firstly corrects the branch line 2, the branch line 2 is abutted against the contact switch 9 through the two clamping movable seats 8, the contact switch 9 is closed, the comparator is communicated with the controller, the comparator outputs a high level at the moment, the controller starts the movable seat driving motor 10 to enable the movable component 16 to approach the fixed component 15, the branch line 2 is locked, in the process that the movable component 16 approaches the fixed component 15 and is locked, the piezoelectric ceramic cup extrudes to generate voltage according to the positive piezoelectric effect of the piezoelectric ceramic, the generated voltage is larger along with the larger extrusion force, when the generated voltage exceeds the reference voltage, the comparator outputs a low level, the controller closes the movable seat driving motor 10, the movable component 16 stops approaching the fixed component 15, at the moment, the side connection end of the branch line 2 is installed on the workbench 4 and is clamped by the clamping movable seats 8 and cannot move axially, but radial rotation, the staff catches on distribution network cable thread 1 with two gibs 11 through the insulator spindle, gib 11 and insulator spindle can rise from the robot, the in-process that gib 11 and insulator spindle rise, haulage rope 12 connects gib 11 and base 3, start hoist motor 14 after the gib 11 catches on cable thread 1, make haulage rope 12 on the wire winding cable dish 13, it rises to drive base 3 and workstation 4, rise the in-process, base 3 and workstation 4 are because branch line 2 is rotatable, can not produce the slope, branch line 2 can be quick be connected with cable thread 1, realize the quick side of joining distribution network branch line 2 and connect, the utility model discloses a connect the upset of the adaptable wire of branch line robot.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the scope of the claims.
Claims (6)
1. The utility model provides an intelligence puncture line presss from both sides connects branch line robot system which characterized in that includes:
the automatic positioning device comprises a base, a workbench, a lifting hook, a hoisting motor, a wire clamp seat, a clamping movable seat, a movable seat driving motor, a contact switch, a travel switch and a controller, wherein the workbench is installed on the base, the lifting hook is provided with two lifting hooks which are installed on two sides of the base, the hoisting motor is installed on the base, the hoisting motor is connected with the lifting hook, the wire clamp seat, the travel switch and the clamping movable seat are respectively provided with two lifting hooks which are installed on the workbench, a puncture wire clamp is installed on the wire clamp seat, the two clamping movable seats are installed on the workbench, a bearing is installed in the clamping movable seat, the movable seat driving motor is installed on the workbench, the movable seat driving motor is connected with the clamping movable seat, the travel switch is installed in a matching mode with the clamping movable seat, the clamping movable seat is limited, and the contact switch, The travel switch, the movable seat driving motor and the hoisting motor are all connected with the controller.
2. The intelligent puncture wire clamping branch line robot system as claimed in claim 1,
the automatic winding machine is characterized in that a machine case and a battery box are installed at the bottom of the workbench, the controller is installed in the machine case, a power supply battery is placed in the battery box and supplies power for the controller, the winding motor and the movable seat driving motor, and a plurality of heat dissipation holes are formed in the machine case.
3. The intelligent puncture wire clamping branch line robot system according to claim 1 or 2,
the lifting hook comprises a claw, a traction rope and a cable disc, the cable disc is rotatably installed on the base, one end of the traction rope is wound on the cable disc, the other end of the traction rope is fixedly connected with the claw, the two claws of the lifting hook are connected through an insulating rod, and the cable disc is connected with the hoisting motor.
4. The intelligent puncture wire clamping branch line robot system as claimed in claim 1,
the clamping movable seat comprises a fixed assembly and a movable assembly, the movable assembly is connected with a movable seat driving motor, the fixed assembly is fixedly connected with the workbench, and the movable assembly is connected with the workbench in a sliding mode.
5. The intelligent puncture wire clamping branch line robot system as claimed in claim 1 or 4,
the bearing is provided with a groove along the circumference.
6. The intelligent puncture wire clamping branch line robot system as claimed in claim 4,
the movable assembly is of a U-shaped structure, the U-shaped opening end of the movable assembly faces the direction of the branch line, the piezoelectric ceramic has elasticity, the piezoelectric ceramic is installed at the upper end of the U-shaped movable assembly and is in contact with the branch line, the piezoelectric ceramic is connected with the first input end of the comparator, the reference voltage is connected with the second input end of the comparator, the output end of the comparator is connected with the first end of the contact switch, and the second end of the contact switch is connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120138802.4U CN214589628U (en) | 2021-01-19 | 2021-01-19 | Intelligent puncture line clamping branch robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120138802.4U CN214589628U (en) | 2021-01-19 | 2021-01-19 | Intelligent puncture line clamping branch robot system |
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| CN214589628U true CN214589628U (en) | 2021-11-02 |
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| CN202120138802.4U Active CN214589628U (en) | 2021-01-19 | 2021-01-19 | Intelligent puncture line clamping branch robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114583520A (en) * | 2022-01-10 | 2022-06-03 | 浙江中新电力工程建设有限公司 | Bolt synchronous fastening device for installing puncture wire clamp and control method thereof |
-
2021
- 2021-01-19 CN CN202120138802.4U patent/CN214589628U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114583520A (en) * | 2022-01-10 | 2022-06-03 | 浙江中新电力工程建设有限公司 | Bolt synchronous fastening device for installing puncture wire clamp and control method thereof |
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