CN111431097B - Automatic installation device for wire clamp of live working robot and use method of automatic installation device - Google Patents
Automatic installation device for wire clamp of live working robot and use method of automatic installation device Download PDFInfo
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- CN111431097B CN111431097B CN202010520350.6A CN202010520350A CN111431097B CN 111431097 B CN111431097 B CN 111431097B CN 202010520350 A CN202010520350 A CN 202010520350A CN 111431097 B CN111431097 B CN 111431097B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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Abstract
The invention discloses an automatic installation device for a wire clamp of a live working robot and a use method thereof, wherein the automatic installation device comprises a rack, the front end of the rack is symmetrically provided with U-shaped side upright posts, and the front upright post and the rear upright post of each U-shaped side upright post are respectively provided with a front guide support and a rear guide support; the left wire clamp clamping jaw and the right wire clamp clamping jaw of the wire clamp clamping mechanism are of U-shaped structures and are provided with strip-shaped protruding blocks, and a main guide wire and a lead wire can conveniently penetrate through the wire clamp; the lead clamping jaw of the lead clamping mechanism is provided with an arc-shaped groove structure and is symmetrically arranged on the clamping jaws at two sides of the pneumatic open clamp; the double-bolt synchronous fastening mechanism adopts a double-output speed reducing mechanism and can simultaneously tighten two bolts of the wire clamp; the wire clamp bracket is of an inverted T-shaped structure; the invention can realize the functions of automatic grabbing of the wire clamp, lead wire clamping and synchronous fastening of double bolts, is safe and reliable, and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of live working of high-voltage live working robots, in particular to an automatic installation device for a wire clamp of a live working robot and a using method of the automatic installation device.
Background
Distribution network live working mainly accomplishes operation tasks such as insulating wire skinning, electrified disconnected lead wire, foreign matter are clear away, in order to improve live working's automation level and security, alleviate operating personnel's intensity of labour and the personal threat of strong electromagnetic field to operating personnel, it is very necessary to adopt the live working robot that has higher security and adaptability to replace the manual work to carry out live working, accords with electric power enterprise development demand and current situation.
The existing hot-line work robot technology is still in an initial development stage, no practical application and popularization exist, the development of hot-line work tools is immature, hot-line lead connecting operation is still carried out in a manual working mode, operators need to install wire clamps at high altitude, the operators use hand tools to tighten bolts and nuts, the automation level is low, the labor intensity is high, the efficiency is low, the operators directly contact high-voltage leads, electric shock accidents are easily caused, and great potential safety hazards exist.
Therefore, the charged operation robot still has great technical defects in the prior art, and the actual application and popularization of the charged operation robot in the power grid are severely restricted by the current situation.
Disclosure of Invention
The invention aims to solve the technical problems and provides an automatic installation device for a wire clamp of a live working robot and a using method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a live working robot fastener automatic installation device, includes frame, quick change device, fastener locating plate, fastener clamping mechanism, lead wire clamping mechanism and the synchronous fastening device of twin bolts.
The quick change device is arranged at the lower end of the rack so as to be matched with the mechanical arm to use and grab the whole device.
The wire clamp positioning plate is arranged at the front end of the rack and used for positioning a clamped wire clamp.
The wire clamp clamping mechanism is arranged at the front end of the wire clamp positioning plate and comprises a large-caliber pneumatic opening clamp and two wire clamp clamping jaws in a U shape, the large-caliber pneumatic opening clamp is transversely and fixedly connected to the front end of the frame, the two wire clamp clamping jaws are symmetrically installed at the left output end and the right output end of the large-caliber pneumatic opening clamp, and the two wire clamp clamping jaws can be clamped on two sides of a wire clamp under the driving of the large-caliber pneumatic opening clamp.
The lead clamping mechanism is arranged on the outer side of the wire clamp clamping mechanism and comprises a small-caliber pneumatic opening clamp and two lead clamping jaws, the small-caliber pneumatic opening clamp is vertically and fixedly connected to the front end of the rack, the two lead clamping jaws are symmetrically installed on the front output end and the rear output end of the small-caliber pneumatic opening clamp, and the two lead clamping jaws can clamp and fix the lead penetrating into a lead clamping cavity under the driving of the small-caliber pneumatic opening clamp.
The double-bolt synchronous fastening mechanism is arranged on the rack in a back-and-forth movement mode under the action of driving force, two fastening sleeves capable of rotating under the action of the driving force are arranged at the front end of the double-bolt synchronous fastening mechanism side by side, the two fastening sleeves and two torque bolts on the wire clamp are arranged in a one-to-one correspondence mode, and the two torque bolts can be locked on the wire clamp to lock a main guide wire and a lead wire which penetrate through the wire clamp.
Furthermore, the symmetrical rigid coupling in front end of frame has two U type side stand, and these two U type side stand branch put at the both sides of fastener clamping mechanism, is equipped with a wire guide bracket respectively on the stand around every U type side stand, and the contained angle that sets up between two wire guide brackets on every U type side stand is 90, is equipped with four wire guide brackets on two U type side stands altogether so that with the leading-in wire intracavity on fastener upper portion of leading wire.
Furthermore, one side of the front end of the rack is provided with a lead guide sleeve, the lead guide sleeve is in a horn mouth shape and is coaxially arranged with the lead cavity at the lower part of the wire clamp and used for guiding a lead into the lead cavity, and the upper part of the lead guide sleeve is also provided with an open hole so that the locked lead can pass through the open hole.
Furthermore, strip-shaped protruding blocks are formed on the opposite surfaces of the two wire clamp clamping jaws in the wire clamp clamping mechanism.
Furthermore, the two lead clamping mechanisms are respectively and symmetrically arranged on two sides of the wire clamp clamping mechanism.
Furthermore, the double-bolt synchronous fastening mechanism comprises a double-output speed reducing mechanism, a pneumatic motor, a speed reducer and a gear transmission mechanism, wherein the pneumatic motor and the speed reducer are fixedly connected to the outside of the double-output speed reducing mechanism, the pneumatic motor is arranged at the input side of the speed reducer, and the speed reducer is in transmission connection with the double-output speed reducing mechanism through the gear transmission mechanism; the double-output speed reducing mechanism is characterized in that two vertical plates with square holes in the middle are arranged in front of and behind the upper end of the rack, two guide rods horizontally arranged are arranged between the two vertical plates, the double-output speed reducing mechanism is slidably mounted on the two guide rods through a ball sleeve, a double-action air cylinder is fixedly connected to the rear end of the rack, the output end of the double-action air cylinder is connected to the double-output speed reducing mechanism, and the double-output speed reducing mechanism can move back and forth along the two guide rods under the driving of the double-action.
Further, the gear transmission mechanism comprises a large gear and a small gear which are meshed together, wherein the large gear is arranged on a gear shaft of the double-output speed reducing mechanism, and the small gear is arranged on the output side of the speed reducer.
Furthermore, the double-output speed reducing mechanism comprises a speed reducing structure shell, a gear shaft, two coaxial bevel gears, two synchronous bevel gears, two sleeve joints and two fastening sleeves, wherein the gear shaft is rotatably and transversely arranged in the speed reducing structure shell through a bearing, one end of the gear shaft extends outwards and is coaxially connected with a large gear in the gear transmission mechanism, and the two coaxial bevel gears are coaxially arranged on the gear shaft and are arranged in the speed reducing structure shell; two sleeve joints are rotatably and longitudinally arranged on the shell of the speed reducing structure side by side through bearings, the front end of each sleeve joint is fixedly connected with a fastening sleeve and extends forwards through the shell of the speed reducing structure, the rear end of each sleeve joint is coaxially provided with a synchronous bevel gear, and the two synchronous bevel gears are meshed with the two coaxial bevel gears in a one-to-one correspondence mode.
Furthermore, the inner hole of the fastening sleeve is of a 12-angle quincuncial structure, and the front end of the inner hole is also provided with a chamfer structure.
The use method of the automatic installation device for the wire clamp based on the hot-line work robot comprises the following steps:
1) the fastener is placed on the fastener support, and live working arm snatchs fastener automatic installation device through the quick change device to 180 movements of upset are to the fastener top, and two fastener clamping jaws of fastener clamping mechanism are opened, and the lead wire clamping jaw is also opened simultaneously, and the vertical downstream of fastener automatic installation device is until contacting with the fastener locating plate, and two fastener clamping jaws of fastener clamping mechanism close and vertical upward movement, the completion snatchs the fastener action from the fastener support.
2) The automatic wire clamp mounting device is turned over for 180 degrees and moves to a lead wire position, a lead wire penetrates into a lead wire cavity of the wire clamp, and a small-caliber pneumatic opening clamp of the lead wire clamping mechanism is closed to drive a lead wire clamping jaw to clamp the lead wire.
3) The automatic installation device of the wire clamp moves to a proper position below the main guide wire and then vertically moves upwards, and the main guide wire enters a main guide wire cavity of the wire clamp.
4) Under the action of driving force, the double-bolt synchronous fastening mechanism moves forwards, the fastening sleeve is aligned with the head of the torque bolt and sleeved in the torque bolt, then the fastening sleeve is driven and the torque bolt is screwed, the main guide wire and the lead wire are locked, and then the double-bolt synchronous fastening mechanism retreats.
5) Two wire clamp clamping jaws of the wire clamp clamping mechanism are opened, the lead clamping jaw is also opened, and the automatic wire clamp mounting device vertically moves downwards to finish the automatic mounting of the wire clamp.
The invention has the beneficial effects that:
the automatic clamp grabbing device completely replaces manual work to carry out automatic clamp grabbing, lead clamping and synchronous clamp double-bolt fastening work, achieves locking of a main lead, achieves an automatic lead connecting operation process, guarantees personal safety of operating personnel, greatly reduces labor amount of manufacturing personnel, improves operation efficiency, and provides reliable technical support for development of live working robots.
According to the invention, the wire clamp torque bolt is completely and accurately aligned through the ingenious design of the positions and the shapes of the lead guide sleeve, the left and right side wire clamp clamping jaws, the lead clamping jaw, the fastening sleeve and the wire clamp bracket, and the matching of the tooth transmission mechanism and the double-output speed reducing mechanism, so that the smooth operation of the whole link is ensured, a complex detection structure is not required to be added, the whole structure is simplified, and the investment cost is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic top view of an automatic installation device for a wire clamp of an electric operating robot in the invention.
Fig. 2 is a structural schematic diagram of the automatic installation device of the wire clamp of the hot-line work robot in the right view.
Fig. 3 is a schematic structural view of the automatic installation device of the wire clamp of the hot-line work robot in the invention.
Fig. 4 is a schematic perspective view of an automatic installation device for a wire clamp of an electric operating robot in the invention.
Fig. 5 is a schematic top view of the double-bolt synchronous fastening mechanism of the present invention.
Fig. 6 is a front view schematically showing the structure of the fastening sleeve of the present invention.
Fig. 7 is a perspective view of the present invention with the clip mounted on the clip support.
Fig. 8 is a side view of the clip of the present invention mounted on a clip support.
Wherein: 1. the cable clamp comprises a right cable clamp clamping jaw, 2 a left cable clamp clamping jaw, 3 a torque bolt, 4 a fastening sleeve, 5 a main cable, 6 a large gear, 7 a small gear, 8 a lead, 9 a lead clamping jaw, 10 a lead guide sleeve, 11 a double-acting cylinder, 12 a quick-change device, 13 a front lead guide support, 14 a rear lead guide support, 15 a front cable clamp, 16 a rear cable clamp, 17 a double-output speed reducing mechanism, 18 a guide rod, 19 a pneumatic motor, 20 a rack, 21 a small-caliber pneumatic opening clamp, 22 a large-caliber pneumatic opening clamp, 23 a cable clamp sizing block, 24 a sleeve joint, 25 a synchronous bevel gear, 26 a coaxial bevel gear, 27 a gear shaft, 28 a speed reducer, 29 a cable clamp support and 30 a cable clamp positioning plate.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1 to 4, an automatic installation apparatus of a live working robot wire clamp includes: the quick-change device comprises a rack 20, a quick-change device 12, a wire clamp positioning plate 30, a wire clamp clamping mechanism, a lead clamping mechanism, a double-bolt synchronous fastening mechanism and a wire clamp bracket 29.
As shown in fig. 1 to 4, the frame 20 is fixedly connected with a quick-change device 12, a front wire guide bracket 13, a rear wire guide bracket 14 and a wire guide sleeve 10. The quick-change device 12 is arranged at the lower end of the rack 20, and can facilitate the mechanical arm to grab the automatic wire clamp mounting device for operation. The front end of the frame 20 is symmetrically provided with two U-shaped side columns, the front and rear columns of the U-shaped side columns are respectively provided with a front guide support 13 and a rear guide support 14, the front guide support 13 and the rear guide support 14 are arranged at 90 degrees, and the main guide wire 5 can be guided into a main guide wire cavity of the wire clamp. The U-shaped side stand column of the lead 8 incoming side is provided with a lead guide sleeve 10, the lead guide sleeve 10 is of a horn mouth-shaped conical structure, the lead guide sleeve 10 is over against a lead cavity of the wire clamp and the lead guide sleeve 10 and the lead cavity are coaxially arranged, the lead 8 can be guided to enter the lead cavity of the wire clamp, an open opening is formed in the upper side of the lead guide sleeve 10, the lead 8 can transversely penetrate through the open opening after the wire clamp is locked, and the conical structure is used for guiding the lead 8 to penetrate into the lead cavity of the wire clamp. Two upright plates are arranged at the rear end of the frame 20, a double-bolt synchronous fastening mechanism capable of moving back and forth along the guide rod 18 is arranged in the middle of the upright plates, a square hole is formed in the middle of each upright plate, and the fastening sleeve 4 penetrates through the square hole and is sleeved with the torque bolt 3 on the wire clamp.
As shown in fig. 1, 2 and 4, the wire clamp clamping mechanism comprises a large-caliber pneumatic open clamp 22, a left-side wire clamp clamping jaw 2 and a right-side wire clamp clamping jaw 1, the large-caliber pneumatic open clamp 22 is fixedly connected on a frame 20 and is positioned at the front end of a wire clamp positioning plate 30, a wire clamp can be easily placed when the large-caliber pneumatic open clamp 22 is opened, the wire clamp can be firmly clamped when the large-caliber pneumatic open clamp 22 is closed, the wire clamp positioning plate 30 can play a role in positioning the clamped wire clamp, the left-side wire clamp clamping jaw 2 and the right-side wire clamp clamping jaw 1 are respectively and symmetrically arranged on clamping jaws at two sides of the large-caliber pneumatic open clamp 22, the left-side wire clamp clamping jaw 2 and the right-side wire clamp clamping jaw 1 are in a U-shaped structure and respectively clamp a front-side wire clamp 15 and a rear-side wire clamp 16 of the wire clamp, and the main wire 5 and a lead 8 can conveniently, when the large-caliber pneumatic open clamp 22 is closed, the convex blocks on the clamp jaws of the wire clamps on the two sides are contacted with the front side and the rear side of the wire clamp, so that the opened wire clamp can be firmly clamped.
As shown in fig. 1, 2 and 4, the lead clamping mechanism includes a small-caliber pneumatic opening clamp 21 and a lead clamping jaw 9, the small-caliber pneumatic opening clamp 21 is disposed on the frame 20 and located on two sides of the clamp clamping mechanism, the lead clamping jaw 9 is provided with an arc groove structure, the lead clamping jaw is symmetrically disposed on the clamping jaws on two sides of the small-caliber pneumatic opening clamp 21 and made of insulating material, the lead 8 can conveniently pass through when the small-caliber pneumatic opening clamp 21 is opened, and the lead 8 can be firmly clamped when the small-caliber pneumatic opening clamp 21 is closed.
As shown in fig. 1, 2, 4 and 5, the double-bolt synchronous fastening mechanism includes a double-output speed reducing mechanism 17, a pneumatic motor 19, a speed reducer 28 and a gear transmission mechanism, wherein the double-output speed reducing mechanism 17 is slidably mounted on the guide rod 18, specifically, two ends of the guide rod 18 are fixed between upper portions of two upright plates of the frame 20, and a ball sleeve is arranged on the double-output speed reducing mechanism 17 and sleeved on the guide rod 18 and can move smoothly. The double-bolt synchronous fastening mechanism is driven by a double-acting cylinder 11, one side of the double-acting cylinder 11 is fixed on a rack 20, the output end of the other side of the double-acting cylinder 11 is connected with a double-output speed reducing mechanism 17, and the double-output speed reducing mechanism 17 can be pushed to move forwards and backwards under the action of the double-acting cylinder 11. The decelerator 28 and the air motor 19 are fixed to the dual output deceleration mechanism 17, and specifically, the decelerator 28 is provided on one side of the dual output deceleration mechanism 17, and the air motor 19 is provided on the input side of the decelerator 28, and provides power for bolt fastening.
As shown in fig. 1 and 5, the gear transmission mechanism includes a large gear 6 and a small gear 7, the large gear 6 is provided on a gear shaft 27 of the dual output reduction mechanism 17, the small gear 7 is provided on the output side of a reduction gear 28, and the large gear 6 is engaged with the small gear 7 to transmit power.
As shown in fig. 1, 4 and 5, the dual-output speed reducing mechanism 17 includes a gear shaft 27, coaxial bevel gears 26, synchronous bevel gears 25, socket joints 24 and fastening sleeves 4, the gear shaft 27 is rotatably disposed on the speed reducing structure housing through a bearing, the two coaxial bevel gears 26 are coaxially disposed on the gear shaft 27, the two synchronous bevel gears 25 are respectively meshed with the two coaxial bevel gears 26 and are disposed side by side on the speed reducing structure housing, the two socket joints 24 are respectively and coaxially connected with the two synchronous bevel gears 25, the two socket joints 24 are respectively and rotatably mounted on the speed reducing structure housing through a bearing, the two fastening sleeves 4 are respectively disposed on the two socket joints 24 and the two fastening sleeves 4 are disposed side by side at the front end of the dual-output speed reducing mechanism 17, and such design ensures synchronous output of the two fastening sleeves 4.
As shown in fig. 1, 2, 4, 5 and 6, the inner hole of the fastening sleeve 4 is in a 12-corner quincunx structure, the front side of the inner hole is provided with a chamfer with a conical structure, and the nut of the torque bolt 3 can smoothly enter the fastening sleeve 4 along the conical structure, so that the torque bolt 3 can be conveniently sleeved.
As shown in fig. 7 and 8, the wire clamp support 29 is a vertical plate with an inverted T-shaped structure, the two sharp heads of the wire clamp support 29 are low in shoulder, and can be just inserted into the inner cavity of the wire clamp, one side of the wire clamp support 29 is further provided with an adjustable positioning stop block for positioning the wire clamp, during operation, the front wire clamp 15 and the rear wire clamp 16 in the wire clamp are respectively arranged on two sides of the wire clamp support 29 and are connected with the wire clamp sizing block 23 through the torque bolt 3, and therefore the wire clamp is suitable for placing and grabbing different wire clamps.
Based on the use method of the automatic installation device for the wire clamp of the live working robot, the automatic installation device specifically comprises the following steps:
firstly, a front side wire clamp 15, a rear side wire clamp 16 and a wire clamp sizing block 23 are connected through two torque bolts 3 and are placed on a wire clamp support 29, an electric operation mechanical arm grabs the automatic wire clamp installation device through a quick change device 12 and turns over 180 degrees to move to the upper side of a wire clamp, a left side wire clamp clamping jaw 2 and a right side wire clamp clamping jaw 1 of a wire clamp clamping mechanism are opened, a lead clamping jaw 9 is also opened, the automatic wire clamp installation device vertically moves downwards until the automatic wire clamp installation device is contacted with a wire clamp positioning plate 30, the left side wire clamp clamping jaw 2 and the right side wire clamp clamping jaw 1 of the wire clamp clamping mechanism are closed and vertically move upwards, and the action.
The automatic installation device of the wire clamp overturns 180 degrees and moves to the position of the lead 8, the lead 8 penetrates into a lead cavity of the wire clamp from one side through the guide of the lead guide sleeve 10, and the small-caliber pneumatic open clamp 21 of the lead clamping mechanism is closed to drive the lead clamping jaw 9 to clamp the lead.
The automatic installation device of the wire clamp moves to a proper position below the main guide wire 5 and then vertically moves upwards, and the main guide wire 5 enters a main guide wire cavity of the wire clamp under the guidance of the front and rear guide wire guide supports.
Under the pushing action of the double-acting cylinder 11, the double-bolt synchronous fastening mechanism advances on the guide rod 18, the fastening sleeve 4 is aligned with the head of the torque bolt 3 and sleeved in the torque bolt, the pneumatic motor 19 is started, power is transmitted to the fastening sleeve 4 through the speed reducer 28, the gear transmission mechanism and the double-output speed reducing mechanism 17 and the torque bolt 3 is screwed, the main guide wire 5 and the lead wire 8 are locked, and the double-acting cylinder 11 drives the double-bolt synchronous fastening mechanism to retreat. Wherein, in the process of tightening the torque bolt 3, the front side clamp 15 and the rear side clamp 16 can overcome the clamping force from the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 to move relatively and finally be locked together, the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 always clamp the front side clamp 15 and the rear side clamp 16 in the process so as to ensure that the front side clamp 15 and the rear side clamp 16 can not fall off from the automatic clamp installation device, and the clamping force between the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 is controlled by a program to allow the front side clamp 15 and the rear side clamp 16 to move relatively when being locked.
The left wire clamp clamping jaw 2 and the right wire clamp clamping jaw 1 of the wire clamp clamping mechanism are opened, the lead clamping jaw 9 is also opened, and the automatic wire clamp mounting device moves vertically downwards to complete automatic mounting of a wire clamp.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An automatic installation device for a wire clamp of a live working robot is characterized by comprising a rack, a quick-change device, a wire clamp positioning plate, a wire clamp clamping mechanism, a lead clamping mechanism and a double-bolt synchronous fastening mechanism;
the quick-change device is arranged at the lower end of the rack so as to be matched with the mechanical arm to use and grab the automatic wire clamp mounting device;
the wire clamp positioning plate is arranged at the front end of the rack and used for positioning a clamped wire clamp;
the wire clamp clamping mechanism is arranged at the front end of the wire clamp positioning plate and comprises a large-caliber pneumatic opening clamp and two U-shaped wire clamp clamping jaws, the large-caliber pneumatic opening clamp is transversely and fixedly connected to the front end of the rack, the two wire clamp clamping jaws are symmetrically arranged on the left output end and the right output end of the large-caliber pneumatic opening clamp, and the two wire clamp clamping jaws can be clamped on two sides of a wire clamp under the driving of the large-caliber pneumatic opening clamp;
the lead clamping mechanism is arranged on the outer side of the wire clamp clamping mechanism and comprises a small-caliber pneumatic open clamp and two lead clamping jaws, the small-caliber pneumatic open clamp is longitudinally and fixedly connected to the front end of the rack, the two lead clamping jaws are symmetrically arranged on the front output end and the rear output end of the small-caliber pneumatic open clamp, and the two lead clamping jaws can tightly clamp and fix a lead penetrating into a lead clamping cavity under the driving of the small-caliber pneumatic open clamp;
the double-bolt synchronous fastening mechanism is arranged on the rack in a back-and-forth movement mode under the action of driving force, two fastening sleeves capable of rotating under the action of the driving force are arranged at the front end of the double-bolt synchronous fastening mechanism side by side, the two fastening sleeves and two torque bolts on the wire clamp are arranged in a one-to-one correspondence mode, and the two torque bolts can be locked on the wire clamp to lock a main guide wire and a lead wire which penetrate through the wire clamp.
2. The automatic installation device of the wire clamp of the hot-line work robot according to claim 1, wherein the front end of the frame is symmetrically and fixedly connected with two U-shaped side columns, the two U-shaped side columns are respectively arranged at two sides of the wire clamp clamping mechanism, a front column and a rear column of each U-shaped side column are respectively provided with a wire guide support, an upward included angle between the two wire guide supports on each U-shaped side column is 90 degrees, and the two U-shaped side columns are provided with four wire guide supports in total so as to guide a main wire into a main wire cavity at the upper part of the wire clamp.
3. The automatic installation device of the live working robot wire clamp according to claim 1, wherein a lead guide sleeve is provided at one side of the front end of the frame, the lead guide sleeve is flared and is coaxially provided with a lead cavity at the lower portion of the wire clamp and is used for guiding a lead into the lead cavity, and an opening is further formed at the upper portion of the lead guide sleeve so that the locked lead can pass through the opening.
4. The automatic installation device of a wire clamp of an electric working robot according to claim 1, wherein strip-shaped convex blocks are formed on the opposite surfaces of the two wire clamp jaws in the wire clamp clamping mechanism.
5. The automatic installation device of the wire clamp of the hot-line work robot according to claim 1, wherein the two wire clamping mechanisms are symmetrically arranged on two sides of the wire clamping mechanism respectively.
6. The automatic installation device of the wire clamp of the live working robot according to claim 1, wherein the double-bolt synchronous fastening mechanism comprises a double-output speed reducing mechanism, a pneumatic motor, a speed reducer and a gear transmission mechanism, wherein the pneumatic motor and the speed reducer are fixedly connected to the outside of the double-output speed reducing mechanism, the pneumatic motor is arranged at the input side of the speed reducer, and the speed reducer is in transmission connection with the double-output speed reducing mechanism through the gear transmission mechanism;
the double-output speed reducing mechanism is characterized in that two vertical plates with square holes in the middle are arranged in front of and behind the upper end of the rack, two guide rods horizontally arranged are arranged between the two vertical plates, the double-output speed reducing mechanism is slidably mounted on the two guide rods through a ball sleeve, a double-action air cylinder is fixedly connected to the rear end of the rack, the output end of the double-action air cylinder is connected to the double-output speed reducing mechanism, and the double-output speed reducing mechanism can move back and forth along the two guide rods under the driving of the double-action.
7. The automatic installation device of a wire clamp of an electric working robot according to claim 6, wherein the gear transmission mechanism comprises a gear wheel and a pinion gear which are meshed together, wherein the gear wheel is arranged on a gear shaft of the double-output speed reducing mechanism, and the pinion gear is arranged on the output side of the speed reducer.
8. The automatic installation device of the live working robot wire clamp according to claim 7, wherein the dual-output speed reducing mechanism comprises a speed reducing structure shell, a gear shaft, two coaxial bevel gears, two synchronous bevel gears, two sleeve joints and two fastening sleeves, wherein the gear shaft is rotatably and transversely installed in the speed reducing structure shell through a bearing, one end of the gear shaft extends outwards and is coaxially connected with a large gear in the gear transmission mechanism, and the two coaxial bevel gears are coaxially installed on the gear shaft and are arranged in the speed reducing structure shell; two sleeve joints are rotatably and longitudinally arranged on the shell of the speed reducing structure side by side through bearings, the front end of each sleeve joint is fixedly connected with a fastening sleeve and extends forwards through the shell of the speed reducing structure, the rear end of each sleeve joint is coaxially provided with a synchronous bevel gear, and the two synchronous bevel gears are meshed with the two coaxial bevel gears in a one-to-one correspondence mode.
9. The automatic installation device of the live working robot wire clamp according to claim 8, wherein the inner hole of the fastening sleeve is in a 12-corner quincunx structure, and the front end of the inner hole is further provided with a chamfer structure.
10. Use method of an automatic installation device of a live working robot wire clamp according to any one of claims 1-9, characterized by comprising the following steps:
1) the wire clamp is placed on the wire clamp support, the hot-line work mechanical arm grabs the automatic wire clamp mounting device through the quick-change device and turns over 180 degrees to move above the wire clamp, two wire clamp clamping jaws of the wire clamp clamping mechanism are opened, lead clamping jaws are also opened at the same time, the automatic wire clamp mounting device vertically moves downwards until the automatic wire clamp mounting device is contacted with a wire clamp positioning plate, the two wire clamp clamping jaws of the wire clamp clamping mechanism are closed and vertically moves upwards, and the action of grabbing the wire clamp from the wire clamp support is completed;
2) the automatic wire clamp mounting device is turned over by 180 degrees and moves to a lead wire position, a lead wire penetrates into a lead wire cavity of the wire clamp, and a small-caliber pneumatic opening clamp of the lead wire clamping mechanism is closed to drive a lead wire clamping jaw to clamp the lead wire;
3) the automatic wire clamp mounting device moves to a proper position below the main guide wire and then vertically moves upwards, and the main guide wire enters a main guide wire cavity of the wire clamp;
4) under the action of driving force, the double-bolt synchronous fastening mechanism moves forwards, the fastening sleeve is aligned with the head of the torque bolt and sleeved in the torque bolt, then the fastening sleeve is driven and the torque bolt is screwed, the main guide wire and the lead wire are locked, and then the double-bolt synchronous fastening mechanism moves backwards;
5) two wire clamp clamping jaws of the wire clamp clamping mechanism are opened, the lead clamping jaw is also opened, and the automatic wire clamp mounting device vertically moves downwards to finish the automatic mounting of the wire clamp.
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| CN113572079B (en) * | 2021-09-27 | 2021-12-14 | 天津滨电电力工程有限公司 | Lead lapping device of live working robot and wire clamp installation method |
| CN113872013A (en) * | 2021-10-08 | 2021-12-31 | 国网江苏省电力有限公司南通供电分公司 | Electric mounting and dismounting insulation device for grounding ring |
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Effective date of registration: 20201230 Address after: 250101 power intelligent robot production project 101 south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: No. 405, Xuexue street, Tanggu District, Binhai New Area, Tianjin 300450 Patentee before: TIANJIN BINDIAN ELECTRIC POWER ENGINEERING Co.,Ltd. Patentee before: STATE GRID TIANJIN ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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