CN214626095U - Distribution network live-line full-flow operation robot - Google Patents

Abstract

The utility model discloses a distribution network live-line full-process operation robot, which comprises a bottom plate, a wire stripping walking device, a wire positioning and clamping device and a wire clamp installation device; the wire stripping walking device comprises a driving mechanism, a wire stripping mechanism and a wire holding walking mechanism; the wire holding travelling mechanism is provided with a wire holding channel and a guide sheet; the wire stripping mechanism is provided with a wire stripping cutter and a cutter adjusting component; the driving mechanism can drive the wire holding travelling mechanism and the wire stripping cutter to rotate around the cable so as to strip and travel; the wire positioning and clamping device comprises a wire positioning mechanism and a drainage wire clamping mechanism; the wire positioning mechanism comprises a cable positioning channel and a drainage wire guide channel; the wire clamp mounting device comprises a wire clamp, a wire clamp closing mechanism and a glue injection mechanism; the wire clamp is provided with a cable channel and a drainage wire channel; the glue injection mechanism is connected with the wire clamp. The utility model discloses can accomplish insulated wire and skin, electrified operation content that connects lead wire and insulation cover, safe and reliable is showing and has promoted live working efficiency.

Description

Distribution network live-line full-flow operation robot

Technical Field

The utility model relates to an electrified robot field that connects sparks, more specifically relate to a join in marriage electrified full flow operation robot of net.

Background

The parallel groove cable clamp has a wide application range in the field of live wire connection, the use of the parallel groove cable clamp relates to two parts of cable peeling and clamp installation, and a handheld cable peeler and a manual insulating rod type cable peeler are adopted for cable peeling at present; aiming at the installation of the wire clamp, the prior art adopts a manual direct installation and manual insulation rod type wire clamp integrated insulation wiring device; the wire stripping and the wire clamp installation are completed by two sets of tools in two procedures, the installation process is complex, the consumed time is long, in the electrified operation process, the manual close-range operation is needed, the potential safety hazard is large, the use of the insulating bucket arm vehicle is limited by the field, and the universality is poor.

The distribution network live working whole process mainly comprises the working tasks of insulating wire stripping, live disconnection of a lead, insulating covering and the like, wherein the application range of the parallel groove clamp for connecting is the most extensive. At present, most of domestic automatic hot-line work robots are carried out in a mode that two mechanical arms are installed on an insulating bucket arm vehicle in a cooperation mode, manual work procedures are directly carried out, tool heads are continuously replaced, positioning and moving bucket arm vehicles, the two arms are matched and the like, the work time is long, the work efficiency is low, and certain potential safety hazards exist. Therefore, in order to improve the automation level and safety of live working and reduce the labor intensity of operators and the threat of strong electromagnetic fields to the operators, a live working robot with higher safety and adaptability is urgently needed in the prior art to replace manual work for live working.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a join in marriage electrified full flow operation robot of net can accomplish insulating wire and skin, electrified operation content that connects lead wire and insulating cover, and safe and reliable is showing and has promoted live working efficiency.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a join in marriage electrified full flow operation robot of net which characterized in that: the wire stripping device comprises a bottom plate, a wire stripping walking device, a wire positioning and clamping device and a wire clamp mounting device, wherein the wire stripping walking device, the wire positioning and clamping device and the wire clamp mounting device are mounted on the bottom plate;

the wire stripping walking device comprises a driving mechanism, a wire stripping mechanism and a wire holding walking mechanism; the wire holding travelling mechanism is provided with a wire holding channel for a cable to enter and a guide sheet arranged on the inner wall of the wire holding channel; the wire stripping mechanism is provided with a wire stripping cutter and a cutter adjusting assembly, the wire stripping cutter is positioned on the line of the wire holding channel, and the cutter adjusting assembly is connected with the wire stripping cutter so as to adjust the included angle between the wire stripping cutter and the cable; the driving mechanism is connected with the wire holding travelling mechanism and can drive the wire holding travelling mechanism and the wire stripping cutter to rotate around the cable, and when the wire holding travelling mechanism rotates relative to the cable, the guide sheet is matched with the outer surface of the cable to drive the wire holding travelling mechanism and the bottom plate to move axially along the cable;

the wire positioning and clamping device comprises a wire positioning mechanism and a drainage wire clamping mechanism; the wire positioning mechanism comprises a cable positioning channel for a cable to enter and a drainage wire guide channel for a drainage wire to penetrate, and the cable positioning channel corresponds to the wire holding channel; the drainage wire clamping mechanism is arranged on the edge wire of the drainage wire guide channel;

the wire clamp mounting device comprises a wire clamp, a wire clamp closing mechanism and a glue injection mechanism; the cable clamp is provided with a cable channel corresponding to the cable positioning channel and a drainage wire channel corresponding to the drainage wire guide channel; the wire clamp closing mechanism is connected with a wire clamp so as to drive the wire clamp to be closed in an opening state; the glue injection mechanism is connected with the wire clamp to inject glue into the wire clamp in a closed state.

Preferably, the wire holding travelling mechanism comprises a base, a front wire holding clamp and a front wire holding opening and closing driving assembly;

the base is rotatably connected to the mounting plate of the bottom plate and is connected with the driving mechanism;

the front wire clasping clamp comprises a left wire clasping block and a right wire clasping block, the left wire clasping block and the right wire clasping block are symmetrically installed on the base in a sliding mode, wire clasping grooves are formed in the opposite surfaces of the left wire clasping block and the right wire clasping block, and the wire clasping channel is formed by butting two wire clasping grooves;

the front wire-clasping opening and closing driving assembly is installed on the base and connected with the left wire-clasping block and the right wire-clasping block so as to drive the left wire-clasping block and the right wire-clasping block to move oppositely or back to back.

Preferably, the wire stripping cutter comprises a cutter seat and a cutter body;

the cutter seat is arranged on the end wall of the left wire holding block or the right wire holding block;

the cutter body is rotatably mounted on the cutter seat along the radial direction of the cable and is connected with the cutter adjusting assembly.

Preferably, the driving mechanism comprises a wire stripping walking driving motor and a wire stripping walking gear set; the wire stripping walking gear set comprises a first gear connected to the base and a second gear connected to the wire stripping walking driving motor and matched with the first gear; the first gear comprises an open gear and a gear segment;

the open type gear is fixed on the base;

the first end of the gear section is hinged to the opening of the open type gear, the second end of the gear section can rotate, and a shifting lever is arranged on the gear section;

the mounting plate of the bottom plate is provided with a shifting block assembly, and when the first gear rotates, the shifting block assembly is matched with the shifting rod and can drive the gear section to be opened from the opening or closed to the opening.

Preferably, the wire positioning mechanism comprises a rear wire holding clamp and a rear wire holding opening and closing driving assembly;

the rear wire-holding clamp comprises a left clamping block and a right clamping block, the left clamping block and the right clamping block are symmetrically and slidably mounted on the bottom plate, an upper wire-holding groove and a lower wire-holding groove are formed in opposite surfaces of the left clamping block and the right clamping block, the cable positioning channel is formed by butt joint of the two upper wire-holding grooves, and the drainage wire guide channel is formed by butt joint of the two lower wire-holding grooves;

the back embrace line drive assembly that opens and shuts installs on the bottom plate to press from both sides tight piece with a left side and press from both sides tight piece with the right side and be connected, press from both sides tight piece with the right side in order to drive a left side and press from both sides tight piece and move in opposite directions or dorsad.

Preferably, the drainage wire clamping mechanism comprises a left pressure frame, a right pressure frame and a drainage wire clamping driving assembly;

the left pressure frame and the right pressure frame are in symmetrical sliding fit on the bottom plate, a left pressing wheel and a right pressing wheel are respectively arranged on the left pressure frame and the right pressure frame, and a drainage wire clamping channel is formed between the left pressing wheel and the right pressing wheel;

the drainage wire clamping driving assembly is arranged on the bottom plate and connected with the left pressure frame and the right pressure frame to drive the left pressing wheel and the right pressing wheel to move in opposite directions or in a back-to-back direction.

Preferably, the wire clamp comprises a left clamp body, a right clamp body and a connecting bolt;

the left clamp body and the right clamp body are arranged on the connecting bolt in a face-to-face mode, cable grooves and drainage grooves are formed in the opposite faces of the left clamp body and the right clamp body, the cable channel is formed by butt joint of the two cable grooves, and the drainage channel is formed by butt joint of the two drainage grooves;

the left clamp body is in threaded fit with the connecting bolt, and the right clamp body is in sliding fit with the connecting bolt.

Preferably, the wire clamp closing mechanism comprises a sliding plate, a wire clamp closing motor and a gear set batch head;

the sliding plate is slidably mounted on the bottom plate, and an elastic piece for pulling the sliding plate to move towards the cable is arranged between the sliding plate and the bottom plate;

the wire clamp closing motor and the gear set batch head are both arranged on the sliding plate, the wire clamp closing motor is connected with the gear set batch head, the gear set batch head is circumferentially limited and connected with the head of the connecting bolt through a fixed torque nut, and the gear set batch head is positioned on one side of the right clamp body.

Preferably, the glue injection mechanism comprises a glue injection pipe, a glue cylinder and an electric push rod;

the rubber cylinder is arranged on the lower surface of the bottom plate and is communicated with the inside of the wire clamp through a rubber injection pipe;

the electric push rod is arranged on the lower surface of the bottom plate and connected with the rubber cylinder so as to push the rubber liquid in the rubber cylinder into the wire clamp.

Preferably, both ends of the bottom plate are provided with hanging rods, and the hanging rods are provided with hanging rings.

The utility model has the advantages that:

1. the robot can realize the whole process operation contents of insulating cable peeling, live lead wire connection and insulating covering;

2. the three-phase hot-line work machine has the advantages of compact structure, light weight of the whole machine and convenience for carrying and control of constructors while having three hot-line work functions.

3. Can directly walk, the operation on insulating cable, the staff can carry out electrified disconnected connection at ground operation robot and draw the operation, and the staff need not carry other professional appurtenance, easy operation.

Drawings

Fig. 1 is a perspective view of a distribution network live-line full-flow operation robot provided in the embodiment;

fig. 2 is a side view of the distribution network live full-flow operation robot provided in the embodiment;

fig. 3 is a schematic view of the wire stripping walking device provided in this embodiment;

fig. 4 is a schematic view of the front wire-holding clamp provided in this embodiment;

FIG. 5 is a schematic view of the installation structure among the rotating plate, the rotating assembly and the mounting plate provided in the present embodiment;

FIG. 6 is a schematic view of a wire positioning and clamping device provided in the present embodiment;

fig. 7 is a schematic view of the rear wire-clasping clamp provided in this embodiment;

FIG. 8 is another schematic view of the guiding, positioning and clamping device provided in this embodiment;

fig. 9 is a schematic view of a wire clamp mounting device provided in the present embodiment;

fig. 10 is a schematic view of the wire clamp provided in the present embodiment;

fig. 11 is a schematic view of the right clip body provided in this embodiment.

Detailed Description

The operation of the distribution network live full-flow operation robot of the present invention is further described with reference to fig. 1 to 11.

The utility model provides a join in marriage electrified full flow operation robot of net which characterized in that: the wire stripping device comprises a bottom plate 1, a wire stripping walking device 2, a wire positioning and clamping device 4 and a wire clamp mounting device 3, wherein the wire stripping walking device 2, the wire positioning and clamping device and the wire clamp mounting device are mounted on the bottom plate 1.

As shown in fig. 3 to 5, the wire stripping travelling device 2 includes a driving mechanism 23, a wire stripping mechanism 22, and a wire looping travelling mechanism 21. The wire holding travelling mechanism 21 is provided with a wire holding channel 2113 for the cable to enter and a guide sheet 2114 arranged on the inner wall of the wire holding channel 2113. The wire stripping mechanism 22 is provided with a wire stripping cutter 221 and a cutter adjusting assembly 222, the wire stripping cutter 221 is arranged on the line of the wire holding channel 2113, and the cutter adjusting assembly 222 is connected with the wire stripping cutter 221 so as to adjust the included angle between the wire stripping cutter 221 and the cable 6 and adjust the wire stripping cutter 221 to enter and exit the wire holding channel 2113. The driving mechanism 23 is connected with the wire holding travelling mechanism 21 and can drive the wire holding travelling mechanism 21 and the wire stripping cutter 221 to rotate around the cable, and when the wire holding travelling mechanism 21 rotates relative to the cable, the guide piece 2114 is matched with the outer surface of the cable to drive the wire holding travelling mechanism 21 and the bottom plate 1 to move axially along the cable 6.

As shown in fig. 6-8, the wire positioning and clamping device 4 includes a wire positioning mechanism 41 and a guidewire clamping mechanism 42. The lead positioning mechanism 41 comprises a cable positioning channel 4113 for a cable to enter and a drainage wire guide channel 4114 for a drainage wire to penetrate, and the cable positioning channel 4113 and the wire embracing channel 2113 are correspondingly positioned on the same straight line; the guidewire clamping mechanism 42 is disposed along the guidewire of the guidewire guide channel 4114.

As shown in fig. 2, 9 and 10, the clip mounting device 3 includes a clip 31, a clip closing mechanism 32 and a glue injection mechanism 33; the cable clamp 31 has a cable channel 314 corresponding to the cable positioning channel 4113 and a current guide channel 315 corresponding to the current guide channel 4114; the wire clamp closing mechanism 32 is connected with the wire clamp 31 to drive the wire clamp 31 to be closed in an opening state; the glue injection mechanism 33 is connected with the wire clamp 31 so as to inject glue into the wire clamp 31 in a closed state.

The utility model provides an in the embodiment, wire stripping running gear 2, fastener installation device 3 and wire location clamping device 4 are arranged in proper order towards the other end direction from the one end of bottom plate 1. All be provided with jib 11 on the both ends of bottom plate 1, have rings 111 on the jib 11, this rings 111 can supply the lifting rope to pass, with will the utility model discloses hoist and mount to the cable on.

As shown in fig. 3 to 5, the wire clasping travelling mechanism 21 includes a base 212, a front wire clasping clamp 211, and a front wire clasping opening and closing driving assembly 213. The base 212 is pivotally connected to the mounting plate 12 of the base plate 1 and is connected to the drive mechanism 23. The front wire clip 211 comprises a left wire clip 2112 and a right wire clip 2111, the left wire clip 2112 and the right wire clip 2111 are installed on the base 212 in a symmetrical state in a sliding manner, a wire clip slot 21131 is formed in the opposite surface of the left wire clip 2112 and the right wire clip 2111, and the wire clip channel 2113 is formed by two wire clip slots 21131 in a butt joint manner. The front wire-clasping opening-closing driving assembly 213 is installed on the base 212 and connected with the left wire-clasping block 2112 and the right wire-clasping block 2111 to drive the left wire-clasping block 2112 and the right wire-clasping block 2111 to move in the opposite direction or in the opposite direction.

The base 212 is further configured to: the base 212 comprises a swivel plate 2121 and a U-shaped seat 2122; the U-shaped seat 2122 is fixed on the side surface of the rotating plate 2121 through screws, so that the wire stripping mechanism 22, the front wire holding clamp 211 and the front wire holding opening and closing driving assembly 213 are mounted; the side of the rotational plate 2121 facing away from the U-shaped seat 2122 has a rotational assembly, and the rotational plate 2121 is mounted to the mounting plate 12 of the base plate 1 via the rotational assembly.

As shown in fig. 5, the rotating assembly includes a swivel ring 2122 and a guide ring 2123; the swivel 2122 is mounted on the side surface of the swivel plate 2121 by bolts; the guide ring 2123 is rotatably mounted on the rotary ring 2122, and the guide ring 2123 is fixed to the mounting plate 12 by screws, so as to achieve the rotatable fitting of the base 212 on the mounting plate 12.

In order to facilitate the smooth entry of the cable 6 into the left wire wrapping block 2112 and the right wire wrapping block 2111, an upper escape opening 21211 is formed in the mounting plate 12 and the rotating plate 2121, a cable inlet 2124 is formed in each of the rotating ring 2122 and the guide ring 2123, the cable inlet 2124 of the rotating ring 2122 corresponds to the upper escape opening 21211 of the rotating plate 2121, and the cable inlet 2124 of the guide ring 2123 corresponds to the upper escape opening of the mounting plate 12. In this embodiment, the rotating assembly is disposed at the upper portion of the rotating plate 2121, and the U-shaped seat 2122 is disposed at the lower portion of the rotating plate 2121 to ensure the stability of the center of gravity of the base 212. Therefore, in a natural state, the U-shaped seat 2122 rotates to the lowest point of the rotating plate 2121 under the action of gravity, and in this state, the two upper escape openings 21211 correspond to the two cable inlets 2124 for cables to enter.

A front wire holding and clamping rod 2126 and two front wire holding and clamping guide rods 2125 are erected between the two side plates of the U-shaped seat 2122, and the left wire holding block 2112 and the right wire holding block 2111 are matched with the front wire holding and clamping guide rod 2125 and the front wire holding and clamping rod 2126 through guide holes and threaded holes on the lower side of the body.

The guide plate 2114 has a guide line 2115 in an inclined state. When the guide piece 2114 rotates relative to the cable 6, the guide piece 2114 in the inclined state drives the entire front wire clip 211 to move axially along the cable.

To facilitate entry of the cable into the hugging channel 2113 from the upper side, the upper sides of the left hugging block 2112 and the right hugging block 2111 are arranged bent back to form a guide portion 2116 for entry of the cable into the hugging channel 2113.

The front wire-clasping opening and closing driving assembly 213 comprises a wire-clasping motor 2132 and a wire-clasping gear set 2131, the wire-clasping motor 2132 is installed in the U-shaped seat 2122, namely is located at the lower side of the front wire-clasping guide rod and the front wire-clasping lead screw, the wire-clasping gear set 2131 is installed on one side plate of the U-shaped seat 2122, and the wire-clasping motor 2132 is connected with the front wire-clasping rod 2126 through the wire-clasping gear set 2131, so that the left wire-clasping block 2112 and the right wire-clasping block 2111 are driven to move in opposite directions or move back to back.

The wire stripping tool 221 includes a tool holder 2212 and a tool body 2211. The tool seat 2212 is arranged on the end wall of the left wire holding block 2112 or the right wire holding block 2111, and a rotating shaft parallel to the wire holding channel 2113 is arranged in the tool seat 2212; the cutter body 2211 is mounted on a rotating shaft in the cutter holder 2212 to rotate in the radial direction of the cable. The cutter adjusting assembly 222 includes an angle adjusting motor 2221 and an angle adjusting gear 2222, the angle adjusting motor 2221 is connected to the rotating shaft through the angle adjusting gear 2222 to drive the rotating shaft to rotate, so as to adjust the stripping angle between the cutter body 2211 and the cable.

The driving mechanism 23 comprises a wire stripping walking driving motor 232 and a wire stripping walking gear set; the wire stripping walking gear set comprises a first gear 233 connected to a rotating ring 2122 of the base 212 and a second gear 231 mounted on an output shaft of the wire stripping walking driving motor 232 and meshed with the first gear 233; the first gear 233 includes an open gear 2332 and a gear segment 2331. The open gear 2332 is fixed to the swivel 2122 of the base 212 by bolts, and the open gear 2332 has an opening corresponding to the cable inlet 2124 of the swivel; a first end of the gear segment 2331 is hinged to the opening of the open gear 2332 by a pin 2333, a second end 2334 can rotate to open and close the opening of the open gear 2332, and a driving lever, not shown in the drawings, is arranged on a side of the gear segment 2331 opposite to the base 212. A shifting block assembly 5 is arranged on the mounting plate 12 of the bottom plate 1, and when the wire stripping travel driving motor 232 drives the first gear 233 to rotate, the shifting block assembly 5 is matched with a shifting rod and can drive the gear section 2331 to open from the opening or close to the opening.

Specifically, the shifting block assembly 5 includes a shifting block body 51, a tension spring 53 and a limit block 54. The shifting block body 51 is arranged at the upper avoidance opening 21211 of the mounting plate 12 through a rotating shaft and is positioned on the rotating track of the shifting rod; the two ends of the tension spring 53 are connected with positioning pins 52, and are respectively fixed on the side wall of the mounting plate 12 and the shifting block body 51 through the positioning pins 52 so as to generate a pulling force towards the upper avoidance opening 21211 of the mounting plate 12 to the shifting block body 51; the limiting block 54 is formed on the side wall of the mounting plate 12 for the shifting block body 51 to abut against. Therefore, in the orientation shown in fig. 3, when the wire stripping travel driving motor 232 drives the first gear 233 to rotate clockwise, due to the limiting of the limiting block 54, the shifting block body 51 blocks the shifting rod, so that the second end 2334 of the gear segment 2331 rotates upward to open the opening of the open gear 2332, and after the opening of the open gear 2332 is opened, the opening corresponds to the two upper avoidance openings 21211 and the two cable inlets 2124 for cables to enter; when the wire stripping travel driving motor 232 drives the first gear 233 to rotate anticlockwise, the shift lever overcomes the tension of the tension spring 53 on the shift block body 51, and shifts the shift block body 51 to rotate clockwise, so that the normal rotation of the first gear 233 is realized, and the wire stripping operation on the cable is realized.

A U-shaped mounting seat 121 is arranged at the mounting plate 12 corresponding to the upper avoidance opening 21211, and an infrared detection tube 1211 is arranged in the U-shaped mounting seat 121 to detect whether the cable enters the wire-holding channel 2113.

As shown in fig. 6 to 8, the wire positioning mechanism 41 includes a rear wire clip 411 and a rear wire opening/closing driving assembly 412. The back embrace clamp 411 includes left clamp piece 4112 and right clamp piece 4111, left clamp piece 4112 and right clamp piece 4111 are symmetry state slidable mounting on bottom plate 1, and have on left clamp piece 4112 and right clamp piece 4111 the face in opposite directions on clamp piece 41111 and clamp groove 41112 down, cable location passageway 4113 is formed by two last clamp groove 41111 docks, drainage wire direction passageway 4114 is formed by two lower clamp groove 41112 docks. The rear wire embracing opening and closing driving component 412 is installed on the base plate 1 and is connected with the left clamping block 4112 and the right clamping block 4111 to drive the left clamping block 4112 and the right clamping block 4111 to move towards or away from each other.

The bottom plate 1 is provided with two parallel vertical plates 13, a rear wire embracing and clamping rod 132 and two rear wire embracing and clamping guide rods 131 which are transversely arranged are erected between the two vertical plates 13, and the left clamping block 4112 and the right clamping block 4111 are matched with the rear wire embracing and clamping guide rods 131 and the rear wire embracing and clamping rod 132 through guide holes and threaded holes on the lower side of the body.

The rear wire embracing opening and closing driving assembly 412 comprises a wire clamping motor 4121 and a wire clamping gear set 4122. The wire clamping motor 4121 is installed between the two vertical plates 13, the wire clamping gear group 4122 is installed on one vertical plate 13, and the wire clamping motor 4121 is connected with the rear wire holding wire clamping rod 132 through the wire clamping gear group 4122 to drive the left clamping block 4112 and the right clamping block 4111 to move in an opposite direction or in a back-to-back direction.

The wire positioning mechanism 41 further comprises a guide tube 413 formed by matching a left guide half tube 4131 and a right guide half tube 4132, an inlet end of the guide tube 413 is in a bell mouth structure, and the left guide half tube 4131 and the right guide half tube 4132 are respectively installed in the lower clamping groove 41112 of the left clamping block 4112 and the lower clamping groove 41112 of the right clamping block 4111. This stand pipe 413 can make things convenient for the drainage wire to penetrate in drainage wire guide way 4114.

When wire stripping running gear 2 drives the utility model discloses during axial displacement on the cable, in order to reduce the resistance when removing and increase the stability of removal, be provided with on two inner walls of wire clamping groove 41111 and compress tightly guide pulley 414. The pressing guide wheels 414 in each upper wire clamping groove 41111 are arranged in two groups, each group is inclined at 45 degrees, so as to be suitable for clamping cables with different diameters.

The wire clamping mechanism 42 is located at the outlet end of the guide tube 413 and includes a left pressure frame 422, a right pressure frame 421 and a wire clamping drive assembly 423. The left pressure frame 422 and the right pressure frame 421 are symmetrically and slidably matched on the base plate 1, a left force feedback frame 4221 and a right force feedback frame 4222 are respectively arranged on the left pressure frame 422 and the right pressure frame 421, pressure sensors are respectively arranged between the left force feedback frame 4221 and the left pressure frame 422 and between the right force feedback frame 4222 and the right pressure frame 421, a left pressure wheel 4223 and a right pressure wheel 4224 are respectively arranged on the left force feedback frame 4221 and the right force feedback frame 4222, the left pressure wheel 4223 and the right pressure wheel 4224 are respectively provided with two pressure wheels and are distributed and arranged up and down, and a drainage wire clamping channel corresponding to the drainage wire guide channel 4114 is formed between the two left pressure wheels 4223 and the two right pressure wheels 4224. The drainage wire clamping driving assembly 423 is installed on the base plate 1 and connected with the left pressure frame 422 and the right pressure frame 421 to drive the left pressure wheel 4223 and the right pressure wheel 4224 to move towards or away from each other.

Specifically, a pressure frame screw 134 and two pressure frame guide rods 133 which are vertically arranged are further arranged between the two vertical plates 13, and the left pressure frame 422 and the right pressure frame 421 are matched on the pressure frame guide rods 133 and the pressure frame screw 134 through guide holes and threaded holes of the bodies of the left pressure frame 422 and the right pressure frame 421. The drainage wire clamping driving assembly 423 comprises a clamping motor 4231 and a clamping gear set 4232, the clamping motor 4231 is installed between two vertical plates 13, the clamping gear set 4232 is installed on one vertical plate 13, and the clamping motor 4231 is connected with the pressure frame screw rod 134 through the clamping gear set 4232 so as to drive the left clamping block 4112 and the right clamping block 4111 to move towards or away from each other.

An infrared detection tube is arranged in the drainage wire guide channel 4114 to detect the penetration amount of the drainage wire.

The wire clamp 31 shown in fig. 2, 9 and 10 comprises a left clamp body 311, a right clamp body 312 and two connecting bolts 316 arranged in parallel; the left clamp body 311 and the right clamp body 312 are disposed on the two connecting bolts 316 in a face-to-face manner, and a cable groove 31121 and a drainage groove 31122 are disposed on the opposite faces of the left clamp body 311 and the right clamp body 312, the cable channel 314 is formed by the butt joint of the two cable grooves 31121, and the drainage channel 315 is formed by the butt joint of the two drainage grooves 31122. The left clamp body 311 is in threaded fit with the connecting bolt 316, and the right clamp body 312 is in sliding fit with the connecting bolt 316.

The left clamp body 311 comprises a left pressing block 3112 and a left insulation cover 3111 located on the outer side of the left pressing block 3112, the right clamp body 312 comprises a right pressing block 3121 and a right insulation cover 3122 located on the outer side of the right pressing block 3121, a cable groove and a drainage wire groove are located on the left pressing block 3112 and the right pressing block 3121, the left pressing block 3112 is in threaded fit with the connecting bolt 316, and the right pressing block 3121 is in sliding fit with the connecting bolt 316.

The cable groove with be provided with the tooth's socket in the drainage wire groove to promote the tight stability of cable and drainage fastener 31.

The left pressing block 3112 is connected with the left insulating cover 3111 through two springs 3113; the back of the right pressing block 3121 is connected with a connecting block 3123, the connecting block 3123 is fixed with the right insulating cover 3122 through a screw 3124, the head of the connecting bolt 316 passes through the perforation 31221 of the right insulating cover 3122 to be connected for the gear train batch head, and simultaneously the body of rod of the connecting bolt 316 is in interference fit with the perforation 31221 of the right insulating cover 3122, under this structure, in the initial state, can fix the right clamp 312 at the right end of the connecting bolt 316, avoid this right clamp 312 to rock on the connecting bolt 316 wantonly and influence the problem that the drainage wire enters into the drainage wire groove.

Magnets 31211 are arranged on the right pressing block 3121 and the connecting block 3123, and the magnets 31211 are mutually adsorbed to realize connection.

Left side insulating boot 3111 with the upside 31111 of right insulating boot 3122 is the back bending setting to supply the cable to enter into in the cable duct from last to down.

The wire clamp closing mechanism 32 includes a slip plate 324, a wire clamp closing motor 321, and a gear train header 323. The sliding plate 324 is slidably mounted on the guide rail 15 of the bottom plate 1 along the radial direction of the cable, and an elastic member 33, which is a spring, is disposed between the sliding plate 324 and the bottom plate 1 to pull the sliding plate 324 to move towards the cable. The wire clamp closing motor 321 and the gear train batch head 323 are both arranged on the sliding plate 324, the wire clamp closing motor 321 is connected with the gear train batch head 323, the gear train batch head 323 is circumferentially limited and connected with the head part of the connecting bolt 316 through the fixed torque nut 317, and the gear train batch head 323 is positioned on one side of the right clamp body 312.

In this embodiment, in order to facilitate the conduction between the cable and the drainage wire, the left pressing block 3112 and the right pressing block 3121 are conductive aluminum blocks.

A positioning frame 313 is arranged on one side of the left insulating cover 3111 back to the right insulating cover 3122, and a positioning groove 3131 for positioning and guiding the back surface of the left insulating cover 3111 is arranged on the positioning frame 313. The left insulating cover 3111 can be stably attached to the bracket 14 of the base plate 1 via the positioning frame 313.

The glue injection mechanism 33 comprises a glue injection pipe 332, a glue cylinder 331 and an electric push rod 333. The rubber cylinder 331 is mounted on the lower surface of the base plate 1 and is communicated with the inside of the wire clamp 31 through the glue injection pipe 332. The electric push rod 333 is installed on the lower surface of the bottom plate 1 and connected with the piston of the rubber cylinder 331 so as to push the rubber solution in the rubber cylinder 331 into the wire clamp 31. The electric push rod 333 and the rubber cylinder 331 are arranged on the lower surface of the bottom plate 1, so that the whole gravity center of the utility model is stable.

In order to improve the connection stability of the glue injection pipe 332 and the wire clamp 31, a limiting frame 141 is arranged on the bracket 14 of the bottom plate 1, and a glue outlet of the glue injection pipe 332 penetrates through the limiting frame 141 to be connected to a left insulating cover or a right insulating cover of the wire clamp 31.

Based on the above scheme, the utility model discloses a concrete working procedure does:

1. initial state: the wire stripping walking device 2 is in an initial position, the left wire holding block 2112 and the right wire holding block 2111 are in an open state, the upper avoidance opening 21211 and the cable inlet 2124 are aligned, and the gear section 2331 is in an open state on the opening of the open gear 2332; the left clamp body 311 and the right clamp body 312 in the wire clamp 31 are in an open state; the left and right clamping blocks 4112, 4111 in the wire positioning and clamping device 4 are in an open state; the glue injection mechanism 33 is in an initial position, and the glue cylinder 331 is filled with glue;

2. lifting the robot to the cable; the first end of the lifting rope is fixed on the lifting ring 111 through the lifting rope, and the second end of the lifting rope bypasses the cable and is pulled down, so that the first end of the lifting rope is pulled to rise; in the process of being pulled up, when the cable enters the wire embracing channel 2113, the cable positioning channel 4113 and the cable channel 314, the corresponding infrared detection tube recognizes that the corresponding motor drives the wire embracing channel 2113 and the cable positioning channel 4113 to be closed, so that the utility model is fixed on the cable;

3. clamping and positioning the drainage wire: when the infrared detection tube identifies a drainage wire, the drainage wire clamping mechanism 42 preliminarily clamps the drainage wire, so that the drainage wire is positioned more accurately but is not clamped; the drainage wire continuously penetrates forwards, when the infrared detection tube identifies the metal part of the drainage wire, the drainage wire enters the drainage wire channel 315 of the wire clamp 31 and is in place, and the drainage wire clamping mechanism 42 clamps the drainage wire, namely the clamping force is fed back through the pressure sensor;

4. and (3) cable insulation stripping and cutting operation: the left wire holding block 2112 and the right wire holding block 2111 hold cables tightly, the wire stripping walking driving motor 232 drives the wire holding walking mechanism 21 and the wire stripping mechanism 22 to rotate around the cables, and the cutter adjusting assembly 222 drives the cutter body 2211 to rotate, so that the cutter body 2211 slowly rotates along with the stripping depth and feeds to a set angle; the wire stripping walking driving motor 232 drives the wire stripping mechanism 22 to continuously rotate for stripping and cutting, and in the wire stripping process, the robot moves axially along the cable under the action of the guide sheet 2114 until the designated stripping and cutting length is reached. Then the cutter body 2211 rotates slowly to withdraw, and the wire stripping walking driving motor 232 drives the wire stripping mechanism 22 to rotate at the same time to cut off the insulation skin;

5. the robot integrally walks: after the robot strips and cuts the cable insulation skin, the stripping walking driving motor 232 drives the wire holding walking mechanism 21 to continue rotating, at the moment, the left wire holding block 2112 and the right wire holding block 2111 hold the cable 6 tightly all the time, and as the guide piece 2114 is provided with the guide lines 2115, the left wire holding block 2112 and the right wire holding block 2111 clamp the cable to rotate and simultaneously drive the whole robot to move forwards for walking;

6. installation operation of the parallel groove clamp 31:

a. when the robot moves integrally to walk, the cable insulation stripping and cutting position coincides with the cable clamp mounting device 3, and the corresponding infrared detection tube confirms that the cable stripping and cutting walking device 2 stops moving. The wire stripping walking device 2 and the wire positioning and clamping device 4 are in a clamping state, and the relative position of the cable relative to the robot body is not moved;

b. the wire clamp closing motor 321 drives the connecting bolt 316 to rotate through the gear set headpiece 323, and due to the acting force of the elastic piece 33, namely the spring, the whole wire clamp closing mechanism 32, the right clamp body 312 and the connecting bolt 316 move leftwards, namely approach towards the cable until the cable groove and the drainage groove of the right clamp body 312 approach the cable and the drainage wire; the wire clamp closing motor 321 continues to drive the gear set screwdriver head 323, because the cable and the drainage wire are clamped and fixed, the right clamp body 312 is tightly fixed at the moment, and the left clamp body 311 starts to move right under the action of the thread matching force, namely the cable direction is closed until the cable direction is tightly closed, and simultaneously is separated from the positioning frame 313; the wire clamp closing motor 321 continues to drive the gear set batch head 323, and when the specified torque is reached, the fixed torque nut 317 is unscrewed, so that the subsequent wire clamp 31 can be conveniently separated. In the embodiment, a left insulating cover 3111 and a right insulating cover 3122 are added on the basis of the parallel groove clamp 31, and when the two are closed, glue can be injected into the insulating covers;

c. glue injection operation: after the parallel groove clamp 31 is screwed and fixed on the cable and the drainage wire, the electric push rod 333 works to push the piston in the glue injection cylinder 331, and the insulating glue is injected into the left insulating cover 3111 and the right insulating cover 3122 in a closed state along the glue injection pipe 332 to cover the cable, the drainage wire, the left pressing block 3112 and the right pressing block 3121;

d. robot separation: after the glue injection operation is completed, after the insulating glue is primarily cured, the left wire-wrapping block 2112 and the right wire-wrapping block 2111 in the wire stripping walking device 2 and the left clamping block 4112 and the right clamping block 4111 in the wire positioning and clamping device 4 are simultaneously opened, the robot hangs the lifting rope and descends by means of self gravity, and the glue injection pipe 332 is separated from the wire clamp 31, so that the operation is completed.

Unless otherwise specified, in the present invention, if the terms "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing orientation or positional relationship in the present invention are used for illustrative purposes only, and should not be construed as limiting the present patent, specific meanings of the above terms can be understood by those of ordinary skill in the art in light of the specific circumstances in conjunction with the accompanying drawings.

Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass both fixed and removable connections, or integral connections; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a join in marriage electrified full flow operation robot of net which characterized in that: comprises a bottom plate (1), a wire stripping walking device (2), a wire positioning and clamping device (4) and a wire clamp mounting device (3), wherein the wire stripping walking device, the wire positioning and clamping device and the wire clamp mounting device are arranged on the bottom plate (1);

the wire stripping walking device (2) comprises a driving mechanism (23), a wire stripping mechanism (22) and a wire holding walking mechanism (21); the wire holding travelling mechanism (21) is provided with a wire holding channel (2113) for a cable to enter and a guide sheet (2114) arranged on the inner wall of the wire holding channel (2113); the wire stripping mechanism (22) is provided with a wire stripping cutter (221) and a cutter adjusting assembly (222), the wire stripping cutter (221) is located on the line of the wire holding channel (2113), and the cutter adjusting assembly (222) is connected with the wire stripping cutter (221) so as to adjust the included angle between the wire stripping cutter (221) and a cable; the driving mechanism (23) is connected with the wire holding travelling mechanism (21) and can drive the wire holding travelling mechanism (21) and the wire stripping cutter (221) to rotate around the cable, and when the wire holding travelling mechanism (21) rotates relative to the cable, the guide piece (2114) is matched with the outer surface of the cable to drive the wire holding travelling mechanism (21) and the bottom plate (1) to move axially along the cable;

the lead positioning and clamping device (4) comprises a lead positioning mechanism (41) and a drainage wire clamping mechanism (42); the lead positioning mechanism (41) comprises a cable positioning channel (4113) for a cable to enter and a drainage wire guide channel (4114) for a drainage wire to penetrate, wherein the cable positioning channel (4113) corresponds to the holding channel (2113); the drainage wire clamping mechanism (42) is arranged on the line of the drainage wire guide channel (4114);

the wire clamp mounting device (3) comprises a wire clamp (31), a wire clamp closing mechanism (32) and a glue injection mechanism (33); the cable clamp (31) has a cable channel (314) corresponding to the cable locating channel (4113) and a drainage wire channel (315) corresponding to the drainage wire guide channel (4114); the wire clamp closing mechanism (32) is connected with the wire clamp (31) to drive the wire clamp (31) to be closed in an opening state; and the glue injection mechanism (33) is connected with the wire clamp (31) to inject glue into the wire clamp (31) in a closed state.

2. The distribution network live full-flow operation robot as claimed in claim 1, wherein: the wire holding walking mechanism (21) comprises a base (212), a front wire holding clamp (211) and a front wire holding opening and closing driving assembly (213);

the base (212) is rotatably connected to the mounting plate (12) of the bottom plate (1) and is connected with the driving mechanism (23);

the front wire holding clamp (211) comprises a left wire holding block (2112) and a right wire holding block (2111), the left wire holding block (2112) and the right wire holding block (2111) are installed on a base (212) in a symmetrical state in a sliding mode, wire holding grooves (21131) are formed in the opposite surfaces of the left wire holding block (2112) and the right wire holding block (2111), and a wire holding channel (2113) is formed by butt joint of the two wire holding grooves (21131);

the front wire-clasping opening-closing driving assembly (213) is installed on the base (212) and is connected with the left wire-clasping block (2112) and the right wire-clasping block (2111) to drive the left wire-clasping block (2112) and the right wire-clasping block (2111) to move in opposite directions or in the opposite directions.

3. The distribution network live full-flow operation robot as claimed in claim 2, wherein: the wire stripping cutter (221) comprises a cutter seat (2212) and a cutter body (2211);

the cutter seat (2212) is mounted on the end wall of the left wire holding block (2112) or the right wire holding block (2111);

the tool body (2211) is rotatably arranged on the tool base (2212) along the radial direction of the cable and is connected with the tool adjusting assembly (222).

4. The distribution network live full-flow operation robot as claimed in claim 3, wherein: the driving mechanism (23) comprises a wire stripping walking driving motor (232) and a wire stripping walking gear set; the wire stripping walking gear set comprises a first gear (233) connected to the base (212) and a second gear (231) connected to the wire stripping walking driving motor (232) and matched with the first gear (233); the first gear (233) comprises an open gear (2332) and a gear segment 2331;

the open gear (2332) is fixed on the base (212);

the first end of the gear segment (2331) is hinged to the opening of the open gear (2332), the second end can rotate, and a shift lever is arranged on the gear segment (2331);

a shifting block assembly (5) is arranged on the mounting plate (12) of the bottom plate (1), and when the first gear (233) rotates, the shifting block assembly (5) is matched with a shifting rod and can drive the gear section (2331) to open or close from the opening.

5. The distribution network live full-flow operation robot as claimed in claim 1, wherein: the lead positioning mechanism (41) comprises a rear wire holding clamp (411) and a rear wire holding opening and closing driving assembly (412);

the rear wire holding clamp (411) comprises a left clamping block (4112) and a right clamping block (4111), the left clamping block (4112) and the right clamping block (4111) are installed on a bottom plate (1) in a sliding mode in a symmetrical mode, an upper wire clamping groove (41111) and a lower wire clamping groove (41112) are arranged on opposite faces of the left clamping block (4112) and the right clamping block (4111), the cable positioning channel (4113) is formed by butt joint of the two upper wire clamping grooves (41111), and the drainage wire guide channel (4114) is formed by butt joint of the two lower wire clamping grooves (41112);

the rear wire embracing opening and closing driving assembly (412) is installed on the base plate (1) and is connected with the left clamping block (4112) and the right clamping block (4111) to drive the left clamping block (4112) and the right clamping block (4111) to move in the opposite direction or in the opposite direction.

6. The distribution network live full-flow operation robot as claimed in claim 5, wherein: the drainage wire clamping mechanism (42) comprises a left pressure frame (422), a right pressure frame (421) and a drainage wire clamping driving assembly (423);

the left pressure frame (422) and the right pressure frame (421) are in symmetrical sliding fit on the bottom plate (1), a left pressure wheel (4223) and a right pressure wheel (4224) are respectively arranged on the left pressure frame (422) and the right pressure frame (421), and a drainage wire clamping channel is formed between the left pressure wheel (4223) and the right pressure wheel (4224);

the drainage wire clamping driving assembly (423) is installed on the bottom plate (1) and connected with the left pressure frame (422) and the right pressure frame (421) to drive the left pressure wheel (4223) and the right pressure wheel (4224) to move in the opposite direction or in the opposite direction.

7. The distribution network live full-flow operation robot as claimed in claim 1, wherein: the wire clamp (31) comprises a left clamp body (311), a right clamp body (312) and a connecting bolt (316);

the left clamp body (311) and the right clamp body (312) are arranged on the connecting bolt (316) in a face-to-face mode, cable grooves and drainage grooves are formed in the opposite faces of the left clamp body (311) and the right clamp body (312), the cable channel (314) is formed by butt joint of the two cable grooves, and the drainage channel (315) is formed by butt joint of the two drainage grooves;

the left clamp body (311) is in threaded fit with the connecting bolt (316), and the right clamp body (312) is in sliding fit with the connecting bolt (316).

8. The distribution network live full-flow operation robot as claimed in claim 7, wherein: the wire clamp closing mechanism (32) comprises a sliding plate (324), a wire clamp closing motor (321) and a gear set batch head (323);

the sliding plate (324) is slidably mounted on the bottom plate (1), and an elastic piece for pulling the sliding plate (324) to move towards the cable is arranged between the sliding plate (324) and the bottom plate (1);

the wire clamp closing motor (321) and the gear set batch head (323) are both arranged on a sliding plate (324), the wire clamp closing motor (321) is connected with the gear set batch head (323), the gear set batch head (323) is circumferentially limited and connected with the head of a connecting bolt (316) through a fixed torque nut (317), and the gear set batch head (323) is located on one side of a right clamp body (312).

9. The distribution network live full-flow operation robot as claimed in claim 8, wherein: the glue injection mechanism (33) comprises a glue injection pipe (332), a glue cylinder (331) and an electric push rod (333);

the rubber cylinder (331) is mounted on the lower surface of the bottom plate (1) and is communicated with the inside of the wire clamp (31) through a rubber injection pipe (332);

the electric push rod (333) is arranged on the lower surface of the bottom plate (1) and connected with the rubber cylinder (331) so as to push the rubber liquid in the rubber cylinder (331) into the wire clamp (31).

10. The distribution network live full-flow operation robot as claimed in claim 1, wherein: both ends of the bottom plate (1) are provided with hanging rods (11), and the hanging rods (11) are provided with hanging rings (111).

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