CN109361077B - Human-shaped electric wire clamp, wire mounting and dismounting method thereof and mechanical gripper used for wire mounting and dismounting - Google Patents

Abstract

The invention relates to a connection and clamping technology between high-voltage power lines, in particular to a human-shaped power line clamp, a method for assembling and disassembling wires, and a mechanical hand used for assembling and disassembling wires. The human-shaped power wire clamp of the present invention can not only be operated manually, but also can be operated by using a mechanical gripper. The set limit plate and limit slot can prevent the left and right push rods from rotating in the horizontal direction, and the stopper at the lower end of the limit plate restricts the left and right The height at which the push rod is pushed up prevents the left and right push rods from turning upward, and ensures that the left and right push rods are in the normal state to be clamped when the mechanical gripper is used for operation. The use of mechanical grippers to operate, avoids the danger of artificial high-altitude operations, and greatly improves work efficiency.

Description

Human-shaped power wire clamp, method for assembling and disassembling the same, and mechanical gripper used for assembling and disassembling the wire

technical field

The invention relates to a connection and clamping technology between high-voltage power lines, in particular to a human-shaped power line clamp, a method for assembling and disassembling wires, and a mechanical hand used for assembling and disassembling wires.

Background technique

As we all know, electricity can only reach the user from the main high-voltage line through the branch high-voltage line and then through the transformer. The power clip is the connecting piece that connects the main high-voltage line and the branch high-voltage line. The left and right push rods of the existing human-shaped power cable clamp can rotate horizontally and can also be turned up and down. In addition, the thread on the pull rod lacks tension contact with the nut. The installation and removal of the power cable clamp can only be performed by electric workers standing on the lift car. To do it manually, there is not only the danger of high-altitude work, but also low work efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a human-shaped power wire clip, a method for assembling and disassembling the wire, and a manipulator claw used for assembling and disassembling the wire.

The technical solution of the present invention is: a human-shaped power wire clamp, comprising a bottom plate, a pull rod, a left push rod and a right push rod hinged on the pin shaft, the bottom plate is provided with two limit slots, and the direction of one limit slot is Consistent with the advance and retreat direction of the left push rod, and the direction of the other limit slot is consistent with the advance and retreat direction of the right push rod; a limit plate is hinged on the left and right push rods respectively, and the limit plate moves in the limit groove of the bottom plate to limit the movement of the left and right push rods. A stop is arranged at the lower end of the position plate; the upper part of the pulling rod is a polished rod structure, the middle is a thread, the lower part is a polished rod structure, and a spring is sleeved on the lower polished rod part.

Positioning arcs are symmetrically arranged on both sides of the center line in the width direction of the base plate.

A guide sleeve is fixed on the central hole of the bottom plate, and the height of the guide sleeve is 7-16 mm.

A mechanical gripper for assembling and dismantling the wire in cooperation with the power line clamp, the manipulator gripper includes a wire gripper manipulator gripper and a wire gripping manipulator gripper; the wire gripper manipulator gripper includes a base mounted on the robotic arm, and one end of the base is horizontally arranged with a parallel cylinder , A pair of symmetrically arranged jaws are installed on the parallel cylinder; a pair of polished rods are fixed along the longitudinal direction of the base, and a pneumatic wrench that moves along the polished rod is arranged on the polished rod, and the longitudinal movement of the pneumatic wrench is driven by the cylinder installed on the base;

The wire clamping manipulator includes a connecting plate installed on another mechanical arm, a parallel cylinder is arranged on the connecting plate, and a pair of symmetrically arranged semicircular claws are installed on the parallel cylinder.

The method of assembling and disassembling the power line clamp, including the method of assembling and disassembling the line; when installing the line, drive the electric lift truck to the main high-voltage line, and raise the lifting platform; A pair of claws clamps the positioning arc on the bottom plate of the wire clamp; at the same time, the parallel cylinder on the wire clamping manipulator is activated, so that a pair of semicircular claws on it clamp the high-voltage line of the branch; under the guidance of machine vision, the wire clamp manipulator The claw hangs the main line of the clamp on the main high-voltage line, and the clamping manipulator puts the branch high-voltage line into the branch clamp of the clamp; the cylinder on the clamp manipulator is activated, and the cylinder drives the pneumatic wrench to move forward and approach the clamp in the initial state. The nut on the upper, the sleeve on the pneumatic wrench covers the upper nut of the wire clip and then rotates clockwise until the left and right push rods of the wire clip open to clamp the main high-voltage line and the branch high-voltage line in the main line card and the branch line card; after the cylinder When it returns to the position, the gripper manipulator and the gripper manipulator both release the gripper and return to their original position, and the lifting platform descends and returns to complete the wire installation work;

When removing the wire, drive the electric lift truck to the main high-voltage line connected to the wire clamp, and raise the lifting platform. At the same time, a pair of semi-circular claws on the clamping manipulator clamp the high-voltage line of the branch circuit; the cylinder drives the pneumatic wrench to move forward and approach the nut on the clamp, and the sleeve on the pneumatic wrench covers the nut on the clamp and then rotates counterclockwise until the clamp The upper nut and the left and right push rods return to the initial state; the cylinder returns to the back position, the wire clamp manipulator moves the wire clamp away from the main high-voltage line, the wire clamp manipulator and the wire clamp manipulator return to their original positions, and the lifting platform descends to its original position. Both the wire clamp manipulator and the wire clamp manipulator release the claws to complete the wire removal work;

Described wire clamp manipulator is installed on the mechanical arm (industrial manipulator Universal robot 10), and the mechanical arm is installed on the lifting platform of the electric lift truck;

The wire clamping manipulator is installed on another mechanical arm (industrial manipulator Universal robot10), and the mechanical arm is also installed on the lifting platform of the same electric lift truck;

The described machine vision (prior art) is installed on the robotic arm;

The initial state of the wire clip means that the spring on the pull rod bears against the nut, so that the nut is in contact with the thread head teeth on the pull rod, and the left and right push rods are in a loose state.

The human-shaped power wire clamp of the present invention can not only be operated manually, but also can be operated by using a mechanical gripper. The set limit plate and limit slot can prevent the left and right push rods from rotating in the horizontal direction, and the stopper at the lower end of the limit plate restricts the left and right The height at which the push rod is pushed up prevents the left and right push rods from turning upward, and ensures that the left and right push rods are in the normal state to be clamped when the mechanical gripper is used for operation. The use of mechanical grippers to operate, avoids the danger of artificial high-altitude operations, and greatly improves work efficiency.

Description of drawings

FIG. 1 is a schematic structural diagram of a human-shaped power cord clip of the present invention.

FIG. 2 is a top view of the bottom plate of FIG. 1 .

FIG. 3 is a schematic structural diagram of the wire clamp manipulator of the present invention.

In Figures 1 and 2: 1 main line card, 2 left push rod, 3 limit plate, 4 pin shaft, 5 right push rod, 6 branch line clamps, 7 limit slot, 8 pull rod, 9 guide sleeve, 10 spring, 11 nut , 12 positioning arc, 13 bottom plate.

In Figure 3: 20 cylinders, 21 pneumatic wrenches, 22 parallel cylinders, 23 jaws, 24 polished rods, 25 bases.

Detailed ways

As shown in Figures 1 and 2, the human-shaped power cable clip of the present invention is improved on the basis of the existing human-shaped cable clip. Including the bottom plate 13, the pull rod 8, the left push rod 2 and the right push rod 5 hinged on the pin 4, the bottom plate 13 is provided with two limit slots 7, and the direction of one limit slot 7 is the advance and retreat direction of the left push rod 2 Consistent, the direction of the other limit slot 7 is consistent with the advance and retreat direction of the right push rod 5, that is, the direction of the limit slot 7 is perpendicular to the axis of the main line card 1 or the branch line card 6; The limit plate 3, the limit plate 3 moves in the limit slot 7 of the bottom plate 13, the lower end of the limit plate 3 is arranged with a stopper; the limit plate 3 and the limit slot 7 are provided to prevent the left and right push rods from rotating in the horizontal direction , The block at the lower end of the limit plate 3 limits the height of the left and right push rods pushed upward, prevents the left and right push rods from turning upward, and ensures that the left and right push rods are in the normal state to be clamped when the mechanical gripper is used for operation.

The upper part of the tie rod 8 is a polished rod structure, the middle is a thread, the lower part is a polished rod structure, and a spring 10 is sleeved on the polished rod part of the lower part. The upper and lower ends of the spring 10 are provided with spacers, and the spacers at the lower end are restricted to the polished rod portion at the lower part of the pull rod 8 by the circlip. When the left and right push rods are in the initial state to be clamped, the spring 10 bears against the nut 11, so that the nut 11 is in contact with the thread head on the tie rod 8. Once the manipulator is required to operate the wire clip, the nut 11 can be tightened immediately, and the work efficiency is extremely high. high. At the same time, when the stitches are removed, when the nut 11 is retracted to the lower polished rod position, because there is no thread, the nut 11 will not retract any further.

Positioning arcs 12 are symmetrically arranged on both sides of the center line in the width direction of the base plate 13 to facilitate gripping by the manipulator claws.

A guide sleeve 9 is fixed on the central hole of the bottom plate 13. The guide sleeve 9 can reduce the shaking of the pull rod 8. The height of the guide sleeve 9 is 7-16 mm. Too high will prevent the left and right push rods from pulling down and cannot clamp the power line.

Described manipulator claw comprises wire clamp manipulator claw and wire clamp manipulator; Described wire clamp manipulator as shown in Figure 3, comprises the base 25 installed on the mechanical arm (industrial manipulator Universal robot 10), the base 25 A parallel cylinder 22 is arranged laterally at one end, and a pair of symmetrically arranged clamping claws 23 are installed on the parallel cylinder 22; a pair of polished rods 24 are fixed along the longitudinal direction of the base 25, and the polished rod 24 is arranged with a pneumatic wrench 21 that moves along the polished rod (prior art) , the longitudinal movement of the pneumatic wrench 21 is driven by the cylinder 20 mounted on the base 25 . A pair of claws 23 are caught on the positioning arc 12 of the base plate 13 of the wire clamp, and the wire clamp can be lifted or lowered; the sleeve on the pneumatic wrench 21 is put on the wire clamp nut 11, and the nut can be tightened or loosened by turning the sleeve 11, so that the left and right push rods of the wire clip clamp or loosen the power wire on the main branch card.

The wire clamping manipulator includes a connecting plate mounted on another mechanical arm (Universal robot 10, an industrial manipulator), a parallel cylinder is arranged on the connecting plate, and a pair of symmetrically arranged semicircular jaws are installed on the parallel cylinder. The closing of a pair of symmetrically arranged semicircular claws can clamp the branch high-voltage line and put it into the branch line card 6 of the line clamp.

The method of assembling and disassembling the power line clamp, including the method of assembling and disassembling the line; when installing the line, drive the electric lift truck to the main high-voltage line, and raise the lifting platform; The pair of clamping claws 23 clamp the positioning arc 12 on the bottom plate 13 of the wire clamp; at the same time, start the parallel cylinder on the clamping manipulator, and let the pair of semicircular clamping claws on it clamp the branch high-voltage line; under the guidance of machine vision , the wire clamp manipulator hangs the main line card 1 of the wire clamp on the main high-voltage line, and the wire clamp manipulator puts the branch high-voltage line into the branch line card 6 of the wire clamp; start the air cylinder 20 on the wire clamp manipulator, and the air cylinder 20 drives the pneumatic The wrench 21 moves forward and is close to the nut 11 on the wire clamp in the initial state. The sleeve on the pneumatic wrench 21 covers the nut 11 on the wire clamp and then turns clockwise until the left and right push rods of the wire clamp are opened to separate the main high-voltage line and the branch high-voltage line. It is clamped in the main line card 1 and the branch line card 6; the cylinder 20 is retracted back, the line clamp manipulator and the line clamp manipulator are all released and returned to their positions, and the lifting platform is lowered and returned to complete the wire installation work;

When removing the wire, drive the electric lift truck to the main high-voltage line connected to the wire clamp, raise the lifting platform, and under the guidance of the machine vision, a pair of claws 23 on the wire clamp manipulator clamp the positioning on the wire clamp bottom plate 13 Arc 12, at the same time a pair of semi-circular claws on the clamping manipulator clamp the high-voltage line of the branch circuit; the cylinder 20 drives the pneumatic wrench 21 to move forward to approach the nut 11 on the wire clamp, and the sleeve on the pneumatic wrench 21 covers the nut 11 on the wire clamp Then turn it counterclockwise until the nut 11 on the wire clamp and the left and right push rods return to the initial state; the air cylinder 20 returns to the back position, the wire clamp manipulator moves the wire clamp away from the main high-voltage line, and the wire clamp manipulator and the wire clamp manipulator. All return to the original position, the lifting platform is lowered to return to the original position, the wire clamp manipulator and the wire clamp manipulator both release the claws to complete the thread removal work;

Described wire clamp manipulator is installed on the mechanical arm (industrial manipulator Universal robot 10), and the mechanical arm is installed on the lifting platform of the electric lift truck;

The wire clamping manipulator is installed on another mechanical arm (industrial manipulator Universal robot10), and the mechanical arm is also installed on the lifting platform of the same electric lift truck;

The described machine vision (prior art) is installed on the robotic arm;

The initial state of the wire clip means that the spring 10 on the pull rod 8 bears against the nut 11, so that the nut 11 contacts the thread head on the pull rod 8, and the left and right push rods are in a loose state.

Claims (2)

1. the mechanical hand claw that cooperates with the power line clip to assemble and disassemble, it is characterized in that: described mechanical hand claw comprises wire clip mechanical hand claw and wire clamping mechanical hand claw; Described wire clip mechanical hand claw comprises the base installed on the mechanical arm, the A parallel cylinder is arranged horizontally at one end, and a pair of symmetrically arranged clamping claws are installed on the parallel cylinder; a pair of polished rods are fixed along the longitudinal direction of the base, and a pneumatic wrench that moves along the polished rod is arranged on the polished rod. The longitudinal movement of the pneumatic wrench is determined by the cylinder installed on the base. drive; The wire clamping manipulator comprises a connecting plate installed on another mechanical arm, a parallel cylinder is arranged on the connecting plate, and a pair of symmetrically arranged semicircular claws are installed on the parallel cylinder; The power wire clip is a human-shaped power wire clip, which includes a base plate, a pull rod, a left push rod and a right push rod hinged on the pin shaft, and is characterized in that: the base plate is provided with two limit slots, one of which is for the limit slot. The direction is consistent with the advance and retreat direction of the left push rod, and the direction of the other limit slot is consistent with the advance and retreat direction of the right push rod; a limit plate is hinged on the left and right push rods, and the limit plate moves in the limit groove of the bottom plate, A stop is arranged at the lower end of the limit plate; the upper part of the tie rod is a polished rod structure, the middle is a thread, the lower part is a polished rod structure, and a spring is sleeved on the polished rod part at the lower part. 2. the method of using the manipulator claw described in claim 1 for assembling and disassembling wire, it is characterized in that: comprising wire assembling method and wire removing method; when assembling wire, drive the electric lift truck to the main high-voltage line, and lift the lifting platform; The parallel cylinder on the gripper manipulator, let the pair of claws on it clamp the positioning arc on the base plate of the gripper; at the same time, start the parallel cylinder on the gripper manipulator, and let the pair of semicircular grippers on it clamp the support high-voltage line; under the guidance of machine vision, the wire clamp manipulator hooks the main line of the wire clamp on the main high-voltage line, and the wire clamp manipulator puts the branch high-voltage line into the branch line card of the wire clamp; The cylinder drives the pneumatic wrench to move forward close to the nut on the wire clamp in the initial state. The sleeve on the pneumatic wrench covers the nut on the wire clamp and then rotates clockwise until the left and right push rods of the wire clamp are opened to separate the main high-voltage line and the branch circuit. The high-voltage line is clamped in the main line card and the branch line card; the cylinder is retracted backward, the line clamp manipulator and the line clamp manipulator are all released and the jaws are returned, and the lifting platform is lowered and returned to complete the wire installation work; When removing the wire, drive the electric lift truck to the main high-voltage line connected to the wire clamp, and raise the lifting platform. At the same time, a pair of semi-circular claws on the clamping manipulator clamp the high-voltage line of the branch circuit; the cylinder drives the pneumatic wrench to move forward and approach the nut on the clamp, and the sleeve on the pneumatic wrench covers the nut on the clamp and then rotates counterclockwise until the clamp The upper nut and the left and right push rods return to the initial state; the cylinder returns to the back position, the wire clamp manipulator moves the wire clamp away from the main high-voltage line, the wire clamp manipulator and the wire clamp manipulator return to their original positions, and the lifting platform descends to its original position. Both the wire clamp manipulator and the wire clamp manipulator release the claws to complete the wire removal work; The wire clamp manipulator is installed on the mechanical arm, and the mechanical arm is installed on the lifting platform of the electric lift truck; The wire clamping manipulator is installed on another mechanical arm, and the mechanical arm is also installed on the lifting platform of the same electric lift truck; The machine vision is installed on the robotic arm; The initial state of the wire clip means that the spring on the pull rod bears against the nut, so that the nut is in contact with the thread head teeth on the pull rod, and the left and right push rods are in a loose state.

Images