CN110601081A - Distribution network live lead wire breaking and connecting system and method thereof - Google Patents
Distribution network live lead wire breaking and connecting system and method thereof Download PDFInfo
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- CN110601081A CN110601081A CN201910978780.XA CN201910978780A CN110601081A CN 110601081 A CN110601081 A CN 110601081A CN 201910978780 A CN201910978780 A CN 201910978780A CN 110601081 A CN110601081 A CN 110601081A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 title claims description 12
- 238000009826 distribution Methods 0.000 title abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 36
- 239000004020 conductor Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 16
- 238000005520 cutting process Methods 0.000 claims description 15
- 239000004519 grease Substances 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
-
- 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
-
- 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
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
- H02G1/1265—Machines the cutting element rotating about the wire or cable
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a distribution network live-line disconnection and connection streamline system and a disconnection and connection streamline method thereof. The working robot platform comprises a control box, mechanical arms and end-connected working tools, wherein the first mechanical arm and the second mechanical arm are multi-joint multi-degree-of-freedom arms and are symmetrically arranged on two sides of the control box, each working tool comprises a clamping tool, a wire peeling tool and a wire clamp mounting tool, the clamping tools are connected to the tail ends of the first mechanical arms and are mainly used for clamping insulated wires and leads, the wire peeling tools and the wire clamp mounting tools are fixed on the top surface of the control box, and the second mechanical arm is connected with the wire peeling tools and the wire clamp mounting tools through an electric rotary joint at the tail end of the second mechanical arm as required to perform corresponding operation. The working personnel can be far away from the high-altitude and high-pressure working environment, and the working safety and the labor intensity of the working personnel are improved.
Description
Technical Field
The invention belongs to the field of distribution network live working, and particularly relates to a distribution network live disconnection and connection lead wire system and a method for disconnecting and connecting a lead wire.
Background
With the rapid development of social economy, the requirements of people on continuous and stable power supply in production and life are higher and higher. The distribution network is located at the tail end of the power system, is a key link for guaranteeing continuous power supply, and the reliability of the distribution network occupies a very important position in the whole power supply system. At present, traditional electrified maintenance of distribution network is mainly carried out by the manual work, and the workman wears insulating clothing to stand and carries out electrified disconnected and connected drainage wire operation in the insulating fill in high altitude mostly, and partial area has also carried out and has adopted insulating bar to carry out electrified disconnected and connected drainage wire operation of distribution network. However, the power distribution network lines are usually very compact, the line-to-line distance is small, and short circuits are easily caused when operators work in a hot-line manner, so that accidents such as personal injuries and deaths are caused. Meanwhile, most of the operation modes are high in labor intensity, low in working efficiency and high in operation risk coefficient, and related live-line operation is difficult to carry out due to severe distribution and geographic conditions of the power distribution network lines in part of areas, so that the lines have to be overhauled and maintained in a power failure mode, and continuous and stable operation of the power distribution network is seriously influenced. Therefore, in order to ensure the safety of the live-line operators of the power distribution network, improve the live-line operation efficiency of the power distribution network and enable the power distribution network to continuously and stably operate, the robot replaces workers to perform live-line disconnection and drainage wire connection operation on the power distribution network of the power distribution network, and the robot is more and more important.
The robot can directly replace manual work to carry out operation, eliminates the hidden danger that live working personnel seriously threaten personal safety due to the compact inter-phase distance, realizes an automatic working mode, and improves the working efficiency.
However, in spite of the existing live working robot systems at home and abroad, a wheel-type vehicle-mounted mode is generally adopted, namely, a wheel-type overhead working truck is adopted as an insulation moving platform, the working robot is installed at the tail end of a telescopic arm of the wheel-type overhead working truck, and the wheel-type vehicle-mounted moving mode is not suitable for complex terrain environments. The work robot is mounted on an insulated trolley, so that the size of the work robot is large, and the change of the work position is realized by a telescopic arm of the work vehicle, so that the work robot is not suitable for a narrow work space and a complicated work object. And some working robots work through mechanical arms and do not have special working ends. Even some tail ends connected through the mechanical arm are peeled and installed, the tail ends are complex in structure and low in performance, and faults are easy to occur in the operation process.
Disclosure of Invention
The invention aims to provide a system which is small in size, optimized in operation tail end structure and good in operation performance and is suitable for electrified disconnection and connection of a down-lead line in a narrow space of a distribution network and a method for disconnecting and connecting the down-lead line.
The distribution network live-line disconnection and connection lead wire system provided by the invention comprises a crawler-type overhead working truck and a working robot platform arranged at the tail end of a lifting arm of the crawler-type overhead working truck. The working robot platform comprises a control box, mechanical arms and a working tool connected with the mechanical arms at the tail ends of the mechanical arms, the first mechanical arm and the second mechanical arm are multi-joint multi-degree-of-freedom arms and are symmetrically arranged on two sides of the control box, the working tool comprises a clamping tool, a wire peeling tool and a wire clamp mounting tool, the clamping tool is connected to the tail end of the first mechanical arm and is mainly used for clamping an insulated wire and a lead, the wire peeling tool and the wire clamp mounting tool are fixed on the top surface of the control box, and the second mechanical arm is connected with the wire peeling tool and the wire clamp mounting tool through an electric rotary joint at the tail end of.
In one embodiment of the above technical solution, the chassis of the crawler-type aerial work platform is configured with the legs, and the four telescopic legs are symmetrically assembled on the left and right sides of the chassis.
In an embodiment of the above technical scheme, the clamping tool comprises a motor, a feed screw nut mechanism, a slider-crank mechanism and an insulating clamping finger which are connected in sequence, the motor drives the feed screw to rotate, the nut on the feed screw drives the slider to move, and the crank pushes the insulating clamping finger outwards to open or pulls the insulating clamping finger inwards to close.
In one embodiment of the above technical scheme, the wire peeling tool comprises a peeling device and a peeling driving device, the peeling device comprises a motor and a screw nut mechanism driven by the motor, a guide rail slider mechanism, and two wire clamping blocks, two sides of each wire clamping block are respectively connected with an upper screw nut and an upper guide rail slider, a cutting blade is fixed on one wire clamping block corresponding to a wire clamping groove on the wire clamping block, and the screw nut mechanism and the guide rail slider mechanism are fixed on two sides of the mounting frame in parallel; the peeling driving device is located at the outer end of the mounting frame and comprises a motor and a worm gear mechanism driven by the motor, a C-shaped cylindrical gear meshed by a worm wheel, a wheel shaft of the C-shaped cylindrical gear is an open hollow shaft and is arranged along the axial center line of a wire clamping groove on the wire clamping block, one end of the open hollow shaft is fixed on the mounting frame, a corresponding hole is formed in the position, corresponding to the central hole of the open hollow shaft, of the mounting frame, two ends of the worm and the wheel shaft are respectively fixed on the mounting cover, the mounting cover covers the transmission device, an open groove of the C-shaped cylindrical gear is exposed, and the.
In one embodiment of the above technical solution, the guide thread is disposed on a groove surface of the wire clamping groove on the wire clamping block, and a guide threaded hole is formed when the two wire clamping blocks are closed.
In one embodiment of the above technical solution, the worm and gear mechanism includes two sets of worm gears symmetrically disposed on two sides of the C-shaped cylindrical gear; and a female head of the rotary quick-change connector is arranged on the periphery of the mounting cover corresponding to the worm drive motor.
In one embodiment of the above technical solution, the wire clamp installation tool includes a motor and a lead screw nut mechanism driven by the motor, a guide rail slider mechanism, two clamping plates with two sides respectively connected with a lead screw upper nut and a guide rail upper slider, the lead screw nut mechanism and the guide rail slider mechanism being fixed in parallel to two sides of the mounting frame; the wire clamp mounting tool further comprises a motor and an inner hexagonal sleeve driven by the motor, an output shaft of the motor is connected with the inner hexagonal sleeve through a hollow cross-shaped coupling, a spiral spring is arranged in the inner hexagonal sleeve, and two ends of the spiral spring are respectively connected with the output shaft of the motor and the end face of the inner hexagonal sleeve.
In an embodiment of the above technical scheme, the mounting frames of the wire stripping tool and the wire clamp mounting tool each include an end plate and a U-shaped frame fixed on one side thereof, the U-shaped frames are used for mounting a lead screw of the lead screw nut mechanism, the guide rails of the guide rail slider mechanisms of the two tools are respectively mounted on the other side of the end plate, the lead screws of the two tools are positive and negative lead screws, and nuts on the lead screws are T-shaped nuts.
In an embodiment of the above technical scheme, an arc-shaped groove is formed in a position, corresponding to the middle between the two guide rails, of an end plate of the mounting frame of the wire clamp mounting tool, a mechanical arm connector is connected to the upper side of the arc-shaped groove, the tail end of the mechanical arm connector is a female head for rotating the quick-change connector, and the motor and the inner hexagonal sleeve driven by the motor penetrate through the mechanical arm connector.
The invention provides an operation method for breaking and connecting leads on an insulated wire by using the system, wherein the electrified lead connecting wire comprises the following steps:
(1) the crawler-type overhead working truck is moved to the position of an operating point, an equipment wire clamp, a cleaning brush and a conductive grease coating tool are fixed on a control box in an inserting mode, two mechanical arms are in a folded initial state, four supporting legs of the two mechanical arms are supported on the ground, a crawler leaves the ground, and the control box is lifted to a designated position by a lifting arm;
(2) the first mechanical arm moves to enable a clamping tool at the tail end of the first mechanical arm to clamp the position, close to the position to be stripped, of the insulated wire;
(3) the second mechanical arm is connected with the wire peeling tool and moves to the starting point of the position to be peeled;
(4) the wire is clamped by a peeling device of the wire peeling tool, the transmission device works to drive the peeling device to do circular motion around the wire, a cutting blade of the peeling device cuts an insulating layer, and meanwhile, the second mechanical arm can move along the wire until the end point of a position to be peeled;
(5) the second mechanical arm sends the wire stripping tool back to the initial position on the control box, and the clamping tool at the tail end of the first mechanical arm loosens the insulated wire;
(6) the first mechanical arm clamps the cleaning brush from the control box to clean the peeling position and then sends the cleaning brush back;
(7) the first mechanical arm clamps a conductive grease coating tool from the control box to coat conductive grease on the cleaned bare conductor and then sends the bare conductor back;
(8) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the equipment wire clamp from the control box and sends the equipment wire clamp to a bare conductor coated with conductive grease, the conductor of the equipment wire clamp is hung on the bare conductor, and the first mechanical arm returns;
(9) the second mechanical arm is connected with the wire clamp installation tool and moves to the equipment wire clamp, a clamping plate of a clamping device of the wire clamp installation tool clamps the equipment wire clamp, the first mechanical arm moves, the clamping tool at the tail end clamps the end part of the lead wire with the insulating layer removed and inserts the end part of the lead wire into the lead wire position on the equipment wire clamp, and a nut screwing device of the wire clamp installation tool screws a nut on a connecting bolt between a movable clamping block and a fixed clamping block of the equipment wire clamp;
(10) returning the first mechanical arm, and returning the wire clamp mounting tool to the second mechanical arm;
(11) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the insulating sheath, and the insulating sheath covers the equipment wire clamp;
when the lead is broken with electricity, the two manipulators move cooperatively, and the insulating sheath is successively removed and the drainage wire is withdrawn.
According to the invention, the crawler-type overhead working truck is used for conveying the working robot to the vicinity of the overhead insulated wire for disconnection and connection of the lead wire, so that the working personnel can be far away from the high-altitude and high-voltage working environment, and the working safety and the labor intensity of the working personnel are improved; the working robot platform adopts two arms to cooperate in coordination, and the terminal configuration structure of two arms optimizes the operation instrument that the working property is good: clamping tool, wire skinning instrument and fastener mounting tool and wire cutter. The clamping tool is connected to the tail end of the first mechanical arm and is mainly used for clamping the insulated wire and the lead. The wire stripping tool and the wire clamp mounting tool are fixed on the top surface of the control box, the second mechanical arm is connected with the wire stripping tool and the wire clamp mounting tool through the electric rotary joint at the tail end of the second mechanical arm as required and is delivered to a working position, and all the working tools can automatically complete the operations of stripping, wire clamp mounting and cutting off the drainage wire, so that the complexity of the operation is reduced, and the wire stripping tool and the wire clamp mounting tool are particularly suitable for the operation of cutting off and connecting the drainage wire on the insulated main conductor of the distribution network in. The clamping tool at the tail end of the first arm clamps the insulated main conductor during the operation of the stripper; when the drainage wire is installed, the drainage wire is clamped to the drainage wire position of the equipment wire clamp through the clamp holder. When the lead is broken with electricity, the two manipulators move cooperatively, and the insulating sheath is successively removed and the drainage wire is withdrawn.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the clamping tool of the present embodiment.
Fig. 3 is a schematic view of the holding tool with the housing removed.
Fig. 4 is a schematic axial side structure diagram of the wire stripping tool of the present embodiment.
Fig. 5 is another schematic axial side structure diagram of the wire stripping tool of the present embodiment.
Fig. 6 is a third axial side structure diagram of the wire stripper of the present embodiment.
Fig. 7 is a schematic axial side structure view of the wire clamp installation tool of the present embodiment.
Detailed Description
As shown in FIG. 1, the distribution network live-line disconnection and connection streamline system disclosed by the embodiment comprises a crawler-type overhead working truck 1 and a working robot platform 2 installed at the tail end of a telescopic arm of the crawler-type overhead working truck.
The crawler-type aerial working vehicle 1 of the embodiment is preferably an Italian crawler spider vehicle which is purchased from power auxiliary equipment, Inc., of New Lanling, Hezhou, and can be walked remotely, and the crawler-type aerial working vehicle is provided with three large arms and telescopic arms, wherein the tail end sections of the telescopic arms are insulating sections, and four telescopic supporting legs are further configured, and when the supporting legs are supported on the ground, the crawler is lifted off the ground.
The working robot platform 2 comprises a control box 21 and a first mechanical arm 22 and a second mechanical arm 23 which are arranged on two sides of the control box, wherein the tail end of the first mechanical arm 22 is connected with the clamping tool 3, and the tail end of the second mechanical arm 23 can be connected with the wire stripping tool 4 and the wire clamp mounting tool 5.
The second mechanical arm 23 is automatically connected with the wire stripping tool 4 and the wire clamp mounting tool 5 through an electric rotating joint, the electric rotating joint comprises two parts, one part of the electric rotating joint is driven by a motor to rotate through a male head and the other part of the electric rotating joint are female heads, the tail end of the second mechanical arm is connected with the male head, the wire stripping tool 4 and the wire clamp mounting tool 5 are respectively connected with the female heads, and the male head and the female heads are matched and locked through a plug-in structure. The electric rotary joint can be purchased as a finished product and can be searched for in hundred degrees.
The first mechanical arm 22 and the second mechanical arm 23 are both multi-joint six-degree-of-freedom arms, and the UR series cooperative mechanical arm of the Danish Youhao robot, which is purchased from outsourcing, is preferably adopted in the embodiment and is provided with an electric rotating joint.
The embodiment fixes the wire stripping tool and the wire clamp mounting tool on the top surface of the control box in an inserting mode.
As shown in fig. 2 and 3, the gripping tool 3 of the present embodiment includes a servo motor SFDJ, a feed screw-nut mechanism 31, a crank-slider mechanism 32, insulated gripping fingers 33, and a housing 34. An output shaft of the servo motor SFDJ is connected with a screw rod of the screw rod nut mechanism 31 through a coupler, a slide block of the crank slide block mechanism 32 is connected with a nut of the screw rod nut mechanism 31, and a crank of the crank slide block mechanism 32 is hinged with the insulating clamping finger 33. The motor, the coupler, the screw rod and nut mechanism and the crank block mechanism are located in a shell 34, one end of the shell 34 is hinged to the insulating clamping finger 33, and the other end of the shell is connected with a connector at the tail end of the grabbing mechanical arm. The servo motor SFDJ can rotate forward and backward.
The working principle of the clamping tool 3 is as follows: the rotary motion of the motor output shaft is transmitted to the screw rod through the coupler, the nut on the screw rod drives the sliding block to move along the screw rod through the rotary motion of the screw rod, and the insulating clamping fingers are pushed outwards or pulled inwards to be folded through the crank due to the movement of the sliding block. Before the clamping action of the clamping tool, the clamping tool is opened and then closed to carry out the clamping action.
As shown in fig. 4 to 7, the wire peeling tool 4 includes a peeling means 41 and a peeling driving means 42.
The peeling device 41 includes a servo motor (not shown), a lead screw SG, a T-nut LM, a wire clamping block 412, a guide rail DG, a slider HK, and a mounting bracket AZJ.
The mounting frame AZJ comprises an end plate AZJ1 and a U-shaped frame AZJ2, the end plate is perpendicular to the insulated conducting wire and is fixed on one side of the end plate in parallel with the insulated conducting wire, and an insulated conducting wire mounting groove is formed in the other side of the end plate. Guide rails perpendicular to the insulated wires are symmetrically fixed on two sides of the insulated wire mounting groove on the end plate, and the two guide rails are respectively connected with sliding blocks.
The servo motor can rotate forward and backward and is connected to one end of the lead screw SG through a coupler.
The screw rod SG is a positive and negative screw rod with two end sections with opposite screw thread directions, and the two end sections are respectively connected with a T-shaped nut LM. The wire clamping blocks 412 are provided with semi-circular arc-shaped wire clamping grooves, the two wire clamping blocks 412 are symmetrically arranged relative to each other in the wire clamping grooves, one side of each wire clamping block 412 is fixed with the T-shaped nut, and the other side of each wire clamping block 412 is fixed with the sliding block on the guide rail DG. A cutting insert 411 is fixed to one of the wire clamping blocks 412.
The peeling driving device 42 is located at the outer end of the end plate of the peeling device 41 and comprises a servo motor, a worm 421, a worm wheel 422, a C-shaped cylindrical gear 423 and a mounting cover 424. The axle of the C-shaped cylindrical gear is a hollow axle with a corresponding shape, and is arranged along the axial center line of the wire clamping groove on the wire clamping block 412, and one end of the hollow axle is fixed on the end plate of the mounting frame AZJ. The mounting cover 424 is located at the periphery of the C-shaped cylindrical gear 423, two groups of worm wheels 422 are located in the mounting cover 424 and are symmetrically meshed with two sides of the C-shaped cylindrical gear 423, two worm wheels are respectively mounted on two worm wheel 422 shafts and are respectively meshed with the C-shaped cylindrical gear 423 and the worm 421, two ends of each worm wheel shaft are respectively preset on the mounting cover 424, one worm is meshed with the two groups of worm wheels, and two ends of the worm 421 are fixed on the mounting cover 424.
The servo motor SFDJ is positioned outside the mounting cover and is connected to one end of the worm 421 through a coupler, and a connector 425 is arranged outside the mounting cover 424 and corresponds to the periphery of the servo motor.
The wire stripping tool can be connected with a mechanical arm for use and can also be connected with an insulating operating rod for use to strip an insulating wire.
The connection in fig. 4-6 is a connection head for the present wire stripping tool 4 to an insulated operating rod.
When this embodiment is connected the use with wire skinning instrument and second arm, set up the connector in the offside that the installation covered, and set up the connector as electric rotary joint's female head, through female head and the terminal electric rotary joint's of second arm public head automatic connection fixed, install that cover 424 supports through second arm 22 promptly.
When the wire stripper 4 is connected to the end of the second robot 22 to strip the insulated wire, the insulated wire is first clamped by the stripping device 41, and then the stripping device 41 is moved around the insulated wire by the stripping driving device 42, so that the cutting blade 413 cuts off the insulation layer on the surface of the insulated wire. Specifically, the method comprises the following steps:
the servo motor of the peeling device 41 works to rotate the lead screw, the lead screw rotates to enable the two T-shaped nuts on the lead screw to respectively drive the conducting wire clamping blocks to move back and forth to be opened, the two conducting wire clamping blocks are located on two sides of the insulated conducting wire, and then the servo motor works in the reverse direction to enable the two conducting wire clamping blocks to move in opposite directions to be closed to clamp the insulated conducting wire. At this time, the insulated wire is also located in the center hole of the C-shaped cylindrical gear. The worm rotates through the worm wheel, the C-shaped cylindrical gear is driven by the C-shaped cylindrical gear to rotate as the wheel shaft of the C-shaped cylindrical gear is connected with the end plate of the peeling device mounting frame into a whole, the cutting blade on the wire clamping block of the peeling device rotates around the insulated wire to cut the insulated layer, and the wire peeling device moves axially along the insulated wire under the action of the guide thread groove formed by the two wire clamping blocks of the peeling device and the cutting force of the cutting blade.
The embodiment adopts the existing equipment cable clamp, which comprises a fixed clamping block and a movable clamping block which are fastened through bolts and nuts. Before the equipment wire clamp is installed on the insulated conductor, the connecting bolt between the two clamping blocks is unscrewed.
When installing the drainage wire, need hang the equipment wire clamp on the drainage wire and fasten the fastener bolt, in order to simplify the operation step, the device of being convenient for is looked for the bolt, has screwed nut device and clamping device simultaneously to design on the wire clamp installation end.
As shown in fig. 7, the wire clamp installation tool 5 includes a clamping device 51 and a nut runner 52, the nut runner 52 being used to tighten or loosen the wire clamp bolt, and the clamping device 51 being used to clamp the equipment wire clamp.
The clamping device 51 comprises a servo motor, a screw rod SG, a T-shaped nut LM, a wire clamp clamping plate 511, a guide rail DG, a sliding block HK and a mounting rack AZJ. The structure of the mounting frame is similar to that of the peeling device, and the other side of the end plate is provided with a nut screwing device mounting groove. Guide rails DG parallel to the insulated conducting wire are symmetrically fixed on two sides of the nut screwing device mounting groove on the end plate, and sliding blocks HK are connected to the two guide rails DG respectively. The servo motor can rotate forward and backward and is connected to one end of the lead screw SG through a coupler. The screw rod is a positive and negative screw rod with two end sections with opposite screw threads, and the two end sections are respectively connected with a T-shaped nut. One side of the two wire clamp clamping plates 511 is respectively fixed with the T-shaped nut LM, and the other side is respectively fixed with the slide block HK on the guide rail DG.
The nut screwing device 52 comprises a servo motor SFDJ, a cross coupler 521 and an inner hexagonal sleeve 522 which are sequentially connected, a spiral spring is arranged in an inner cavity of the cross coupler 521, and two ends of the spiral spring are respectively connected with the inner hexagonal sleeve and the end face of an output shaft of the servo motor.
In order to enable the inner hexagonal sleeve 522 to be coaxial with the output shaft of the servo motor and to be in good butt joint with the nut when no external force is applied, a cross-hinge connection mode is designed between the inner hexagonal sleeve 522 and the output shaft, a rotating spring is further arranged in the cross-shaped coupling 521 to form flexible connection, and when the nut screwing device is applied with force, the inner hexagonal sleeve can be adjusted to a certain angle relative to the output shaft, so that butt joint with the nut is achieved.
The outer side of the end plate of the mounting frame AZJ of the clamping device 51 is connected with a connector 523 corresponding to the periphery of the nut screwing device mounting groove.
In this embodiment, when the wire clamp installation tool 5 is connected to the second mechanical arm 22 for use, the female head of the electric rotary joint is set outside the end plate of the installation rack of the clamping device 51 as the connecting head 523, and the male head of the electric rotary joint at the end of the second mechanical arm is automatically connected and fixed through the female head.
When the equipment wire clamp is installed, the servo motor of the clamping device 51 works to enable the two clamping plates 511 to move back and forth on the screw rod SG to be opened, then the servo motor works in the reverse direction, and the two clamping plates move oppositely to clamp and hang the equipment wire clamp on the insulated conductor. When the clamping plate clamps the equipment cable clamp, the inner hexagonal sleeve of the nut screwing device 52 is sleeved outside the nut on the cable clamp bolt. Then the clamping tool at the end of the first mechanical arm clamps the lead head with the stripped insulating layer at the lead clamping position of the inserting equipment wire clamp. The servomotor of the nut runner 52 then operates to rotate the nut with the socket 522, thereby clamping the exposed wire and the lead head together with the equipment clamp via the clamp bolt.
The steps of connecting the lead on the insulated wire in the embodiment are as follows:
(1) the crawler-type overhead working truck is moved to the position of an operating point, an equipment wire clamp, a cleaning brush and a conductive grease smearing tool are fixed on a control box in an inserting mode, two mechanical arms are in a folded state, four supporting legs of the two mechanical arms are supported on the ground, a crawler leaves the ground, and the control box is lifted to a specified position by a lifting arm;
(2) the first mechanical arm moves to enable a clamping tool at the tail end of the first mechanical arm to clamp the position, to be stripped, of the accessory of the insulated wire at the position to be stripped, so that the insulated wire is prevented from shaking when the wire stripping tool works;
(3) the second mechanical arm is connected with the wire stripping tool through a quick-change connector at the tail end of the second mechanical arm and moves to a starting point of a position to be stripped;
(4) the wire is clamped by a peeling device of the wire peeling tool, the transmission device works to drive the peeling device to do circular motion around the wire, a cutting blade of the peeling device cuts an insulating layer, the cutting blade moves along the axial direction of the insulated wire through the cutting force of the cutting blade and a guide threaded hole formed by two wire clamping grooves, and meanwhile, a joint of a second mechanical arm can move along the wire along with the wire peeling tool until the end point of a position to be peeled;
(5) the second mechanical arm sends the wire stripping tool back to the initial position on the control box, and the clamping tool loosens the insulated wire;
(6) the first mechanical arm clamps the cleaning brush from the control box to clean the peeling position and then sends the cleaning brush back;
(7) the first mechanical arm clamps a conductive grease smearing tool from the control box to smear conductive grease on the cleaned bare conductor and then send the bare conductor back;
(8) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the equipment wire clamp from the control box, sends the equipment wire clamp to a bare conductor coated with conductive grease, and returns after the equipment wire clamp is hung on the bare conductor;
(9) the second mechanical arm is connected with a female head on the wire clamp installation tool through a male head of an electric rotary joint at the tail end of the second mechanical arm and moves to an equipment wire clamp, the equipment wire clamp is clamped by a clamping plate of the wire clamp installation tool, the first mechanical arm moves, the clamping tool at the tail end clamps the end part of the drainage wire with the insulating layer removed and inserts the end part into a lead clamping position on the equipment wire clamp, and a nut screwing device of the wire clamp installation tool screws a wire clamp bolt;
(10) returning the first mechanical arm, and returning the wire clamp mounting tool to the second mechanical arm;
(11) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the insulating sheath, and the insulating sheath covers the equipment wire clamp;
when the lead is broken with electricity, the two manipulators move cooperatively, and the insulating sheath is successively removed and the drainage wire is withdrawn.
Other embodiments can also adopt a mode of arranging a limiting frame on the top surface of the control box to fix the wire stripping tool, the wire clamp mounting tool and the equipment wire clamp.
Claims (10)
1. The utility model provides a join in marriage electrified disconnected, meet drainage line system of net, includes crawler-type high altitude construction car and installs in its terminal work robot platform of lifting arm, its characterized in that: the working robot platform comprises a control box, mechanical arms and a working tool connected with the mechanical arms at the tail ends of the mechanical arms, the first mechanical arm and the second mechanical arm are multi-joint multi-degree-of-freedom arms and are symmetrically arranged on two sides of the control box, the working tool comprises a clamping tool, a wire peeling tool and a wire clamp mounting tool, the clamping tool is connected to the tail end of the first mechanical arm and is mainly used for clamping an insulated wire and a lead, the wire peeling tool and the wire clamp mounting tool are fixed on the top surface of the control box, and the second mechanical arm is connected with the wire peeling tool and the wire clamp mounting tool through an electric rotary joint at the tail end of.
2. The system of claim 1, wherein: the chassis of the crawler-type overhead working truck is provided with supporting legs, and the four telescopic supporting legs are symmetrically assembled on the left side and the right side of the chassis.
3. The system of claim 1, wherein: the clamping tool comprises a motor, a screw rod nut mechanism, a crank sliding block mechanism and an insulating clamping finger which are sequentially connected, the motor drives the screw rod to rotate, the nut on the screw rod drives the sliding block to move, and the crank pushes the insulating clamping finger outwards to open or pulls the insulating clamping finger inwards to close.
4. The system of claim 1, wherein: the wire peeling tool comprises a peeling device and a peeling driving device, the peeling device comprises a motor and a lead screw nut mechanism driven by the motor, a guide rail sliding block mechanism, and two wire clamping blocks, the two sides of each wire clamping block are respectively connected with a lead screw upper nut and a guide rail upper sliding block, a cutting blade is fixed on one wire clamping block corresponding to a wire clamping groove on the wire clamping block, and the lead screw nut mechanism and the guide rail sliding block mechanism are fixed on the two sides of the mounting frame in parallel; the peeling driving device is located at the outer end of the mounting frame and comprises a motor and a worm gear mechanism driven by the motor, a C-shaped cylindrical gear meshed by a worm gear, a wheel shaft of the C-shaped cylindrical gear is a hollow shaft and is arranged along the axial center line of a wire clamping groove on the wire clamping block, one end of the hollow shaft is fixed on the mounting frame, a corresponding hole is formed in the mounting frame corresponding to the center hole of the hollow shaft, two ends of the worm and the worm wheel shaft are respectively fixed on a mounting cover, the mounting cover covers the transmission device, an open groove of the C-shaped cylindrical gear is exposed, and a worm driving motor is.
5. The system of claim 4, wherein: and guide threads are arranged on the groove surface of the wire clamping groove on the wire clamping block, and a guide threaded hole is formed when the two wire clamping blocks are closed.
6. The system of claim 4, wherein: the worm gear mechanism comprises two groups of worm gears which are symmetrically arranged on two sides of the C-shaped cylindrical gear; and the periphery of the mounting cover corresponding to the worm driving motor is provided with a female head of the electric rotary joint.
7. The system of claim 4, wherein: the wire clamp mounting tool comprises a motor and a lead screw nut mechanism driven by the motor, a guide rail slider mechanism, two clamping plates, wherein the two sides of the two clamping plates are respectively connected with a lead screw upper nut and a guide rail upper slider, and the lead screw nut mechanism and the guide rail slider mechanism are fixed on the two sides of the mounting frame in parallel; the wire clamp mounting tool further comprises a motor and an inner hexagonal sleeve driven by the motor, an output shaft of the motor is connected with the inner hexagonal sleeve through a hollow cross-shaped coupling, a spiral spring is arranged in the inner hexagonal sleeve, and two ends of the spiral spring are respectively connected with the output shaft of the motor and the end face of the inner hexagonal sleeve.
8. The system of claim 7, wherein: the lead peeling tool and the wire clamp mounting tool are characterized in that the mounting frames respectively comprise an end plate and a U-shaped frame fixed on one side of the end plate, the U-shaped frames are used for mounting lead screws of the lead screw nut mechanisms, the guide rails of the guide rail slider mechanisms of the two tools are respectively mounted on the other sides of the end plates, the lead screws of the two tools are positive and negative lead screws, and nuts on the lead screws are T-shaped nuts.
9. The system of claim 8, wherein: the middle position department that the end plate of fastener mounting tool's mounting bracket corresponds between two guide rails is provided with the arc wall, and the upside of arc wall is connected with the arm connector, and the end of arm connector is electric rotary joint's female head, motor and driven allen key sleeve pass from the arm connector.
10. A method of disconnecting and connecting a lead to an insulated conductor using the system of claim 1, wherein the live lead comprises the steps of:
(1) the crawler-type overhead working truck is moved to the position of an operating point, an equipment wire clamp, a cleaning brush and a conductive grease coating tool are fixed on a control box in an inserting mode, two mechanical arms are in a folded initial state, four supporting legs of the two mechanical arms are supported on the ground, a crawler leaves the ground, and the control box is lifted to a designated position by a lifting arm;
(2) the first mechanical arm moves to enable a clamping tool at the tail end of the first mechanical arm to clamp the position, close to the position to be stripped, of the insulated wire;
(3) the second mechanical arm is connected with the wire peeling tool and moves to the starting point of the position to be peeled;
(4) the wire is clamped by a peeling device of the wire peeling tool, the transmission device works to drive the peeling device to do circular motion around the wire, a cutting blade of the peeling device cuts an insulating layer, and meanwhile, the second mechanical arm can move along the wire until the end point of a position to be peeled;
(5) the second mechanical arm sends the wire stripping tool back to the initial position on the control box, and the clamping tool at the tail end of the first mechanical arm loosens the insulated wire;
(6) the first mechanical arm clamps the cleaning brush from the control box to clean the peeling position and then sends the cleaning brush back;
(7) the first mechanical arm clamps a conductive grease coating tool from the control box to coat conductive grease on the cleaned bare conductor and then sends the bare conductor back;
(8) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the equipment wire clamp from the control box and sends the equipment wire clamp to a bare conductor coated with conductive grease, the conductor of the equipment wire clamp is hung on the bare conductor, and the first mechanical arm returns;
(9) the second mechanical arm is connected with the wire clamp installation tool and moves to the equipment wire clamp, a clamping plate of a clamping device of the wire clamp installation tool clamps the equipment wire clamp, the first mechanical arm moves, the clamping tool at the tail end clamps the end part of the lead wire with the insulating layer removed and inserts the end part of the lead wire into the lead wire position on the equipment wire clamp, and a nut screwing device of the wire clamp installation tool screws a nut on a connecting bolt between a movable clamping block and a fixed clamping block of the equipment wire clamp;
(10) returning the first mechanical arm, and returning the wire clamp mounting tool to the second mechanical arm;
(11) the first mechanical arm moves, a clamping tool at the tail end of the first mechanical arm clamps the insulating sheath, and the insulating sheath covers the equipment wire clamp and returns;
when the lead is broken with electricity, the two manipulators move cooperatively, and the insulating sheath is successively removed and the drainage wire is withdrawn.
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| CN201910978780.XA CN110601081B (en) | 2019-10-15 | 2019-10-15 | Distribution network live disconnection and drainage wire connection system and disconnection and drainage wire connection method thereof |
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| CN111082370A (en) * | 2020-03-12 | 2020-04-28 | 国网安徽省电力有限公司电力科学研究院 | Cable stripping assembly |
| CN111416307A (en) * | 2020-04-24 | 2020-07-14 | 国网江西省电力有限公司南昌供电分公司 | Take fire robot convenient to wire stripping drainage |
| CN111431098A (en) * | 2020-06-10 | 2020-07-17 | 天津滨电电力工程有限公司 | Control system of automatic installation device for wire clamp of live working robot |
| CN112382976A (en) * | 2020-11-18 | 2021-02-19 | 湖南帝星智能科技有限公司 | Drainage wire termination, engineering vehicle and live working robot |
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| CN114362038A (en) * | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | Hoisting system for electrified lead wire connecting line of power distribution network |
| CN114536409A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Flexible clutch device suitable for recovering overload fault of robot |
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| CN111431098B (en) * | 2020-06-10 | 2020-09-01 | 天津滨电电力工程有限公司 | Control system of automatic installation device for wire clamp of live working robot |
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| CN112531571B (en) * | 2020-11-24 | 2021-06-11 | 国网江苏省电力有限公司扬州供电分公司 | Electric power rope threading system and working method thereof |
| CN112531571A (en) * | 2020-11-24 | 2021-03-19 | 国网江苏省电力有限公司扬州供电分公司 | Electric power rope threading system and working method thereof |
| CN114536409B (en) * | 2020-11-24 | 2023-04-07 | 云南电网有限责任公司昆明供电局 | Flexible clutch device suitable for recovering overload fault of robot |
| CN113054449A (en) * | 2021-03-18 | 2021-06-29 | 亿嘉和科技股份有限公司 | Wire clamp tool |
| CN114709748A (en) * | 2021-12-03 | 2022-07-05 | 国网上海市电力公司 | Electrified automatic wiring method for distribution network line |
| CN114709748B (en) * | 2021-12-03 | 2024-06-07 | 国网上海市电力公司 | Electrified automatic wiring method for distribution network line |
| CN114362065A (en) * | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | Portable power distribution network live-line connection and drainage line robot and operation method thereof |
| CN114362038A (en) * | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | Hoisting system for electrified lead wire connecting line of power distribution network |
| CN114362065B (en) * | 2021-12-07 | 2024-02-02 | 贵州电网有限责任公司 | Portable power distribution network live-line drainage wire connecting robot and operation method thereof |
| CN114614318A (en) * | 2022-03-25 | 2022-06-10 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead wire connecting system for narrow and complex working conditions and working method thereof |
| CN114614318B (en) * | 2022-03-25 | 2023-07-11 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead connecting system for narrow and complicated working conditions and working method thereof |
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