CN110601079A - Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network - Google Patents

Abstract

The invention discloses an operating robot system and operating method for disconnecting live distribution network and connecting drain lines. The system includes an insulating mobile platform and an operating robot platform mounted on it. The insulating mobile platform is a crawler-type aerial work vehicle, and the operating robot platform is installed on The end of its insulated telescopic arm; the working robot platform includes a square control box and a grabbing manipulator, a peeling manipulator and an installation manipulator installed on its side wall. The arms of the three manipulators are multi-joint multi-degree-of-freedom arms. The ends of the arm are respectively connected to the clamping end, the peeling end and the wire clamp installation end; the working robot platform also includes a tool transfer device and a cross slide table, and there are installation grooves at the bottom of a pair of side walls of the control box, and the tool transfer device is fixed on the control box The bottom plate of the control box is mainly used for conveying equipment wire clamps, wire cleaning brushes, conductive grease coating tools and insulating sheaths for the grabbing manipulator. The bottom plate of the control box is installed on the cross slide table, which can move back and forth, left and right.

Description

An operating robot system and operating method for disconnecting and connecting drain lines in a distribution network

technical field

The invention belongs to the field of live distribution network operation, and in particular relates to an operating robot system and operation method for disconnecting and connecting drain lines of a distribution network.

Background technique

With the rapid development of social economy, people's requirements for continuous and stable power supply in production and life are getting higher and higher. The distribution network is at the end of the power system and is the key link to ensure the continuous supply of power. Its reliability occupies a very important position in the entire power supply system. At present, the live maintenance of the traditional distribution network is mainly carried out manually. Most of the workers wear insulating clothes and stand in the high-altitude insulating bucket to carry out the work of disconnection and drainage of live wires. line work. However, the distribution network lines are usually very compact, and the distance between the lines is small. When the workers are working live, it is easy to cause a short circuit and cause personal injury and death. At the same time, most of this kind of operation method is labor-intensive, low-efficiency and high-risk operation. The distribution of distribution network lines and geographical conditions in some areas are harsh, making it difficult to carry out related live work, so the line has to be repaired and maintained by power outage. Seriously affect the continuous and stable operation of the distribution network. Therefore, in order to ensure the safety of live workers in the distribution network, improve the efficiency of live work in the distribution network, and ensure the continuous and stable operation of the distribution network, it is becoming more and more important for the robot to replace the staff to carry out the work of disconnecting and disconnecting the lead wires of the distribution network. more important.

Robots can directly replace manual operations, eliminate the hidden dangers of live workers who seriously threaten personal safety due to the tight distance between phases, realize automated working modes, and improve work efficiency.

However, looking at the existing live working robot systems at home and abroad, the wheeled vehicle-mounted method is generally adopted, that is, the insulated mobile platform adopts a wheeled aerial work vehicle, and the operating robot is installed at the end of the telescopic arm of the wheeled aerial work vehicle. Vehicle-mounted mobile methods are not suitable for complex terrain environments. The working robot is installed on an insulated bucket truck, which makes it bulky, and the change of its working position is realized by the telescopic arm of the working vehicle, which is not suitable for narrow working space and complex working objects. And some working robots work through the mechanical arm without a dedicated working end. Even if some of the ends connected by the mechanical arm are used for stripping and clamp installation operations, the structure of the end is complicated and the performance is not high, which makes it prone to failure during the operation.

Contents of the invention

The main purpose of the present invention is to provide an operating robot system and an operating method that are small in size, suitable for complex terrain environments, and have good performance in optimizing the structure of the operating end.

The operating robot system for disconnecting and connecting drain wires of a distribution network provided by the present invention includes an insulating mobile platform and an operating robot platform mounted on it. The insulated mobile platform is a crawler-type aerial work vehicle, and the working robot is installed at the end of its insulating telescopic arm; the working robot includes a square control box and a grasping manipulator, a peeling manipulator and an installation manipulator installed on its side wall, three The mechanical arms of each manipulator are multi-joint multi-degree-of-freedom arms. The grabbing manipulator is connected to the clamping end at the end of its manipulator arm, the peeling manipulator is connected to the peeling end at the end of its manipulator arm, and the installation manipulator is at the end of its manipulator arm. The end of the connecting wire clamp installation end; the working robot platform also includes a tool transmission device and a cross slide table, there are installation grooves at the bottom of a pair of side walls of the control box, and the tool transmission device is fixed on the bottom plate of the control box, which is mainly used to transmit equipment wire clamps , Special cleaning brushes, special tools for coating conductive grease and insulating sheaths are used by the manipulator in the special area. The bottom plate of the control box is installed on the cross slide table, which can move back and forth, left and right.

In one embodiment of the above technical solution, the peeling manipulator and the grabbing manipulator are fixed to a pair of side walls of the control box, and the installation manipulator is located on the side wall between the peeling manipulator and the grabbing manipulator. .

In one embodiment of the above technical solution, the cross slide table includes a traverse slide table and a vertical slide table, and the traverse slide table includes a horizontal linear slide table and a screw nut mechanism driven by a motor installed on it, and the vertical slide table The sliding table includes a vertical linear sliding table and a screw nut mechanism driven by a motor installed on it. There is a connecting seat at the middle of the bottom surface of the longitudinal linear sliding table, and the connecting seat is connected and fixed with the nut of the screw nut mechanism of the traversing sliding table. , the nut of the screw nut mechanism of the longitudinal sliding table is connected with a connecting plate for connecting the bottom plate of the control box.

In one embodiment of the above technical solution, the tool transmission device includes a base plate, an annular guide rail, a synchronous gear, a synchronous belt, a bearing slide and a driving motor, the base plate is arranged horizontally, the annular guide rail is fixed on the base plate, and the annular guide rail The two ends of the arc-shaped segment are arc-shaped segments, and there is a straight line segment between the two arc-shaped segments. A synchronous gear is respectively fixed at the center of the two arc-shaped segments. The synchronous belt meshes with the two synchronous gears. The output shaft of the drive motor is connected, and there are multiple bearing slides, their inner sides are fixedly connected to the outer side of the synchronous belt, and the bottom surface is guided by a circular guide rail. The equipment wire clamp, cleaning brush, conductive grease coating tool and insulating sheath are respectively placed in different carriages.

In one embodiment of the above technical solution, there are guiding protruding rings on the inside and outside of the circular guide rail, and pulleys are respectively arranged on the bottom surface of the bearing slide corresponding to the guiding protruding rings on the inside and outside of the circular guide rail, and there are pulleys on the pulleys A groove corresponding to the guiding protruding ring; a guiding block seat is arranged on the base plate corresponding to the straight line section of the synchronous belt.

In one embodiment of the above technical solution, the clamping end includes a motor, a screw nut mechanism, a crank slider mechanism and an insulating clamping finger connected in sequence, the motor drives the screw to rotate, and the nut on the screw drives the slider To move, the crank pushes the insulating gripping fingers outward to open or inward to close.

In one embodiment of the above-mentioned technical solution, the peeling end includes a peeling device and a peeling drive device, the peeling device includes a clamping motor and a screw nut mechanism driven by it, the guide rail slider mechanism and both sides are respectively connected with the nuts on the screw rod and the two wire clamping blocks connected by the slider on the guide rail, a cutting blade is fixed at the wire clamp groove of one of the wire clamping blocks, the screw nut mechanism and the guide rail slider mechanism are fixed on both sides of the mounting frame in parallel; the stripping drive device Located at the outer end of the mounting frame, it includes a rotary motor and its driven worm gear mechanism, a C-shaped cylindrical gear meshed with the worm gear, and the axle of the C-shaped cylindrical gear is a hollow shaft, which is coaxial with the wire clamp groove on the wire clamping block. Line arrangement, one end of the hollow shaft is fixed on the mounting frame, and the mounting frame is provided with a corresponding hole corresponding to the center hole of the hollow shaft, and the two ends of the wheel shaft of the worm and the worm wheel are respectively fixed on the mounting cover, and the mounting cover covers the transmission device. However, the opening groove of the C-shaped cylindrical gear is exposed, and the worm drive motor is exposed; the surface of the wire clamp groove on the wire clamping block is provided with guide threads, and guide thread holes are formed when the two wire clamping blocks are closed; the worm and worm gear mechanism includes two groups of worm gears , they are symmetrically arranged on both sides of the C-shaped cylindrical gear; there is a mechanical arm connector on the periphery of the corresponding worm drive motor on the installation cover.

In one embodiment of the above technical solution, the installation end of the wire clamp includes a motor and a screw nut mechanism driven by it, a guide rail slider mechanism and two grippers connected to the upper nut on the screw rod and the upper slider on the guide rail on both sides, respectively. The plate, the screw nut mechanism and the guide rail slider mechanism are fixed on both sides of the mounting frame in parallel; the clamp installation tool also includes the motor and the inner hexagon socket driven by it, and the output shaft of the motor is connected to the inner hexagon through a hollow cross coupling A sleeve, and a coil spring is arranged in the inner hexagon sleeve, and the two ends of the coil spring are respectively connected with the output shaft of the motor and the end faces of the inner hexagon sleeve.

In one embodiment of the above technical solution, the mounting frames of the wire stripping tool and the wire clamp installation tool both include an end plate and a U-shaped frame fixed on one side thereof, and the U-shaped frame is used to install the wire of the screw nut mechanism. Rod, the guide rails of the guide rail slider mechanism of the two tools are respectively installed on the other side of the end plate, the screw rods of the two tools are positive and negative screw rods, and the nuts on the screw rods are all T-type nuts; the clamp installation tool The end plate of the installation frame is provided with an arc-shaped slot corresponding to the middle position between the two guide rails, and the upper side of the arc-shaped slot is connected with the connector of the mechanical arm. through.

The above-mentioned system provided by the present invention breaks and connects the drain wire method on the insulated wire, wherein the charged drain wire includes the following steps:

a) The crawler-type aerial work vehicle raises the operating robot platform to the operating position;

b) Grab the manipulator to clamp the wire;

c) The peeling manipulator exits the working position after stripping the insulation layer;

d) The grasping manipulator clamps the cleaning brush from the bearing slide seat of the tool transmission device to clean the stripped bare wires and returns them;

e) The grasping manipulator grabs the special tool for conductive grease from the bearing slide of the tool transfer device, applies the conductive grease on the wire, and sends it back;

f) The grabbing manipulator picks up the loose wire clips with loosened nuts from the bearing slide seat of the tool transmission device and cooperates with the clamping device at the end of the wire clip installation end of the installation manipulator to clamp the wire clips;

g) The installation manipulator moves to the connection point of the bare wire and installs the clamp on the main wire;

h) Grab the bare end of the drainage wire by grabbing the manipulator and send it to the contact position. During this process, the peeling manipulator cooperates with the control of the drainage wire to move up and down to prevent interphase short circuit;

i) Grab the manipulator and insert the drainage wire into the wire clip, install the bolt fastening device at the end of the wire clip installation of the manipulator and tighten the nut of the wire clip bolt;

j) The installation manipulator exits the working position and completes the installation of the drainage line;

k) The grasping manipulator clamps the insulating shield in the bearing slide seat of the tool transmission device and covers it on the installed wire clip and then exits;

l) The working robot platform leaves the working position, the live connection of one phase insulated wire to the drain line is completed, and the other phases are completed with reference to the above operations.

The present invention adopts the crawler-type aerial work vehicle as the insulating mobile platform, installs the working robot platform on the end of its insulating telescopic arm, borrows the control box of the system as the installation carrier of the three manipulators of the working robot and the tool transmission device, so that the working The robot is compact in structure and small in size, and the working robot is equipped with a cross slide table, which can flexibly adjust the working position, and the axial movement of the stripping end along the insulated wire can be realized by the cross slide table during the stripping operation. The operating robot of this system realizes the operation of each process through the cooperation of the mechanical arm and the working end. The multi-joint and multi-degree-of-freedom structure of the mechanical arm makes it foldable and scalable, and can move freely in a small working space. The grabbing manipulator can flexibly move from Use the corresponding tools on the tool transfer device to work. The stripping end clamps the insulated wire through the stripping device and drives the cutting blade to rotate through the transmission mechanism of the stripping drive to cut the insulation layer, that is, the wire clamping and stripping drive are integrated, making its structure compact and optimized and the stripping operation stable. At the end of the cable clamp installation, the cable clamp clamp device and the nut tightening device are integrated at the same time, which also makes its structure optimized and compact, and its operation is fast and stable. The supporting application of the robot tool transfer device and the grabbing manipulator can simplify the operation process and shorten the operation time, so that the entire operation process can be realized in a small area by the operation robot, especially suitable for live disconnection and drainage lines in such a small space as the distribution network Operation.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is an enlarged schematic view of the axis-side structure of the working robot platform in FIG. 1 .

FIG. 3 is an enlarged schematic view of the axial structure of the tool transmission device in FIG. 2 .

FIG. 4 is an enlarged schematic view of the axial structure of the cross slide in FIG. 2 .

FIG. 5 is an enlarged schematic view of the axial structure of the clamping end in FIG. 2 .

Fig. 6 is a schematic diagram of the shaft side structure after the shell is removed from the clamping end.

FIG. 7 is an enlarged schematic diagram of an axial structure of the peeling end in FIG. 2 .

FIG. 8 is an enlarged schematic view of another axial structure of the peeling end in FIG. 2 .

FIG. 9 is an enlarged schematic view of the third axial structure of the peeled end in FIG. 2 .

FIG. 10 is an enlarged schematic diagram of an axial structure at the installation end of the wire clamp in FIG. 2 .

Fig. 11 is a schematic diagram of the operation flow of this embodiment.

Serial number in the picture:

A- crawler aerial work vehicle;

B-Working robot platform;

B1-control box;

B2- grabbing manipulator; clamping end B21;

B3-peeling manipulator; peeling end B31;

B4-Installing the manipulator; B41 at the end of the clamp installation;

B5-tool transmission device; B51-base plate; B52-ring guide rail; B53-synchronous gear; B54-synchronous belt; B55-carrying slide;

B6-transverse sliding table;

B7-vertical sliding table; B71-connecting plate.

Detailed ways

As shown in FIG. 1 , the working robot system disclosed in this embodiment for disconnecting and connecting the power distribution network includes a crawler-type aerial work vehicle A and a working robot platform B installed at the end of its telescopic arm.

It can be seen from Fig. 1 and Fig. 2 that the working robot platform B of this embodiment includes a control box B1, a grabbing manipulator B2, a peeling manipulator B3, an installation manipulator B4, a tool transmission device B5, a transverse sliding table B6, a longitudinal sliding Station B7.

The square control box B1 serves as the mounting carrier for the three manipulators and the tool transfer.

The grabbing manipulator B2 and the peeling manipulator B3 are symmetrically installed on a pair of side walls in the width direction of the control box B1, and the installation manipulator B4 is installed on one side of the control box B1 in the length direction.

The three manipulators in this embodiment all include a multi-joint multi-degree-of-freedom mechanical arm and a working end connected to its end, wherein the end of the grasping manipulator B2 is connected to the clamping end B21, and the end of the peeling manipulator B3 is connected to the peeling end B31 , Install the end connection clamp of the manipulator B4 and install the end B41.

The crawler-type high-altitude operating vehicle of the present embodiment is purchased from the Italian crawler spider truck of Changzhou New Lanling Power Auxiliary Equipment Co., Ltd., which can self-level and climb slopes up to 30°. The three manipulators in this embodiment are preferably servo-driven 6-DOF manipulators.

As shown in FIG. 3 , the tool transmission device B5 includes a base plate B51 , an annular guide rail B52 , a synchronous gear B53 , a synchronous belt B54 , a bearing slide B55 and a driving motor.

The base plate B51 is arranged horizontally, and the annular guide rail B52 is fixed on the base plate. Both ends of the guide rail are arc-shaped segments, and the space between the two arc-shaped segments is a straight line segment. The inside and the outside of the ring guide rail B52 all have guiding protruding rings. A synchronous gear B53 is respectively fixed at the center of the two arc-shaped sections of the circular guide rail, and the synchronous belt B54 meshes with the two synchronous gears. The shaft is arranged upwards, and the corresponding drive motor position on the base plate is provided with a relief hole), so that the synchronous gear is used as a driving wheel to drive the synchronous belt and another synchronous gear to rotate.

There are multiple bearing slides B55, and each bearing slide includes two pulleys connected to the bearing box and its bottom surface. The annular grooves on the two pulleys are respectively matched with the inner and outer guide rings of the circular guide rail B52. The sides of the bearing box The inner side of the wall is fixed with the outer side of the synchronous belt B54 through the connecting block, so that the bearing slide B55 rotates together with the synchronous belt B54, and is stably guided by the ring guide rail B52 during rotation.

In order to make the synchronous belt B54 rotate stably, a guide block B56 is provided on the base plate B51 corresponding to the straight section of the synchronous belt B54.

As shown in Figure 2, the base plate B51 of the tool transfer device B5 is fixed on the bottom plate of the control box B1, and the timing belt B54 takes the bearing slide B55 to rotate in the slots at the bottom of the two side walls in the length direction of the control box B1.

Equipment clamps, wire cleaning brushes, tools for applying conductive grease and insulating sheaths are placed in each bearing slide B55 separately, and conductive grease is pre-coated on the equipment clamps.

As shown in Figure 4, the traverse slide table B6 includes a horizontal linear slide table and a screw nut mechanism installed on it. The screw rod is fixed on the center plane between the two guide rails on the horizontal linear slide table through bearings and bearing seats. One end of the screw rod is connected with a servo motor SFDJ. The vertical sliding table B7 includes a vertical linear sliding table and a screw nut mechanism installed on it. The screw rod is fixed on the center plane between the two guide rails on the horizontal linear sliding table through bearings and bearing seats. The shaft device is connected with a servo motor SFDJ.

As shown in Figure 4, the bottom surface of the longitudinal linear slide of the vertical slide B7 is fixed on the nut of the screw nut mechanism of the traverse slide B6, so that the vertical slide B7 can reciprocate along the traverse B6. That is, the horizontal sliding table B6 and the vertical sliding table B7 form a cross sliding table.

The nut of the screw nut mechanism of the vertical sliding table B7 is connected with the connecting plate B71 used to connect the bottom plate of the control box, and the bottom plate of the control box B1 is fixed on the connecting plate by fastening bolts, so that the control box B1 moves along the cross slide. It can move in four directions, front, back, left, and right, and its plane position can be changed flexibly.

The clamping end B21 connected by the grasping manipulator B2 is mainly used to clamp various special tools for conducting wire cleaning, applying conductive grease and installing insulating protective covers, etc. It plugs into the device clip.

As shown in FIG. 5 and FIG. 6 , the clamping end B21 includes a servo motor SFDJ, a screw nut mechanism B211 , a crank slider mechanism B212 , insulating clamping fingers B213 and a housing B214 . The output shaft of the servo motor is connected to the screw rod of the screw nut mechanism B211 through a coupling, the slider of the crank slider mechanism B212 is connected to the nut of the screw nut mechanism B211, and the crank of the crank slider mechanism B212 is connected to the insulating clamping finger B213 hinged. The motor, shaft coupling, screw nut mechanism and slider crank mechanism are located in the casing B214, one end of the casing is hinged to the insulating clamping finger B213, and the other end is connected to the grasping mechanical arm. The servo motor can be forward and reverse.

The clamping end B21 works as follows:

The rotary motion of the output shaft of the servo motor is transmitted to the screw through the coupling. The rotary motion of the screw causes the nut on the screw to move along the screw with the slider. The moving crank of the slider pushes the insulating clamping fingers outward to open or to Pull it together. Before the clamping tool performs the clamping action, it is opened first, and then closed for the clamping action.

The stripping manipulator B3 mainly strips the insulation layer on the surface of the insulated wire through its connected stripping end.

As shown in FIGS. 7 to 9 , the peeling end B31 includes a peeling device B311 and a peeling driving device B312 .

The peeling device B311 includes a servo motor SFDJ, a screw mandrel SG, a T-nut LM, a wire clamping block B3111, a guide rail DG, a slide block HK and an installation frame AZJ.

The installation frame AZJ includes an end plate and a U-shaped frame. The end plate is arranged perpendicular to the insulated wire. The U-shaped frame is fixed on one side of the end plate parallel to the insulated wire. The other side of the end plate has an insulated wire installation groove. The two sides of the insulated wire installation groove on the end plate are symmetrically fixed to the guide rail DG perpendicular to the insulated wire, and the two guide rails are respectively connected to the slider HK. The servo motor SFDJ can be reversed, and is connected to one end of the screw rod SG through a coupling. The screw mandrel is a positive and negative screw mandrel with opposite screw threads at both ends, and the two ends are respectively connected with T-shaped nuts. The wire clamping block B3111 has a semicircular arc-shaped wire clamping groove, and the two wire clamping blocks B311 are arranged symmetrically with respect to the wire clamping groove. One side of the two wire clamping blocks is respectively fixed with the T-nut LM, and the other side is respectively Fixed with the slider HK on the guide rail. One of the wire clamping blocks B311 is fixed with a cutting blade B31111.

The peeling driving device B312 is located at the outer end of the end plate of the peeling device B311, and includes a servo motor SFDJ, a worm WG, a worm wheel WL, a C-shaped cylindrical gear CL and a mounting cover B3121.

The wheel shaft of the C-shaped cylindrical gear is a hollow shaft, which is arranged on the coaxial center line with the wire clamp groove on the wire clamping block, and one end of the hollow shaft is fixed on the end plate of the mounting frame. The installation cover is located on the periphery of the C-shaped cylindrical gear. There are two sets of worm gears located in the installation cover, which are symmetrically meshed on both sides of the C-shaped cylindrical gear. Two worm gears are respectively installed on the two worm gear shafts. The gear meshes with the worm, the two ends of the worm shaft are respectively fixed on the installation cover, one worm meshes with two groups of worm wheels, and the two ends of the worm are fixed on the installation cover. The servo motor is located outside the installation cover and is connected to one end of the worm through a coupling. There is a mechanical arm connector LJT outside the installation cover corresponding to the periphery of the servo motor, that is, the installation cover is supported by the mechanical arm.

When the stripping end is connected to the end of the stripping robot arm to strip the insulated wire, the insulated wire is first clamped by the stripping device, and the stripping device is used to make a circular motion around the insulated wire through the stripping drive device, so that the cutting blade will cut the surface of the insulated wire Insulation chipped away. Specifically:

The stripped end B31 works as follows:

The servo motor of the peeling device works to make the screw rotate, and the rotation of the screw makes the two T-nuts on it move back and open with the wire clamping blocks respectively, so that the two wire clamping blocks are located on both sides of the insulated wire, and then the servo motor Reverse operation makes the two wire clamping blocks move towards each other and close up to clamp the insulated wires. At this point, the insulated wire is also in the center hole of the open gear. The servo motor of the peeling drive device works to make the worm rotate, and the worm rotates to rotate the C-shaped cylindrical gear through the worm gear. Since the wheel shaft of the C-shaped cylindrical gear is connected with the end plate of the peeling device mounting frame, the C-shaped cylindrical gear carries the entire peeling device. Rotate, the cutting blade on the wire clamping block of the stripping device rotates around the insulated wire and cuts the insulation layer, and the axial movement during the cutting process can be realized by traversing the slide table.

As shown in FIG. 10 , the cable clamp installation end B41 includes a clamping device B411 and a nut screwing device B412 , the nut screwing device is used for tightening or loosening bolts, and the clamping device is used for clamping equipment cable clamps.

The clamping device B411 includes a servo motor SFDJ, a screw mandrel SG, a T-nut LM, a wire clamp clamping plate B4111, a guide rail DG, a slider HK and an installation frame AZJ. The structure of the mounting frame here is similar to that of the peeling device, except that the other side of the end plate has a nut screwing device mounting groove. The guide rails DG parallel to the insulated wires are symmetrically fixed on both sides of the installation groove of the nut screwing device on the end plate, and the two guide rails are respectively connected to the slider HK. The servo motor can be reversed, and is connected to one end of the screw rod through a coupling. The screw rod is a positive and negative screw rod with opposite screw threads at both ends, and the two ends are respectively connected with T-shaped nuts. One side of the two wire clamp clamping plates B4111 is respectively fixed with the T-shaped nut LM, and the other side is respectively fixed with the slider HK on the guide rail DG.

The nut screwing device B412 includes the servo motor SFDJ, the cross coupling B4121 and the inner hexagonal sleeve B4122 connected in sequence, and there is a coil spring in the inner cavity of the cross coupling, and the two ends of the coil spring are connected with the inner hexagonal sleeve B4122 and the inner hexagonal sleeve B4122 respectively. The end face connection of the output shaft of the servo motor.

In order to make the inner hexagonal sleeve B4122 coaxial with the output shaft of the servo motor and better connected with the nut when it is not subject to external force, the connection form of a cross hinge is designed between the inner hexagonal sleeve and the output shaft. The B4121 is also equipped with a rotating spring to form a flexible connection. When the nut screwing device is stressed, the inner hexagonal sleeve can be adjusted to a certain angle relative to the output shaft to realize the docking with the nut.

The outside of the end plate of the mounting frame of the clamping device B411 is connected to the periphery of the mounting groove of the nut-tightening device with a mechanical arm connector LJT.

The working principle of the cable clamp installation end B41 is as follows: the servo motor of the clamping device works to make the two clamping plates move opposite to each other on the screw to open, and then the servo motor works in reverse to make the two clamping plates move towards each other to clamp the clamp Hang on to the insulated wire. After the clamping tool at the end of the first mechanical arm clamps the drain wire head with the insulation layer stripped to the clamping position of the drain wire inserted into the wire clip, the servo motor of the nut tightening device works to align the inner hexagon socket with the nut and tighten the nut , so that the equipment clamp clamps the exposed wire and the drain wire.

In this embodiment, the main steps of connecting the drain wire with electricity on the insulated wire are as follows (see Figure 11):

a) Wire stripping

Before stripping, grab the manipulator to clamp the insulated wire to prevent it from swinging. The stripping end of the stripping manipulator first clamps the insulated wire through the stripping device, and then drives the stripping device and its upper cutting through the rotation of the C-shaped cylindrical gear of the end stripping drive device. The blade moves in a circle around the insulated wire, and under the action of the cutting force of the cutting blade and the guide thread on the wire clamping block of the stripping device, it moves along the axial direction of the wire, and the insulation layer of the insulated wire is stripped orderly and evenly. After the peeling operation is completed, the peeling manipulator Leave the wire to complete the wire stripping operation. During the stripping process, the joint of the stripping arm moves along the wire with the stripped end.

b) Wire cleaning

After the peeling operation is completed, the driving motor of the tool transmission device works to make it rotate synchronously and at the same time it rotates with multiple bearing slides connected to it, and sends the cleaning brush to the position of the grabbing manipulator, and the clamping end clip of the grabbing manipulator Take the cleaning brush and get close to the stripped bare wires to clean them. After the operation is completed, the grasping manipulator shrinks away from the wires to complete the wire cleaning operation.

c) Apply conductive grease

After the wire cleaning operation is completed, the grabbing manipulator sends the cleaning brush back to the corresponding bearing slide, the timing belt rotates, and the tool coated with conductive grease is sent to the position of the grabbing manipulator, and the grabbing manipulator grabs the tool and approaches the cleaned The bare wire is coated with conductive grease, and the conductive grease coating tool is returned to the bearing slide.

d) Install the clamp

The control box moves to a suitable position along the horizontal linear slide table, and at the same time, the tool transmission device sends the equipment line clamp to the position of the grabbing manipulator, and the grabbing manipulator picks up the equipment line clamp and places it on the clamping end of the installation manipulator line clamp Between the two clamping plates of the device, when the servo motor of the clamping device is working, the two clamping plates clamp the equipment wire clamp, and finally install the manipulator close to the bare wire coated with conductive grease and hang the wire position of the equipment wire clamp on the bare wire superior.

e) Install drain wire

After the wire clip is hung on the wire, the grabbing manipulator moves to the peeled end of the drain wire and clamps the end. The end of the drain wire is stripped of the insulation layer and coated with conductive grease in advance. The peeling manipulator grips the appropriate position in the middle of the drain line, and then grabs the manipulator and inserts the end of the drain line into the drain line position of the equipment clamp. During the operation, the peeling manipulator cooperates with the control of the drainage line to move up and down to prevent the connected drain line from touching the zero-phase line cause phase-to-phase short circuit.

f) Tighten the clamp bolts

After the drainage wire is inserted into the wire clamp, the nut-tightening device on the installation manipulator acts to tighten the wire clamp bolts, and then grabs the manipulator to loosen the drainage wire and exit;

g) The tool transmission device sends the insulating sheath to the position of the grabbing manipulator, and the grabbing manipulator grabs the insulating sheath and wraps it outside the equipment clamp.

So far, the operation of connecting and draining the insulated wires of one phase is completed, and the robot platform leaves the working position to perform other phase operations. The operation process of other phase operations is the same as the above steps.

For the operation process of disconnecting the drainage line, follow the above steps in reverse to remove the drainage line.

Claims (10)

1. The utility model provides a join in marriage electrified operation robot system who breaks, connects the drainage line of net, includes insulating moving platform and its operation robot platform that carries on, its characterized in that:

the insulating mobile platform is a crawler-type overhead working truck, and the working robot platform is mounted at the tail end of an insulating telescopic arm of the working robot platform;

the operating robot platform comprises a square control box, and a grabbing mechanical arm, a peeling mechanical arm and an installing mechanical arm which are arranged on the side wall of the control box, wherein the mechanical arms of the three mechanical arms are all multi-joint multi-degree-of-freedom arms, the grabbing mechanical arm is connected with a clamping tail end at the end part of the mechanical arm, the peeling mechanical arm is connected with a peeling tail end at the end part of the mechanical arm, and the installing mechanical arm is connected with a wire clamp installing tail end at the end;

the operation robot platform still includes instrument conveyer and cross slip table, and there is the mounting groove a pair of lateral wall bottom of control box, and on instrument conveyer was fixed in the bottom plate of control box, mainly used transfer apparatus fastener, wire brush cleaner, scribble conductive grease instrument and insulating sheath were taken for snatching the manipulator, and the bottom plate of control box is installed on the cross slip table, moves about around can.

2. The system of claim 1, wherein: the peeling mechanical arm and the grabbing mechanical arm are fixed on a pair of side walls of the control box, and the installing mechanical arm is located on the side wall between the peeling mechanical arm and the grabbing mechanical arm.

3. The system of claim 1, wherein: the cross sliding table comprises a transverse sliding table and a longitudinal sliding table, the transverse sliding table comprises a transverse linear sliding table and a screw nut mechanism which is installed on the transverse linear sliding table and driven by a motor, the longitudinal sliding table comprises a longitudinal linear sliding table and a screw nut mechanism which is installed on the longitudinal linear sliding table and driven by the motor, a connecting seat is arranged at the middle position of the bottom surface of the longitudinal linear sliding table and connected and fixed with a nut of the screw nut mechanism of the transverse sliding table, and a connecting plate used for connecting a bottom plate of the control box is connected to a nut of the screw nut mechanism of the longitudinal sliding.

4. The system of claim 1, wherein: the tool conveying device comprises a base plate, an annular guide rail, synchronous gears, a synchronous belt, a bearing sliding seat and a driving motor, wherein the base plate is horizontally arranged, the annular guide rail is fixed on the base plate, the two ends of the annular guide rail are arc-shaped sections, a straight line section is arranged between the two arc-shaped sections, the circle center positions of the two arc-shaped sections are respectively fixed with one synchronous gear, the synchronous belt is meshed with the two synchronous gears, the wheel shaft of one synchronous gear is connected with the output shaft of the driving motor, the bearing sliding seats are multiple, the inner sides of the two synchronous gears are fixedly connected with the outer side of the synchronous belt, and the bottom surface of the synchronous gear is guided through the annular guide rail, and the equipment wire clamp, the cleaning brush.

5. The system of claim 4, wherein: the inner side and the outer side of the annular guide rail are both provided with a guide convex ring, the bottom surface of the bearing sliding seat is provided with a pulley corresponding to the guide convex rings on the inner side and the outer side of the annular guide rail respectively, and the pulley is provided with a groove corresponding to the guide convex ring; and a guide stop seat is arranged at the linear section of the base plate corresponding to the synchronous belt.

6. The system of claim 1, wherein: the clamping tail end 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.

7. The system of claim 1, wherein: the peeling tail end comprises a peeling device and a peeling driving device, the peeling device comprises a clamping motor and a lead screw nut mechanism driven by the clamping motor, a guide rail sliding block mechanism and two lead wire clamping blocks, the two sides of each lead wire clamping block are respectively connected with a lead screw upper nut and a guide rail upper sliding block, a cutting blade is fixed at a lead wire clamping groove of one lead 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 positioned at the outer end of the mounting frame and comprises a rotary motor and a worm-and-turbine mechanism driven by the rotary motor, a C-shaped cylindrical gear meshed with a worm wheel, a wheel shaft of the C-shaped cylindrical gear is a hollow shaft with a corresponding shape and is arranged along the axial central line of the 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 central hole of the hollow shaft, two ends of the wheel shaft of the worm and the worm wheel are respectively fixed on a mounting cover, the mounting cover covers the transmission device, but the open groove of the C-shaped cylindrical gear is exposed; 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; the worm and worm wheel mechanism comprises two groups of worm wheels which are symmetrically arranged on two sides of the C-shaped cylindrical gear; the periphery of the mounting cover corresponding to the worm drive motor is provided with a mechanical arm connector.

8. The system of claim 7, wherein: the wire clamp mounting tail end comprises a motor and a lead screw nut mechanism driven by the motor, a guide rail sliding block mechanism and two clamping plates, wherein the two sides of the guide rail sliding block mechanism are respectively connected with a lead screw upper nut and a guide rail upper sliding block; 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.

9. The system of claim 8, wherein: the lead peeling tool and the wire clamp mounting tool respectively comprise an end plate and a U-shaped frame fixed on one side of the end plate, the U-shaped frame is used for mounting a lead screw of a lead screw nut mechanism, guide rails of 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; 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, motor and driven hexagon socket head cover sleeve pass from the arm connector.

10. A method of electrically connecting an open electrical drain to an insulated conductor using the system of claim 1, wherein electrically connecting the drain comprises the steps of:

a) the crawler-type overhead working truck lifts the working robot platform to a working position;

b) the grabbing manipulator clamps the lead;

c) the peeling manipulator withdraws from the working position after the peeling operation of the insulating layer is carried out;

d) the grabbing manipulator clamps and cleans the peeled bare conductor by the cleaning brush from the bearing sliding seat of the tool conveying device and then sends the bare conductor back;

e) the grabbing manipulator clamps a special conductive grease tool from a bearing sliding seat of the tool conveying device, coats the conductive grease on the lead and then sends the lead back;

f) the grabbing manipulator clamps loose wire clamps with loosened nuts from a bearing sliding seat of the tool conveying device and clamps the wire clamps by matching with a clamping device at the wire clamp installation tail end of the installation manipulator;

g) the installation manipulator moves to the position of the connecting point of the bare conductor to install the wire clamp on the main conductor;

h) the grabbing manipulator clamps the exposed end of the drainage wire and sends the exposed end to a contact point position, and the peeling manipulator controls the drainage wire to move up and down in a matched mode in the process, so that interphase short circuit is prevented;

i) inserting a drainage wire into the wire clamp by a grabbing manipulator, and screwing a wire clamp bolt by a bolt fastening device at the tail end of the wire clamp installation of the installation manipulator;

j) the mounting manipulator withdraws from the working position to complete the mounting of the drainage wire;

k) the grabbing manipulator clamps the insulating shield in a bearing sliding seat of the tool conveying device, covers the insulating shield on the installed wire clamp and then withdraws;

l) the working robot platform leaves the working position, the operation of the live-line lead wire of one phase of insulated wire is finished, and other phases of the insulated wire are finished according to the operation.