Wire clamping tool suitable for distribution network hot-line work robot

Abstract

The invention relates to the technical field of robots, in particular to a wire clamping tool suitable for a distribution network hot-line work robot. The wire clamping tool comprises a mechanical arm, a clamping groove and a plurality of follow-up rotating bearings, wherein the mechanical arm is provided with two clamping jaws; the clamping groove is located in the middle of the clamping jaws, and the clamping groove is of a semicircular groove structure; and the plurality of follow-up rotating bearings are symmetrically arranged on the inner wall of the clamping groove. When the clamping jaws grab a wire to rotate around the center of the wire, the clamping jaws can freely rotate around the axis of the wire without generating torsional stress under the action of the follow-up rotating bearings, so that the joint burden of the mechanical arm is reduced, the wire is only bent, and the load at the tail end of the mechanical arm when the distribution network hot-line work robot clamps and moves the insulated wire is greatly reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wire clamping tool suitable for a live working robot in a distribution network. Background technique [0002] In the traditional live work of the distribution network, the operator is located on the lifting insulating bucket arm truck, and uses the insulating rod to carry out two-person live work to replace the lightning arrester, insulator and other equipment. Although a series of normative technical standards and operating guidelines have been formulated for the live operation of distribution networks in recent years, due to the large amount of tasks, high risk factors, and harsh environments, casualties still occur from time to time. For this reason, a lot of research and development work has been carried out on distribution network live working robots at home and abroad, hoping to replace manual live work. [0003] When the live working robot in the distribution network per...

AI Technical Summary

Problems solved by technology

Most of the insulated wires are aluminum core wires with a diameter of more than 10mm, and the bending rigidity is relatively large, which often brings a large load to the wire clamping and moving operation of the manipulator; The self-protection stop of the live working robot in the distribution network caused by excessive load belongs to the force control planning of the manipulator from the software algorithm, but due to the dynamic content of the manipulator, the algorithm implementation is relatively complicated

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