Transformer substation secondary wiring mechanized intelligent equipment and wire core preprocessing tool library and method thereof

Abstract

The invention discloses a wire core pretreatment tool library, which is characterized in that a wire cutting unit is arranged, a first wire conveying mechanism is used for conveying wire cores, and a first power device is used for driving a lower blade and an upper blade to move relatively to realize wire cutting operation; through the arrangement of the peeling processing unit, the second wire conveying mechanism is used for conveying the cut wire core, and the second power device is used for driving the peeling mechanism to complete peeling operation on the wire core; a cable marker sleeving unit is arranged, a peeled cable core and a cable marker are conveyed through a third cable conveying mechanism and a cable marker conveying mechanism respectively, and after the cable core is sleeved with the front end of the cable marker, the cable marker is cut off through a cable marker cutting mechanism, so that the cut cable marker is kept at the front end of the cable core; the bending unit is arranged, the fourth wire conveying mechanism is used for conveying the wire core to the bending mechanism, the fourth power device is used for driving the bending mechanism to rotate forwards and backwards, and the wire core is bent into a set shape. In this way, the multiple functions of wire cutting, peeling, conveying, cable marker sleeving, bending and the like can be integrated.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and specifically relates to a mechanized intelligent device for secondary wiring in a substation, as well as a core preprocessing tool library and method therefor. Background Art

[0002] The construction quality and efficiency of substations have always been important indicators for power grid construction. At present, with the development of China's power grid construction towards mechanization and intelligence, the addition of mechanized equipment in substation construction is an inevitable trend in future power grid construction, and higher requirements are also put forward for the intelligence of equipment, which conforms to the concept of "making full use" of mechanized construction by the State Grid.

[0003] The secondary wiring work in substation engineering refers to the cable wiring operation for connecting protection, measurement, control, and signal devices in a substation. In the traditional method for constructing secondary wiring scenarios, generally, the stripped cable cores are manually connected to the terminal block in sequence according to the engineering drawing, and each device is directly connected by manual operation using copper wire or aluminum wire to form a fixed electrical circuit, which includes steps such as cable head production, cable label identification and fixation, core wire arrangement, and shield wire installation. However, this wiring method requires a large amount of manpower, the construction process is not refined enough and is prone to wiring errors, lacks effective mechanized construction means, and cannot meet the requirements of the new era's power grid construction situation.

[0004] In addition, due to the lack of integrated preprocessing equipment in the field of secondary wiring, the existing solutions for secondary wiring have the following deficiencies:

[0005] (1) Problem of lack of integrated preprocessing equipment

[0006] There is a lack of integrated preprocessing equipment in the existing secondary wiring field, and the functions of each solution are fragmented, and only single-process functions such as cutting and peeling can be achieved. This makes it necessary to use multiple devices in combination and rely on manual connection in actual operation, resulting in discrete equipment layout and high operation costs.

[0007] (2) Problem of inconsistent core processing caused by full-process manual dependence

[0008] The full process has a high dependence on manual labor, and the operator needs to complete more than 10 action steps, which makes the geometric parameters of the core inconsistent, the process standard deviation is relatively large, it is difficult to achieve the unification and standardization of core processing, and affects the stability of product quality.

[0009] (3) Problem of increased core time-consuming and loss caused by physical isolation of multiple processes

[0010] During the complete preprocessing of the wire core, due to the multi-process physical isolation architecture, the wire core needs to undergo multiple manual transfer procedures, which not only increases the processing time of a single wire core, but also leads to an increase in wire core loss, reducing production efficiency and material utilization rate.

[0011] (4) Problem of poor control accuracy of wire core shearing length

[0012] The wire core shearing process relies on manual visual positioning, with poor length control accuracy and prone to length errors. This poses a structural risk to the gap at the wiring end, affecting the reliability and stability of subsequent wiring work.

[0013] (5) Problem that the wire core delamination and stripping process is restricted by manual operation

[0014] The wire core delamination and stripping process is restricted by manual operation, with large fluctuations in the cutting depth of the insulation layer, resulting in too high a residual rate of the conductor shield. At the same time, manual operation is prone to damage the conductive material in the wire core, affecting the conductive performance and reducing the product quality.

[0015] (6) Problem of identification of the position of the number tube and automatic tube sleeving equipment

[0016] The existing equipment has low accuracy in identifying the position of the number tube and requires manual secondary verification. There is a lack of low-cost and highly efficient integrated automatic wire core tube sleeving equipment on the market, which affects the improvement of production efficiency and automation level.

[0017] (7) Problem of poor flexibility in adjusting the bending angle of the wire core

[0018] The existing wire core bending equipment uses a fixed limit module to adjust the bending angle, which cannot flexibly achieve free changes in the bending angle, and multiple limit components are required to cooperate to achieve bending. The control of the cooperation between components is relatively complex, reducing production efficiency and flexibility.

[0019] (8) Problem that the wire core conveying device lacks closed-loop feedback

[0020] The wire core conveying device in the existing wire core processing equipment lacks closed-loop feedback, cannot achieve adaptive adjustment according to the wire core size, and cannot real-time feedback the wire core state, making it difficult to accurately control the conveying length of the wire core, affecting production quality and efficiency.

[0021] (9) Problem of complex equipment structure and high maintenance cost

[0022] The existing wire core processing equipment has a complex structure and numerous internal components, which results in high maintenance costs, increases the operation burden of the enterprise, and reduces the reliability and availability of the equipment. Summary of the Invention

[0023] In view of this, the object of the present invention is to provide a substation secondary wiring mechanized intelligent device, its wire core pretreatment tool library and method, which integrate multiple functions such as wire cutting, peeling, conveying, sleeving number tubes, and bending into one, abandon the traditional mode of using multiple devices in combination with manual connection, realize the full-process automation of wire core pretreatment, greatly improve production efficiency, and reduce operating costs.

[0024] To achieve the above object, the present invention provides the following technical solutions:

[0025] The present invention first proposes a wire core pretreatment tool library, which includes a wire cutting unit, a peeling unit, a number tube sleeving unit, and a bending unit;

[0026] The wire cutting unit includes a first wire conveying mechanism and a wire cutting mechanism; the first wire conveying mechanism is used to drive the wire core to be cut towards the wire cutting mechanism and drive the cut wire core to exit; the wire cutting mechanism includes a lower blade and an upper blade arranged oppositely, and a first power device for driving the lower blade and the upper blade to move relative to each other to cut the wire core.

[0027] The peeling unit includes a second wire conveying mechanism and a peeling mechanism; the second wire conveying mechanism is used to drive the wire core to be peeled towards the peeling mechanism and drive the peeled wire core to exit; the peeling mechanism includes a peeling tool and a second power device for driving the peeling tool to rotate around its axis.

[0028] The number tube sleeving unit includes a third wire conveying mechanism, a number tube conveying mechanism, and a number tube cutting mechanism; the third wire conveying mechanism and the number tube conveying mechanism are arranged oppositely and at the same height, and the number tube cutting mechanism is located between the third wire conveying mechanism and the number tube conveying mechanism and is provided with a positioning support for positioning the wire core and the number tube; the third wire conveying mechanism is used to drive the wire core to be sleeved towards the number tube cutting mechanism and the sleeved wire core to exit; the number tube conveying mechanism is used to drive the number tube towards the number tube cutting mechanism to sleeve the number tube on the corresponding wire core; the number tube cutting mechanism is used to cut the number tube so that the end of the number tube remains on the wire core.

[0029] The bending unit includes a fourth wire conveying mechanism and a bending mechanism. The fourth wire conveying mechanism is used to convey the wire core to the bending mechanism twice by a set length; the bending mechanism includes a bending turntable and a fourth power device. The bending turntable is used to bend the wire core in two opposite directions, and the fourth power device is used to drive the bending turntable to rotate in opposite directions respectively after the wire core is conveyed to the bending turntable twice.

[0030] Further, the first wire feeding mechanism, the second wire feeding mechanism, the third wire feeding mechanism, and the fourth wire feeding mechanism adopt wire feeding mechanisms with the same structure; the wire feeding mechanism includes a wire feeding mounting frame, on which a first wire feeding roller and a second wire feeding roller arranged oppositely are mounted, and a wire feeding power device that is drivingly connected to the rotating shaft of the first wire feeding roller. Gears that mesh with each other are respectively arranged on the rotating shafts of the first wire feeding roller and the second wire feeding roller.

[0031] Further, the wire feeding power device includes a power motor mounted on the wire feeding mounting frame, and a synchronous belt mechanism is adopted for driving connection between the output shaft of the power motor and the rotating shaft of the first wire feeding roller.

[0032] Further, the wire feeding mechanism further includes a spacing adjustment mechanism for adjusting the position of the second wire feeding roller; the spacing adjustment mechanism includes an adjustment track arranged on the wire feeding mounting frame and a clearance adjustment slider that is slidably matched with the adjustment track. The rotating shaft of the second wire feeding roller is rotationally matched with the clearance adjustment slider; a position adjustment mechanism is arranged between the clearance adjustment slider and the wire feeding mounting frame, and the position adjustment mechanism is used for adjusting the position of the clearance adjustment slider on the adjustment slide rail to adjust the spacing between the second wire feeding roller and the first wire feeding roller.

[0033] Further, a perforation for the wire core to penetrate is arranged in the peeling tool, a tool head mounting hole is arranged on the side wall of the perforation, and a peeling tool head for peeling the wire core is mounted in the tool head mounting hole.

[0034] Further, the number tube sleeving unit includes a sleeve mounting frame, the number tube conveying mechanism includes two relatively arranged sleeve conveying rollers, both of the two sleeve conveying rollers are rotationally and movably mounted on the sleeve mounting frame, a sleeve conveying power device that is drivingly connected to the rotating shaft of one of the sleeve conveying rollers is mounted on the sleeve mounting frame, and a synchronous belt mechanism is adopted for driving connection between the two sleeve conveying rollers.

[0035] Further, the number tube shearing mechanism includes a positioning support, a first blade and a second blade are relatively arranged on the positioning support, and the second blade is located below the first blade; the second blade is fixedly mounted on the positioning support, a vertical track is arranged in the positioning support, the first blade is slidably and movably mounted in the vertical track, and a return spring for driving the first blade to move upward and a third power device for driving the first blade to move downward to cut the number tube are arranged on the positioning support; when the first blade is reset under the action of the return spring, a positioning through hole for positioning the wire core and the number tube is formed between the first blade and the second blade.

[0036] Further, the bending turntable includes a base turntable, on which a core guiding disk that is rotationally matched with and fixedly arranged on the base turntable is installed. Two guiding columns arranged oppositely are installed on the core guiding disk, and a guiding channel for the core to pass through is formed between the two guiding columns; a bending column for driving the core to bend is installed on the base turntable; the fourth power device is in transmission connection with the base turntable.

[0037] The present invention also proposes a core pretreatment method using the above-mentioned core pretreatment tool library, including the following steps:

[0038] S1: Core cutting

[0039] S11: Use the robotic arm to clamp the core and send it into the first wire feeding mechanism. After using the photoelectric sensor to detect that the core is fed in place, start the first wire feeding mechanism to convey the core towards the wire cutting mechanism. When the feeding length of the core is measured in real time and reaches the first preset length value, turn off the first wire feeding mechanism;

[0040] S12: Start the first power device to drive the wire cutting mechanism to cut the core. After using the grayscale sensor to detect that the core is cut, use the first power device to drive the wire cutting mechanism to reset;

[0041] S13: Start the first conveying mechanism to withdraw the cut core from the wire cutting unit. After using the photoelectric sensor to detect that the core has completely withdrawn, execute step two;

[0042] S2: Core peeling

[0043] S21: Use the robotic arm to clamp the core and send it into the second wire feeding mechanism. After using the photoelectric sensor to detect that the core is fed in place, start the second wire feeding mechanism to convey the core towards the peeling mechanism. When the feeding length of the core is measured in real time and reaches the second preset length value, insert the end of the core into the peeling tool, and turn off the second wire feeding mechanism;

[0044] S22: Start the second power device to drive the peeling tool to rotate around its axis to perform peeling treatment on the end of the core. After using the grayscale sensor to detect that the end of the core has been peeled, turn off the second power device;

[0045] S23: Start the second conveying mechanism to withdraw the peeled core from the peeling treatment unit. After using the photoelectric sensor to detect that the core has completely withdrawn, execute step three;

[0046] S3: Sleeving the core with a number tube

[0047] S31: Use the robotic arm to clamp the core and send it into the third wire feeding mechanism. After using the photoelectric sensor to detect that the core is fed in place, start the third wire feeding mechanism to convey the core towards the number tube cutting mechanism. When the feeding length of the core is measured in real time and reaches the third preset length value, turn off the third wire feeding mechanism;

[0048] Start the number tube conveying mechanism to convey the number tube towards the number tube shearing mechanism. After the number tube passes through the number tube shearing mechanism and reaches the set position, the front end of the number tube is sleeved on the wire core, and then the number tube conveying mechanism is closed.

[0049] S32: Start the number tube shearing mechanism to cut the number tube. After using the grayscale sensor to detect that the wire core and the number tube are sleeved together, the number tube shearing mechanism resets.

[0050] S33: Start the third conveying mechanism to withdraw the wire core with the sleeve completed from the number tube sleeving unit. After using the photoelectric sensor to detect that the wire core has completely withdrawn, perform step four.

[0051] S4: Wire core bending

[0052] S41: Use the robotic arm to clamp the wire core and send it into the fourth wire conveying mechanism. After using the photoelectric sensor to detect that the wire core is sent in place, start the fourth wire conveying mechanism to convey the wire core towards the bending mechanism. When the feeding length of the wire core is measured in real time and reaches the fourth preset length value, close the fourth wire conveying mechanism.

[0053] S42: Start the fourth power device to drive the bending turntable to rotate forward to the set position and bend the wire core forward.

[0054] S43: Start the fourth wire conveying mechanism to convey the wire core towards the bending mechanism. When the feeding length of the wire core is measured in real time and reaches the fifth preset length value, close the fourth wire conveying mechanism.

[0055] S44: Start the fourth power device to drive the bending turntable to rotate backward to the set position and bend the wire core backward.

[0056] S45: Use the robotic arm to clamp the bent wire core and adopt vision to detect the S-bend shape of the wire core.

[0057] The present invention also proposes a substation secondary wiring mechanized intelligent device, including:

[0058] A frame, on which a lifting mechanism is provided;

[0059] A wiring working platform, installed on the lifting mechanism and used to perform secondary wiring operations;

[0060] A lifting module, used to control the lifting mechanism to drive the wiring working platform to perform lifting motion to meet the wiring operation requirements of different height terminal blocks in a single switch cabinet;

[0061] A tool library module, installed on the wiring working platform and used to perform pre-treatment operations on the wire core before secondary wiring;

[0062] An upper computer module, used to deploy control programs required for secondary wiring operations.

[0063] The lower computer module is correspondingly arranged one by one with the wiring workbench, the lifting module and the tool library module, and is used to control the corresponding wiring workbench, lifting module or tool library module to perform corresponding actions according to the control program;

[0064] The tool library module adopts the wire core pretreatment tool library described in any one of claims 1-8;

[0065] Two robotic arms are installed on the wiring workbench, and a main wiring execution module and a slave wiring execution module are interchangeably installed at the ends of the two robotic arms, where: the robotic arm installed with the main wiring execution module is the main robotic arm, and the robotic arm installed with the slave wiring execution module is the slave robotic arm;

[0066] The main execution module includes an electric gripper, a first vision module and a force sensing module. The electric gripper is used to grasp the wire core, the first vision module is used to identify the position and posture of the wire core, and the force sensor module is used to sense whether the wire core is in place and firm during wiring; the slave wiring execution module includes a tightening module and a second vision module. The tightening module is used to turn the screws on the side of the terminal block, and the second vision module is used to identify the position of the terminal block jack.

[0067] The beneficial effects of the present invention are as follows:

[0068] For the wire core pretreatment tool library of the present invention, by setting a wire cutting unit, using the first wire feeding mechanism to convey the wire core and using the first power device to drive the relative movement of the lower blade and the upper blade to realize the operation of cutting the wire core; by setting a peeling treatment unit, using the second wire feeding mechanism to convey the cut wire core, and using the second power device to drive the peeling mechanism to complete the peeling operation on the wire core; by setting a number tube sleeving unit, using the third wire feeding mechanism and the number tube feeding mechanism to convey the peeled wire core and the number tube respectively. After the front end of the number tube is sleeved on the wire core, using the number tube cutting mechanism to cut the number tube so that the cut number tube remains at the front end of the wire core, realizing the operation of sleeving the number tube on the wire core; by setting a bending unit, using the fourth wire feeding mechanism to convey the wire core to the bending mechanism, and using the fourth power device to drive the bending mechanism to rotate forward and backward to bend the wire core into a set shape; thus, the wire core pretreatment tool library of the present invention integrates multiple functions such as wire cutting, peeling, conveying, number tube sleeving, and bending into one, abandons the traditional mode of using multiple devices in combination with manual connection, realizes the full-process automation of wire core pretreatment, greatly improves production efficiency, and reduces operating costs.

[0069] The wire core pretreatment tool library of the present invention has the following advantages:

[0070] (1) High degree of integration: Integrates multiple functions such as wire cutting, wire stripping, conveying, sleeving with number tubes, and bending into one, abandoning the traditional mode of using multiple devices in combination with manual connection, realizing the full-process automation of wire core pretreatment, greatly improving production efficiency and reducing operating costs.

[0071] (2) Structural optimization and innovation: The structural design of each unit is ingenious. For example, the wire cutting unit adopts the up-and-down cooperation mode of a strong push rod and a blade; the wire stripping unit is composed of a motor connecting shaft neck connecting rod and a chuck; the bending unit drives the wire core to be bent into a set S-shaped bend by the rotation of the base turntable relative to the wire core guiding plate and the limiting effect of the bending column on the wire core. While realizing the functions, these innovative structures simplify the traditional complex structures and reduce the volume and weight of the equipment.

[0072] (3) High precision and high adaptability: The conveying mechanism adjusts the roller spacing through rotating gears to adapt to wire cores of different specifications, and accurately controls the conveying length by using a motor encoder; the number tube sleeving unit ensures the sleeving accuracy through the height consistency of the rollers and the positioning support; the bending unit can flexibly realize the S-shaped bending of the wire core and has simple control. All these ensure the high precision and high adaptability of the equipment in different wire core processing tasks, and improve the stability and consistency of product quality.

[0073] (4) Easy operation and easy maintenance: Due to the integration of the equipment and the optimization of the structure, the operation process is greatly simplified, reducing manual intervention and cumbersome operation steps. At the same time, compared with traditional complex equipment, the maintenance of the present invention is more convenient, reducing the maintenance cost and difficulty, improving the reliability and usability of the equipment, and reducing the operation burden for enterprises. Brief Description of the Drawings

[0074] In order to make the objectives, technical solutions and beneficial effects of the present invention clearer, the following drawings are provided for illustration:

[0075] Figure 1 It is a schematic structural diagram of an embodiment of the wire core pretreatment tool library of the present invention;

[0076] Figure 2 It is a schematic structural diagram of the wire cutting mechanism;

[0077] Figure 3 It is a schematic structural diagram of the wire stripping mechanism;

[0078] Figure 4 It is a schematic structural diagram of the number tube conveying mechanism;

[0079] Figure 5 It is a schematic structural diagram of the number tube cutting mechanism;

[0080] Figure 6 It is a schematic structural diagram of the bending mechanism;

[0081] Figure 7 Structural schematic diagram of the conveying mechanism;

[0082] Figure 8 Structural schematic diagram of an embodiment of the mechanized intelligent equipment for secondary wiring of a substation;

[0083] Figure 9 Upper axonometric view of the mechanized intelligent equipment for secondary wiring of the substation in this embodiment;

[0084] Figure 10 Lower axonometric view of the mechanized intelligent equipment for secondary wiring of the substation in this embodiment;

[0085] Figure 11 System framework diagram of the mechanized intelligent equipment for secondary wiring of the substation in this embodiment;

[0086] Figure 12 Flow chart of the mechanized intelligent construction method for secondary wiring of the substation of the present invention.

[0087] Explanation of reference numerals:

[0088] 10 - Frame; 11 - Lifting track; 12 - Lifting slider; 13 - Motor drive module; 14 - Moving platform; 141 - Bottom plate; 142 - Roller; 20 - Wiring working platform; 21 - Main robotic arm; 22 - Sub-robotic arm; 23 - Main wiring execution module; 231 - Electric gripper; 232 - First vision module; 233 - Force sensing module; 24 - Sub-wiring execution module; 241 - Tightening module; 242 - Second vision module; 30 - Lifting module; 31 - Ultrasonic ranging module;

[0089] 40 - Tool library module; 41 - Wire feeding and installation frame; 42 - First wire feeding roller; 43 - Second wire feeding roller; 44 - Gear; 45 - Gear; 46 - Power motor; 47 - Synchronous belt mechanism; 481 - Adjusting track; 482 - Clearance adjusting slider; 483 - Screw;

[0090] 50 - Wire cutting unit; 51 - First wire feeding mechanism; 52 - Wire cutting mechanism; 521 - Lower blade; 522 - Upper blade; 523 - First power device; 524 - Lower mounting seat; 525 - Upper mounting seat;

[0091] 60 - Stripping treatment unit; 61 - Second wire feeding mechanism; 62 - Stripping mechanism; 621 - Stripping tool; 622 - Perforation; 623 - Tool head mounting hole; 624 - Second power device; 625 - Chuck; 626 - Motor connecting rod; 627 - Tool connecting rod;

[0092] 70 - Number tube unit; 71 - Third wire conveying mechanism; 72 - Number tube conveying mechanism; 721 - Sleeve conveying roller; 722 - Sleeve conveying roller; 723 - Sleeve conveying power device; 724 - Driving pulley; 725 - Driven pulley; 73 - Number tube shearing mechanism; 731 - Positioning support; 732 - First blade; 733 - Second blade; 734 - Third power device; 735 - Positioning through hole; 736 - Servo rocker; 737 - Force - receiving rod; 74 - Sleeve mounting bracket;

[0093] 80 - Bending unit; 81 - Fourth wire conveying mechanism; 82 - Bending mechanism; 821 - Bending turntable; 822 - Fourth power device; 823 - Base turntable; 824 - Core guiding disk; 825 - Guide post; 826 - Guide channel; 827 - Bending post.

[0094] 90 - Host computer module; 100 - Lower computer module. Specific implementation mode

[0095] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the specific embodiments cited are not intended to limit the present invention.

[0096] Embodiment 1

[0097] As Figure 1 shown, the core pretreatment tool library of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube unit 70, and a bending unit 80.

[0098] In this embodiment, the wire cutting unit 50 includes a first wire conveying mechanism 51 and a wire cutting mechanism 52. The first wire conveying mechanism 51 is used to drive the wire core to be cut to move towards the wire cutting mechanism 52 and drive the cut wire core to exit. As Figure 2As shown in the figure, in this embodiment, the wire cutting mechanism 52 includes a lower blade 521 and an upper blade 522 which are oppositely arranged, and a first power device 523 for driving the lower blade 521 and the upper blade 522 to move relatively to cut the wire core. In this embodiment, the wire cutting mechanism 52 includes a lower mounting base 524 and an upper mounting base 525. The lower blade 521 is fixedly mounted on the lower mounting base 524, the first power device 523 is fixedly mounted on the upper mounting base 525, and the upper blade 522 is mounted on the output shaft of the first power device 523. The output shaft of the first power device 523 is in the vertical direction and makes a telescopic movement along the vertical direction to drive the lower blade 521 and the upper blade 522 to move relatively. Specifically, in this embodiment, the first power device 523 adopts an electric cylinder. Of course, in some other embodiments, the first power device 523 can also adopt a cylinder, a hydraulic cylinder and other linear driving mechanisms, which will not be elaborated here. Specifically, the height position of the first wire conveying mechanism 51 corresponds to that of the wire cutting mechanism 52, so that the wire core conveyed by the first wire conveying mechanism 51 can smoothly enter between the lower blade 521 and the upper blade 522 for wire cutting operation.

[0099] In this embodiment, the peeling processing unit 60 includes a second wire conveying mechanism 61 and a peeling mechanism 62. The second wire conveying mechanism 61 is used to drive the wire core to be peeled to move towards the peeling mechanism 62 and drive the wire core that has been peeled to exit. As Figure 3 shown in the figure, in this embodiment, the peeling mechanism 62 includes a peeling tool 621 and a second power device 624 for driving the peeling tool 621 to rotate around its axis. In this embodiment, a perforation 622 for the wire core to penetrate is provided in the peeling tool 621, and a tool head mounting hole 623 is provided on the side wall of the perforation 622. A peeling tool head (not shown in the figure) for peeling the wire core is mounted in the tool head mounting hole 623. In this way, after the second wire conveying mechanism 61 drives the front end of the wire core to extend into the perforation 622, the peeling tool 621 can be driven to rotate by the second power device 624 to realize the wire core peeling operation. In this embodiment, the second power device 624 adopts a motor. A chuck 625 is provided between the second power device 624 and the peeling tool 621. One end of the chuck 625 is connected to the output shaft of the second power device 624 through a motor connecting rod 626, and the other end of the chuck 625 is connected to the peeling tool 621 through a tool connecting rod 627.

[0100] In this embodiment, the number tube sleeve unit 70 includes a third line transmission mechanism 71, a number tube conveying mechanism 72 and a number tube cutting mechanism 73. Specifically, the third line transmission mechanism 71 and the number tube conveying mechanism 72 are arranged relatively and at the same height, and the number tube cutting mechanism 73 is located between the third line transmission mechanism 71 and the number tube conveying mechanism 72 and is provided with a positioning support 731 for positioning the wire core and the number tube. The third line transmission mechanism 71 is used to drive the wire core to be sleeved to move toward the number tube cutting mechanism 73 and the wire core that has completed the sleeve is withdrawn. The number tube conveying mechanism 72 is used to drive the number tube to move toward the number tube cutting mechanism 73 to sleeve the number tube on the corresponding wire core. The number tube cutting mechanism 73 is used to cut off the number tube so that the end of the number tube remains on the wire core.

[0101] In this embodiment, the sleeve number tube unit 70 includes a sleeve tube mounting frame 74, and the number tube conveying mechanism 72 includes two sleeve tube conveying rollers arranged opposite to each other, namely, a sleeve tube conveying roller 721 and a sleeve tube conveying roller 722. Figure 4 As shown. The sleeve conveying roller 721 and the sleeve conveying roller 722 are both rotatably mounted on the sleeve mounting frame 74, and the sleeve mounting frame 74 is equipped with a sleeve conveying power device 723 that is connected to the rotating shaft of one of the sleeve conveying rollers 721. The sleeve conveying roller 721 and the sleeve conveying roller 722 are connected to each other by a synchronous belt mechanism. Specifically, the sleeve conveying roller 721 and the sleeve conveying roller 722 are respectively provided with a driving pulley 724 and a driven pulley 725, and a synchronous belt (not shown in the figure) is sleeved between the driving pulley 724 and the driven pulley 725. In this way, the sleeve conveying power device 723 drives the sleeve conveying roller 721 to rotate. Under the transmission action of the synchronous belt mechanism, the sleeve conveying roller 721 and the sleeve conveying roller 722 can rotate at the same speed and opposite direction, thereby achieving the technical purpose of number tube transportation. In this embodiment, the sleeve conveying power device 723 adopts a DC motor.

[0102] like Figure 5As shown in the figure, in this embodiment, the number tube cutting mechanism 73 includes a positioning support 731. A first blade 732 and a second blade 733 are oppositely arranged on the positioning support 731, and the second blade 733 is located below the first blade 732. In this embodiment, the second blade 733 is fixedly installed on the positioning support 731. A vertical track is provided inside the positioning support 731. The first blade 732 is slidably installed in the vertical track. And a return spring (not shown in the figure) for driving the first blade 732 to move upward and a third power device 734 for driving the first blade 732 to move downward to cut the number tube are provided on the positioning support 731. Specifically, the third power device 734 drives the first blade 732 to move downward to cut the number tube. After the number tube cutting operation is completed, the third power device 734 no longer applies a force to the first blade 732, and the first blade 732 moves upward and resets under the action of the return spring. Specifically, when the first blade 732 resets under the action of the return spring, a positioning through hole 735 for positioning the wire core and the number tube is formed between the first blade 732 and the second blade 733. The heights at which the third wire core conveying mechanism 71 and the number tube conveying mechanism 72 convey the wire core and the number tube should be equal to the height of the positioning through hole 735, so that the number tube can pass through the positioning through hole 735 and be sleeved on the end of the wire core. In this embodiment, the third power device 734 is a servo motor installed on the positioning support 731. A servo motor rocker 736 is provided on the rotating shaft of the servo motor. A force receiving rod 737 cooperating with the servo motor rocker 736 is installed on the first blade 732. The force receiving rod 737 is parallel to the rotating shaft of the servo motor and perpendicular to the vertical track. When performing the number tube cutting operation, the rotating shaft of the servo motor rotates forward, so that the servo motor rocker 736 applies a downward force to the force receiving rod 737. After the force receiving rod 737 receives the downward force, it overcomes the elastic force of the return spring and moves downward with the first blade 732 under the guiding action of the vertical track to cut the number tube. After the number tube cutting operation is completed, the rotating shaft of the servo motor rotates reversely, so that the servo motor rocker 736 is disengaged from the force receiving rod 737, and the first blade 732 moves upward and resets under the action of the return spring.

[0103] In this embodiment, the bending unit 80 includes a fourth wire core conveying mechanism 81 and a bending mechanism 82. The fourth wire core conveying mechanism 81 is used to convey the wire core to the bending mechanism in two times by a set length. As Figure 6As shown, the bending mechanism 82 includes a bending turntable 821 and a fourth power device 822. The bending turntable 821 is used to bend the wire core in both positive and negative directions. The fourth power device 822 is used to drive the bending turntable 821 to rotate in opposite directions after the wire core is conveyed to the bending turntable 821 twice. Specifically, the bending turntable 821 of this embodiment includes a base turntable 823, on which is mounted a wire core guide disk 824 that rotates with and is fixed thereto, and on which are mounted two guide columns 825 that are arranged opposite to each other, and between which are formed a guide channel 826 for the wire core to pass. A bending column 827 for driving the wire core to bend is mounted on the base turntable 823. The fourth power device 822 is in transmission connection with the base turntable 823. Specifically, when the fourth wire conveying mechanism 81 conveys the wire core through the guide channel 826 and reaches the bending column 827, the fourth power device 822 drives the base turntable 823 to rotate, causing the bending column 827 to rotate relative to the guide column 825, and the bending column 827 drives the wire core to bend around the guide column 825.

[0104] Specifically, in this embodiment, the first wire transmission mechanism 51, the second wire transmission mechanism 61, the third wire transmission mechanism 71 and the fourth wire transmission mechanism 81 adopt the same structure of wire transmission mechanism. Figure 7 As shown, the wire transmission mechanism of this embodiment includes a wire transmission mounting frame 41, on which the first wire transmission roller 42 and the second wire transmission roller 43 are installed, and the wire transmission power device is connected to the rotating shaft of the first wire transmission roller 42. The rotating shafts of the first wire transmission roller 42 and the second wire transmission roller 43 are respectively provided with mutually meshing gears 44 and gears 45, and the transmission ratio of the gears 44 and 45 is 1. In this way, the first wire transmission roller 42 and the second wire transmission roller 43 can be synchronously rotated at the same speed and opposite direction, so as to achieve the technical purpose of driving the wire core to move. The wire transmission power device of this embodiment includes a power motor 46 installed on the wire transmission mounting frame 41, and the output shaft of the power motor 46 is connected to the rotating shaft of the first wire transmission roller 42 by a synchronous belt mechanism 47. In this embodiment, an encoder for calculating the conveying length of the wire core is installed on the power motor 46.

[0105] The wire transmission mechanism of this embodiment also includes a spacing adjustment mechanism for adjusting the position of the second wire transmission roller 43. The spacing adjustment mechanism includes an adjustment rail 481 provided on the wire transmission mounting frame 41 and a gap adjustment slider 482 that slides with the adjustment rail 481, and the rotating shaft of the second wire transmission roller 43 rotates with the gap adjustment slider 482. A position adjustment mechanism is provided between the gap adjustment slider 482 and the wire transmission mounting frame 41, and the position adjustment mechanism is used to adjust the position of the gap adjustment slider 482 on the adjustment slide rail 481 to adjust the spacing between the second wire transmission roller 43 and the first wire transmission roller 42. In this embodiment, the position adjustment mechanism uses a screw 483 for adjusting the position of the gap adjustment slider 482 on the adjustment slide rail 481.

[0106] Example 2

[0107] This embodiment also proposes a core preprocessing method using the above-mentioned core preprocessing tool library for the upper line core, including the following steps.

[0108] S1: Core cutting

[0109] S11: Use the robotic arm to pick up the core and send it into the first wire feeding mechanism 51. After detecting that the core is fed in place by the photoelectric sensor, start the first wire feeding mechanism 51 to convey the core towards the wire cutting mechanism 52. When the feeding length of the core is measured in real time and reaches the first preset length value, turn off the first wire feeding mechanism 51.

[0110] S12: Start the first power device 523 to drive the wire cutting mechanism 52 to cut the core. After detecting that the core is cut by the grayscale sensor, use the first power device 523 to drive the wire cutting mechanism 52 to reset.

[0111] S13: Start the first conveying mechanism 51 to withdraw the cut core from the wire cutting unit 50. After detecting that the core has completely withdrawn by the photoelectric sensor, execute step two.

[0112] S2: Core stripping

[0113] S21: Use the robotic arm to pick up the core and send it into the second wire feeding mechanism 61. After detecting that the core is fed in place by the photoelectric sensor, start the second wire feeding mechanism 61 to convey the core towards the stripping mechanism 62. When the feeding length of the core is measured in real time and reaches the second preset length value, insert the end of the core into the stripping tool 621, and turn off the second wire feeding mechanism 61.

[0114] S22: Start the second power device 624 to drive the stripping tool 621 to rotate around its axis to strip the end of the core. After detecting that the end of the core has been stripped by the grayscale sensor, turn off the second power device 624.

[0115] S23: Start the second conveying mechanism 61 to withdraw the stripped core from the stripping processing unit. After detecting that the core has completely withdrawn by the photoelectric sensor, execute step three.

[0116] S3: Sleeving the core with a number tube

[0117] S31: Use the robotic arm to pick up the core and send it into the third wire feeding mechanism 71. After detecting that the core is fed in place by the photoelectric sensor, start the third wire feeding mechanism 71 to convey the core towards the number tube cutting mechanism 73. When the feeding length of the core is measured in real time and reaches the third preset length value, turn off the third wire feeding mechanism 71.

[0118] Start the number tube conveyor 72 to convey the number tube towards the number tube shearing mechanism 73. After the number tube passes through the number tube shearing mechanism 73 and reaches the set position, the front end of the number tube is sleeved on the wire core, and then the number tube conveying mechanism is closed.

[0119] S32: Start the number tube shearing mechanism 73 to cut the number tube. After using the grayscale sensor to detect that the wire core and the number tube are sleeved together, the number tube shearing mechanism resets.

[0120] S33: Start the third conveying mechanism 71 to withdraw the wire core with the sleeve completed from the number tube sleeving unit 70. After using the photoelectric sensor to detect that the wire core has completely withdrawn, execute step four.

[0121] S4: Wire core bending

[0122] S41: Use the robotic arm to pick up the wire core and send it into the fourth wire conveying mechanism 81. After using the photoelectric sensor to detect that the wire core is sent in place, start the fourth wire conveying mechanism 81 to convey the wire core towards the bending mechanism 82. When the feeding length of the wire core is measured in real time and reaches the fourth preset length value, close the fourth wire conveying mechanism 81.

[0123] S42: Start the fourth power device 822 to drive the bending turntable 82 to rotate forward to the set position to perform forward bending on the wire core.

[0124] S43: Start the fourth wire conveying mechanism 81 to convey the wire core towards the bending mechanism. When the feeding length of the wire core is measured in real time and reaches the fifth preset length value, close the fourth wire conveying mechanism 81.

[0125] S44: Start the fourth power device 822 to drive the bending turntable 82 to rotate backward to the set position to perform reverse bending on the wire core.

[0126] S45: Use the robotic arm to pick up the bent wire core and use vision to detect the S-bend shape of the wire core.

[0127] In this embodiment, an encoder installed on the power motor 46 is used to measure the wire core conveying length in real time.

[0128] Embodiment 3

[0129] As Figures 8 - 11 shown, this embodiment also proposes a substation secondary wiring mechanized intelligent device, including a frame 10, a wiring work platform 20, a lifting module 30, a tool library module 40, an upper computer module 90, and a lower computer module 100.

[0130] In this embodiment, a lifting mechanism is provided on the frame 10. Specifically, the lifting mechanism of this embodiment includes a lifting track 11 provided on the frame 10, a lifting slider 12 slidably engaged with the lifting track 11, and a motor drive module 13 for driving the lifting slider 12 to move along the lifting track. In a preferred implementation manner of this embodiment, a moving platform 14 is provided at the bottom of the frame 10. The moving platform 14 includes a bottom plate 141 and rollers 142 installed on the bottom plate 142 to meet the requirements of secondary wiring operations for different switch cabinets.

[0131] In this embodiment, the wiring work platform 20 is installed on the lifting mechanism and is used to perform secondary wiring operations. Specifically, in this embodiment, the wiring work platform 20 is installed on the lifting slider 12.

[0132] In this embodiment, the lifting module 30 is used to control the lifting mechanism to drive the wiring work platform 20 to perform lifting movements to meet the wiring operation requirements of terminal blocks at different heights within a single switch cabinet. The lifting module 30 of this embodiment includes an ultrasonic ranging module 31 for detecting the distance of the lifting slider 12. The ultrasonic ranging module 31 can measure the height where the wiring operation platform 20 is located by sensing the distance of the lifting slider 12, and drive the wiring work platform 20 to different wiring heights by using the lifting mechanism to complete the secondary wiring construction operation.

[0133] In this embodiment, the tool library module 40 is installed on the wiring work platform 20 and is used to perform pre-treatment operations on the wire cores before secondary wiring.

[0134] In this embodiment, the host computer module 90 is used to deploy the control programs required for secondary wiring operations. The host computer system then performs high-level control on the three slave computer modules 100, including processing the planning of secondary wiring tasks, deploying visual algorithms for sensing and recognition, storing the attributes of the grabbed wire cores, the relationship between the wire core jacks, and the position information of the terminal blocks corresponding to wire cores of different attributes, etc.

[0135] As Figure 11 shown, in this embodiment, the slave computer module 100 is correspondingly arranged with the wiring work platform 20, the lifting module 30, and the tool library module 40, and is used to control the corresponding wiring work platform 20, lifting module 30, or tool library module 40 to perform corresponding actions according to the control program. The slave computer module 100 mainly includes the driving of the motor and the sensing detection of relevant data. Among them, the main robotic arm 21, the slave robotic arm 22, and the main wiring execution module 23 and the slave wiring execution module 24 carried at the end all use a special control box for robotic arms as the slave computer control.

[0136] Specifically, three lower computer modules are provided and are respectively arranged corresponding to the wiring work platform 20, the lifting module 30, and the tool library module 40. In this embodiment, the lower computer module II corresponding to the lifting module 30 is used to control the lifting of the wiring work platform 20 through the motor drive module 13 to adjust the height position and to measure the distance of the lifting slider 12 through the ultrasonic ranging module 31 to obtain the height position of the wiring work platform 20.

[0137] The tool library module 40 of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube sleeving unit 70, and a bending unit 80. Specifically, the wire cutting unit 50 is used to perform a cutting operation on the wire core to adjust the wire core length. The stripping unit 60 is used to perform an epidermis stripping operation on the wire core and control the exposed length of the copper wire at the end of the wire core. The number tube sleeving unit 70 is used to perform a number tube sleeving operation on the wire core. The bending unit 80 is used to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape. Specifically, the tool library module 40 adopts the wire core pretreatment tool library described in Embodiment 1. Specifically, the lower computer module III corresponding to the tool library module 40 is used to control the wire cutting unit 50 to perform a cutting operation on the wire core to adjust the wire core length, control the stripping unit 60 to perform an epidermis stripping operation on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube sleeving unit 70 to perform a number tube sleeving operation on the wire core, and control the bending unit 80 to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape.

[0138] Two robotic arms are installed on the wiring work platform 20 of this embodiment. The main wiring execution module 23 and the slave wiring execution module 24 are interchangeably installed at the ends of the two robotic arms, where: the robotic arm with the main wiring execution module 23 installed is the main robotic arm 21, and the robotic arm with the slave wiring execution module 24 installed is the slave robotic arm 22. The main wiring execution module 23 and the slave wiring execution module 24 can be interchangeably installed between the ends of the two robotic arms to meet the requirements of secondary wiring operations on different sides of the switch cabinet.

[0139] The main execution module 23 in this embodiment includes an electric gripper 231, a first vision module 232, and a force sensing module 233. The electric gripper 231 is used to grasp the wire core. The first vision module 232 is used to identify the position and posture of the wire core. The force sensor module 233 is used to sense whether the wire core connection is in place and firm. The slave wiring execution module 24 in this embodiment includes a tightening module 241 and a second vision module 242. The tightening module 241 is used to turn the screws on the side of the terminal block. The second vision module 242 is used to identify the position of the terminal block jack. Specifically, the lower computer module I corresponding to the wiring work platform 20 is used to control the electric gripper 231 to perform the action of grasping the wire core, control the first vision module 232 and the second vision module 242 to collect image data, control the force sensing module 233 to collect the wire core force data, and control the tightening module 231 to perform the action of turning the side screws.

[0140] The mechanized intelligent equipment for secondary wiring of substations in this embodiment controls the height of the wiring work platform by setting a lifting mechanism on the rack and combining with the lifting module to meet the requirements of secondary wiring at different height positions in the switch cabinet. By installing a tool library module on the wiring work platform, operations such as cutting, stripping, sleeving number tubes, and bending can be performed on the wire core by the wire cutting unit, stripping unit, sleeving number tube unit, and bending unit respectively to meet the pre-treatment work before the secondary wiring of the wire core. By installing two robotic arms on the wiring work platform and installing the main wiring execution module and the slave wiring execution module at the ends of the two robotic arms, in this way, the wire core can be grasped, the wire core can be inserted into the terminal block jack, and it can be detected whether the wire core is inserted in place and tightened by using the electric gripper, the first vision module, and the force sensing module in the main robotic arm and the main wiring execution module. The technical purpose of turning the side screws of the terminal block can be achieved by using the tightening module and the second vision module in the slave robotic arm and the slave wiring execution module. The above secondary wiring operations can all be realized by the action control of the control program deployed in the upper computer module and combined with the lower computer module. That is, the mechanized intelligent equipment for secondary wiring of substations in the present invention solves the problem of insufficient efficiency in the prior art, greatly reduces the participation of manpower, and improves the degree of construction intelligence at the same time.

[0141] Embodiment 4

[0142] It should be noted that according to the secondary wiring process standard of State Grid, for secondary wiring, after laying the cables, they need to be broken into multiple stranded cores. Then, according to the requirements of the wiring diagram, the ends of the cores are processed and connected to the corresponding terminal blocks, and the side screws in the terminal blocks are tightened to ensure the effectiveness of secondary wiring through the crimping of the cores. Due to the limitations of the conditions of mechanized construction equipment, the original manual wiring method and process are not fully applicable to mechanized construction. Therefore, based on the above-mentioned mechanized intelligent equipment for substation secondary wiring, this embodiment redesigned the construction process of mechanized construction equipment for secondary wiring and proposed a mechanized intelligent construction method for substation secondary wiring.

[0143] As Figure 12 shown, the mechanized intelligent construction method for substation secondary wiring in this embodiment includes the following steps:

[0144] Step 1: Initial preparation stage

[0145] Adjust the position of the rack so that the wiring working platform 20 faces the switchgear directly; obtain the wiring information of the corresponding switchgear and the actual position information of the terminal block.

[0146] Specifically, the initial preparation stage includes the following steps:

[0147] 11) Adjust the position of the rack so that the wiring working platform 20 faces the switchgear directly; initialize the upper computer module 90 and the lower computer module 100 to make the wiring working platform 20, the lifting module 30, and the tool library module 40 in the initial state.

[0148] 12) Input the switchgear model and the cable numbers to be secondarily wired into the upper computer module 90 to obtain the wiring information of the switchgear.

[0149] 13) Use the main robotic arm 21 to drive the first vision module 232 to move to determine the relative position relationship between the wiring working platform 20 and the switchgear, and identify the terminal block number and the actual position information of the corresponding jacks.

[0150] Step 2: Pretreatment stage

[0151] Select the operating cable and break the cable into multiple stranded cores; use the main robotic arm 21 to drive the electric gripper 231 to grab the cores respectively and transfer the cores to the tool library module 40, and use the tool library module 40 to perform pretreatment on the cores including cutting operation, skin peeling operation, sleeving number tube operation, and bending operation.

[0152] Specifically, the pretreatment stage includes the following steps:

[0153] 21) After selecting the operating cable, break the cable into multiple stranded cores and place the multiple stranded cores in the core area to be processed.

[0154] 22) Use the main robotic arm 21 to drive the first vision module 232 to identify the position and attitude of the wire core in the wire core to-be-processed area, and use the main robotic arm 21 to drive the electric gripper 231 to grasp one of the single-strand wire cores.

[0155] 23) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped wire core to the wire cutting unit 50 of the tool library module 40, and use the wire cutting unit 50 to perform a cutting operation on the wire core to adjust the length of the wire core to a length suitable for the height of the terminal block.

[0156] 24) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped and cut wire core to the peeling processing unit 60, and use the peeling processing unit 60 to perform an epidermis peeling operation on the wire core and control the exposed length of the copper wire at the end of the wire core.

[0157] 26) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped and peeled wire core to the number tube sleeving unit 70, and use the number tube sleeving unit 70 to perform a number tube sleeving operation on the wire core, and sleeve the numbered number tube on the wire core.

[0158] 27) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the sleeved wire core to the bending unit 80. The bending unit 80 can be used to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape. In this embodiment, the front end of the wire core is bent into an "S" shape.

[0159] 28) Manually remove the bent wire core from the tool library module 40, and tie the wire core to one side of the current wiring of the switch cabinet, so that the part where the front end of the wire core is bent into an "S" shape is located close to the wiring position.

[0160] 29) Use the wire core grasped by the main robotic arm 21 driving the electric gripper 231, and loop through steps 23)-28) until all the wire cores of the same cable have completed preprocessing.

[0161] Step Three: Secondary Wiring Stage

[0162] Use the lifting module 30 to control the lifting mechanism to adjust the position height of the wiring working platform 20 to the secondary wiring height, and use the main robotic arm 21 to drive the electric gripper 231 to grasp one of the wire cores and insert the end of the wire core into the corresponding jack of the terminal block.

[0163] Specifically, the steps in the secondary wiring stage are as follows:

[0164] 31) Use the lifting module 30 to control the lifting mechanism to drive the wiring working platform 20 to move to the wiring height corresponding to the wire core.

[0165] 32) Use the main robotic arm 21 to drive the first vision module 232 to identify the position and attitude of the current wire core.

[0166] 33) Drive the execution module 24 to move from the manipulator arm 22 to the position of the terminal block corresponding to the current core wire, and with the cooperation of the second vision module 242, align the tightening module 241 with the side screw of the terminal block.

[0167] 34) Drive the tightening module 241 driven by the manipulator arm 22 to reverse the corresponding side screw, so that the pressing block in the corresponding terminal block jack returns to the initial state and the terminal block jack is opened.

[0168] 35) Drive the electric gripper 231 driven by the main manipulator arm 21 to grab the core wire and move it towards the corresponding terminal block jack. With the cooperation of the first vision module 232, align the front end of the core wire with the terminal block jack.

[0169] 36) Drive the electric gripper 231 driven by the main manipulator arm 21 to move the core wire towards the corresponding terminal block jack. Use the force sensing module 233 to detect the force on the core wire to sense the change in the contact surface between the core wire and the jack until the front end of the core wire contacts the bottom of the jack.

[0170] Step Four: Wiring Tightening Stage

[0171] Drive the tightening module 241 driven by the manipulator arm 22 to tighten the corresponding side screw to fix the core wire in the corresponding terminal block jack.

[0172] Specifically, the steps of the wiring tightening stage are as follows:

[0173] 41) Drive the tightening module 241 driven by the manipulator arm 22 to rotate the side screw forward, so that the pressing block in the terminal block jack presses and fixes the core wire in the corresponding terminal block jack.

[0174] 42) Drive the manipulator arm 22 to reset to the initial position and posture.

[0175] 43) Drive the electric gripper 231 driven by the main manipulator arm 21 to move the core wire in the direction away from the corresponding terminal block jack. Use the force sensing module 233 to detect the force on the core wire to determine whether the core wire is tightened: if so, execute step 44); if not, repeat step three.

[0176] 44) Drive the electric gripper 231 driven by the main manipulator arm 21 to release the core wire, and drive the main manipulator arm 21 to reset to the initial position and posture.

[0177] Step Five: Cable Loop Stage

[0178] Loop and execute step three and step four until all the core wires belonging to the same cable have completed the secondary wiring operation;

[0179] Step Six: Unilateral Loop Stage

[0180] Execute Step 2 and Step 4 in a loop until all the cables on one side of the switchgear cabinet have completed the secondary wiring operation;

[0181] Step 7: The remaining side loop stage

[0182] Interchangeably install the main wiring execution module 23 and the slave wiring execution module 24 in the two robotic arms, and execute Step 2 to Step 6 in a loop until all the secondary wiring operations of the switchgear cabinet are completed.

[0183] The mechanized intelligent construction method for secondary wiring of a substation in this embodiment proposes a relatively detailed operation method for the mechanized construction equipment for secondary wiring of a substation in response to the lack and non-standardization of the operation mode of the mechanized construction equipment for secondary wiring of a substation, effectively solving the problem of chaotic processes existing in construction and reducing the risk of construction accidents.

[0184] The above-described embodiments are only preferred embodiments cited to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A wire core pretreatment tool library, characterized in that: It includes a wire cutting unit, a stripping unit, a number tube unit and a bending unit; The wire cutting unit comprises a first wire feeding mechanism and a wire cutting mechanism; the first wire feeding mechanism is used to drive the wire core to be cut to move toward the wire cutting mechanism and drive the wire core that has been cut to exit; the wire cutting mechanism comprises a lower blade and an upper blade that are arranged opposite to each other, and a first power device for driving the lower blade and the upper blade to move relative to each other to cut the wire core; The stripping processing unit includes a second wire feeding mechanism and a stripping mechanism; the second wire feeding mechanism is used to drive the wire core to be stripped to move toward the stripping mechanism and drive the stripped wire core to exit; the stripping mechanism includes a stripping tool and a second power device for driving the stripping tool to rotate around its axis; The number tube sleeve unit comprises a third line transmission mechanism, a number tube conveying mechanism and a number tube cutting mechanism; the third line transmission mechanism and the number tube conveying mechanism are arranged opposite to each other and have the same height, the number tube cutting mechanism is located between the third line transmission mechanism and the number tube conveying mechanism and is provided with a positioning support for positioning the wire core and the number tube; the third line transmission mechanism is used to drive the wire core to be sleeved toward the number tube cutting mechanism and the wire core that has been sleeved is withdrawn; the number tube conveying mechanism is used to drive the number tube to move toward the number tube cutting mechanism so as to sleeve the number tube on the corresponding wire core; the number tube cutting mechanism is used to cut off the number tube so that the end of the number tube remains on the wire core; The bending unit includes a fourth wire conveying mechanism and a bending mechanism, wherein the fourth wire conveying mechanism is used to convey the wire core to the bending mechanism in two times of a set length; the bending mechanism includes a bending turntable and a fourth power device, wherein the bending turntable is used to bend the wire core in both forward and reverse directions, and the fourth power device is used to drive the bending turntable to rotate in opposite directions respectively after the wire core is conveyed to the bending turntable twice.

2. The wire core pretreatment tool library according to claim 1, characterized in that: The first line transmission mechanism, the second line transmission mechanism, the third line transmission mechanism and the fourth line transmission mechanism adopt line transmission mechanisms of the same structure; the line transmission mechanism includes a line transmission mounting frame, on which the first line transmission roller and the second line transmission roller arranged opposite to each other and a line transmission power device connected to the rotating shaft of the first line transmission roller are installed, and the rotating shafts of the first line transmission roller and the second line transmission roller are respectively provided with gears that mesh with each other.

3. The wire core pretreatment tool library according to claim 2, wherein: The line transmission power device comprises a power motor mounted on the line transmission mounting frame, and the output shaft of the power motor is connected to the rotating shaft of the first line transmission roller by a synchronous belt mechanism.

4. The wire core pretreatment tool library according to claim 3, characterized in that: The wire transmission mechanism also includes a spacing adjustment mechanism for adjusting the position of the second wire transmission roller; the spacing adjustment mechanism includes an adjustment track arranged on the wire transmission mounting frame and a gap adjustment slider slidably matched with the adjustment track, and the rotating shaft of the second wire transmission roller is rotationally matched with the gap adjustment slider; A position adjustment mechanism is provided between the gap adjustment slider and the wire conveying mounting frame, and the position adjustment mechanism is used to adjust the position of the gap adjustment slider on the adjustment slide rail to adjust the distance between the second wire conveying roller and the first wire conveying roller.

5. The wire core pretreatment tool library according to claim 1, wherein: The stripping tool is provided with a through hole for the wire core to penetrate, and a cutter head mounting hole is provided on the side wall of the through hole. A stripping cutter head for stripping the wire core is mounted in the cutter head mounting hole.

6. The wire core pretreatment tool library according to claim 1, characterized in that: The number tube unit includes a tube mounting frame, and the number tube conveying mechanism includes two tube conveying rollers arranged opposite to each other. The two tube conveying rollers are rotatably mounted on the tube mounting frame, and a tube conveying power device is installed on the tube mounting frame, which is transmission-connected to the rotating shaft of one of the tube conveying rollers. The two tube conveying rollers are transmission-connected by a synchronous belt mechanism.

7. The wire core pretreatment tool library according to claim 1, characterized in that: The number tube cutting mechanism includes a positioning support, on which a first blade and a second blade are arranged opposite to each other, and the second blade is located below the first blade; the second blade is fixedly mounted on the positioning support, a vertical track is arranged in the positioning support, and the first blade is slidably mounted in the vertical track, and the positioning support is provided with a reset spring for driving the first blade to move upward and a third power device for driving the first blade to move downward to cut off the number tube; when the first blade is reset under the action of the reset spring, a positioning through hole for positioning the wire core and the number tube is formed between the first blade and the second blade.

8. The wire core pretreatment tool library according to claim 1, wherein: The bending turntable includes a base turntable, on which is mounted a wire core guide disk which rotates with the base turntable and is fixed thereto, and on which are mounted two guide columns which are arranged opposite to each other, and between which is formed a guide channel for the wire core to pass; a bending column for driving the wire core to bend is mounted on the base turntable; and the fourth power device is transmission-connected to the base turntable.

9. A core pretreatment method using the core pretreatment tool library according to any one of claims 1-8, characterized in that: The steps include: S1: Wire cutting S11: using a mechanical arm to clamp the wire core and feed it into the first wire feeding mechanism, using a photoelectric sensor to detect that the wire core is in place, starting the first wire feeding mechanism to convey the wire core toward the wire cutting mechanism, and after the feeding length of the wire core reaches a first preset length value in real time measurement, closing the first wire feeding mechanism; S12: starting the first power device to drive the wire trimming mechanism to cut the wire core, using the grayscale sensor to detect that the wire core is cut, and then using the first power device to drive the wire trimming mechanism to reset; S13: starting the first conveying mechanism to withdraw the cut wire core from the wire cutting unit, and after the photoelectric sensor detects that the wire core has been completely withdrawn, executing step 2; S2: Wire stripping S21: using a mechanical arm to clamp the wire core and feed it into the second wire feeding mechanism, using a photoelectric sensor to detect that the wire core is in place, starting the second wire feeding mechanism to transport the wire core toward the stripping mechanism, and after the feeding length of the wire core reaches a second preset length value in real time measurement, the wire core end is inserted into the stripping tool, and the second wire feeding mechanism is closed; S22: starting the second power device to drive the stripping tool to rotate around its axis to strip the wire core end, and after using the grayscale sensor to detect that the wire core end has been stripped, shutting down the second power device; S23: starting the second conveying mechanism to withdraw the stripped wire core from the stripping processing unit, and after the photoelectric sensor detects that the wire core has completely withdrawn, executing step three; S3: Wire core sleeve number tube S31: Use the robotic arm to pick up the wire core and send it into the third wire feeding mechanism. After using the photoelectric sensor to detect that the wire core is fed in place, start the third wire feeding mechanism to convey the wire core towards the number tube shearing mechanism. After the feeding length of the wire core is measured in real time and reaches the third preset length value, turn off the third wire feeding mechanism; Start the number tube feeding mechanism to convey the number tube towards the number tube shearing mechanism. After the number tube passes through the number tube shearing mechanism and reaches the set position, the front end of the number tube is sleeved on the wire core, and then turn off the number tube feeding mechanism; S32: Start the number tube shearing mechanism to cut the number tube. After using the grayscale sensor to detect the fitting of the wire core and the number tube, the number tube shearing mechanism resets; S33: Start the third conveying mechanism to withdraw the wire core with the sleeve from the number tube sleeving unit. After using the photoelectric sensor to detect that the wire core has completely withdrawn, execute Step Four; S4: Wire core bending S41: Use the robotic arm to pick up the wire core and send it into the fourth wire feeding mechanism. After using the photoelectric sensor to detect that the wire core is fed in place, start the fourth wire feeding mechanism to convey the wire core towards the bending mechanism. After the feeding length of the wire core is measured in real time and reaches the fourth preset length value, turn off the fourth wire feeding mechanism; S42: Start the fourth power device to drive the bending turntable to rotate forward to the set position to perform forward bending on the wire core; S43: Start the fourth wire feeding mechanism to convey the wire core towards the bending mechanism. After the feeding length of the wire core is measured in real time and reaches the fifth preset length value, turn off the fourth wire feeding mechanism; S44: Start the fourth power device to drive the bending turntable to rotate backward to the set position to perform reverse bending on the wire core; S45: Use the robotic arm to pick up the bent wire core and use vision to detect the S-bend shape of the wire core.

10. A mechanized intelligent device for secondary wiring of a substation, characterized in that: Including: A frame, on which a lifting mechanism is provided; A wiring working platform, installed on the lifting mechanism and used to perform secondary wiring operations; A lifting module, used to control the lifting mechanism to drive the wiring working platform to perform lifting motion to meet the wiring operation requirements of different height terminal blocks in a single switch cabinet; A tool library module, installed on the wiring working platform and used to perform pre-treatment operations on the wire core before secondary wiring; An upper computer module, used to deploy the control programs required for secondary wiring operations; A lower computer module, corresponding to the wiring working platform, the lifting module and the tool library module one by one, and used to control the corresponding wiring working platform, lifting module or tool library module to perform corresponding actions according to the control program; The tool library module adopts the wire core pre-treatment tool library as described in any one of claims 1-8; Two robotic arms are installed on the wiring working platform, and the main wiring execution module and the slave wiring execution module are interchangeably installed at the ends of the two robotic arms. Among them: the robotic arm installed with the main wiring execution module is the main robotic arm, and the robotic arm installed with the slave wiring execution module is the slave robotic arm; The main execution module includes an electric gripper, a first vision module, and a force sensing module. The electric gripper is used to grasp the wire core. The first vision module is used to identify the position and posture of the wire core. The force sensor module is used to sense whether the wire core connection is in place and firm. The slave connection execution module includes a tightening module and a second vision module. The tightening module is used to turn the screws on the side of the terminal block. The second vision module is used to identify the position of the terminal block jacks.

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