A wire cutting tool suitable for live working robots

Abstract

The present invention discloses a wire-breaking tool suitable for a live-working robot, comprising: a shearing assembly, which is used to cut the lead, the shearing assembly comprises a rotating knife and a fixed knife, one end of the rotating knife is hinged with the fixed knife; a clamping assembly, which is used to clamp the lead, the clamping assembly comprises an upper V-block, a lower V-block, a rectangular spring and a triangular seat, the upper V-block is fixed to the fixed knife, the triangular seat is fixed to the rotating knife, the lower V-block is slidably connected to the triangular seat, one end of the rectangular spring is connected to the lower V-block, and the other end of the rectangular spring is connected to the triangular seat; a driving assembly, which is used to drive the rotating knife to rotate relative to the fixed knife, the driving assembly comprises a fixed frame, and the fixed knife is fixed to the fixed frame. The present invention provides a wire-breaking tool suitable for a live-working robot, which can cooperate with the live-working robot to complete the wire-breaking operation, can effectively cut cables of different wire diameters, and has a self-contained clamping assembly, which avoids manual participation in the operation while also effectively improving the operation efficiency.

Description

Technical Field

[0001] The invention relates to the field of live-line working robots, and in particular to a wire cutting tool suitable for live-line working robots. Background Art

[0002] The distribution network is at the end of the power system and is a key link in ensuring reliable power supply. It occupies a very important position in the entire power supply system. Traditional live-line maintenance of distribution networks is carried out manually. Workers wear insulating clothing and stand in high-altitude insulating buckets to work. Distribution network lines are usually arranged tightly, and the distance between line phases is small. Manual live-line work has the risk of short circuits causing personal injury and death. At the same time, manual work is labor-intensive and has a high risk factor. In some areas, the distribution of distribution network lines and geographical conditions are poor, making it difficult to carry out related live-line work. The only way is to shut down the power supply for inspection and maintenance, which seriously affects the continuous and stable operation of the distribution network.

[0003] Robots can directly replace manual labor in live-line operations, eliminating the potential safety hazards of manual operations. However, in actual use, it is also found that existing live-line operation robots have few end tools and few businesses, which affects the further promotion and use of robots. It is urgent to develop end tools and processes for new businesses. Therefore, it is necessary to design a wire-breaking tool suitable for live-line operation robots to solve the above problems. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides a lead cutting tool suitable for a live working robot, which can cooperate with the live working robot to complete the lead cutting operation. It can effectively cut cables of different diameters and has its own clamping assembly, which avoids manual participation in the operation while also effectively improving the operation efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A wire cutting tool suitable for a live working robot, comprising:

[0007] A shearing assembly is used for shearing the lead wire, and the shearing assembly comprises a rotating knife and a fixed knife, wherein one end of the rotating knife is hinged to the fixed knife;

[0008] A clamping assembly is used to clamp the lead wire, and the clamping assembly includes an upper V-block, a lower V-block, a rectangular spring and a triangular seat, wherein the upper V-block is fixed to the fixed knife, the triangular seat is fixed to the rotating knife, the lower V-block is slidably connected to the triangular seat, one end of the rectangular spring is connected to the lower V-block, and the other end of the rectangular spring is connected to the triangular seat;

[0009] The driving assembly is used for driving the rotating knife to rotate relative to the fixed knife. The driving assembly comprises a fixed frame, and the fixed knife is fixed to the fixed frame.

[0010] In the above technical solution, the lead wire cutting tool is fixed on the robot. The working process is: in the first step, the robot takes out the transverse wire breaker tool and moves the rotating knife to the maximum opening limit through the drive assembly. In the second step, the robot delivers the transverse wire breaker tool to the working area and compares the wire cutting position. After determining the wire cutting position, the robot arm moves so that the transverse wire breaker gradually approaches the lead to be cut. After the lead completely enters the working area of ​​the transverse wire breaker shearing assembly, the robot stops moving. In the third step, the drive assembly drives the rotating knife to move so that the rotating knife gradually closes with the fixed knife to complete the wire cutting task. At the same time, the lower V block of the clamping assembly moves with the rotating knife to press the lead. Due to the reaction force of the rectangular spring, it works together with the upper V block to press the lead to be cut and complete the clamping action. In the fourth step, the other robot arm repeats the second and third steps to complete the shearing and clamping action at the other end of the lead. In the fifth step, the two robot arms move together to bring the cut lead to the safe release area, and the clamping mechanism releases and discards the lead. The wire cutting operation is completed. The shearing control between the rotating knife and the fixed knife is realized by driving the rotating knife through the driving component. The clamping component is used for clamping and removing the lead wire after shearing. It can cut the wire diameter within the maximum opening and closing range of the rotating knife and the fixed knife, saving human resources.

[0011] Preferably, the drive assembly further comprises a transmission shaft, a small bevel gear, a large bevel gear, a cross-knife screw and a screw nut, the fixed frame comprises a bracket seat and a transition support, the transmission shaft is rotatably connected to the transition support, one end of the transmission shaft is fixed to the small bevel gear, the cross-knife screw is rotatably connected to the bracket seat, one end of the cross-knife screw is fixed to the large bevel gear, the large bevel gear is meshed with the small bevel gear, the screw nut is slidably connected to the bracket seat, the screw nut is sleeved on the cross-knife screw and adapted to the cross-knife screw, and the shearing assembly further comprises a connecting rod, one end of the connecting rod is hinged to the screw nut, and the other end of the connecting rod is hinged to the rotating knife. The structure can realize the driving of the rotating knife, and the connecting rod mechanism can convert the rotational motion into linear motion, so that the opening and closing of the rotating knife can be controlled by the rotation of the drive assembly to complete the shearing action, and cables of different wire diameters can be clamped as the rotating knife closes, so that the position of the cable is fixed during shearing.

[0012] Preferably, it also includes a locking assembly, the locking assembly includes a fixed block, a locking rod, an unlocking rod, a locking wheel and an unlocking wheel, one end of the rotating knife and the fixed knife hingedly extend outward to form an extension rod, one end of the connecting rod is hinged to the extension rod; a guide shaft is provided on the extension rod, a sliding groove is provided on the fixed block, one end of the guide shaft is fixed to the extension rod, the other end of the guide shaft extends into the sliding groove and fits with the sliding groove, the locking wheel is rotatably connected to the fixed block, a plurality of blocking teeth are provided on the locking wheel, and the blocking teeth are evenly arranged along the outer circumference of the locking wheel. Two adjacent blocking teeth An unlocking gap is provided between the blocking teeth, the width of the blocking teeth is equal to the width of the unlocking gap, the unlocking wheel is connected to the locking wheel, and the unlocking wheel is provided with contact teeth; the locking rod is hinged to the fixed block, one end of the locking rod extends into the sliding groove, and the other end of the locking rod is aligned with the unlocking gap or the blocking teeth; the unlocking rod is hinged to the fixed block, one end of the unlocking rod extends into the sliding groove, and the other end of the unlocking rod is hinged with a contact rod, one end of the unlocking rod contacts with the contact teeth, a limit block is provided on the unlocking rod for limiting the rotation of the unlocking rod in one direction, and a torsion spring is provided on the contact rod for pressing the contact rod against the limit block.

[0013] In the above technical solution, the unlocking wheel and the locking wheel can be fixed coaxially or connected by a transmission gear. The locking assembly can provide a locking effect to prevent the lead from falling due to misoperation and improve safety. Before starting to cut, one end of the locking rod is aligned with the unlocking gap. When the rotating knife is clamped normally, the guide shaft slides in the slide groove, first contacts the locking rod, and then contacts the unlocking rod. The locking rod and the unlocking rod can rotate normally, and there is no obstruction in this direction. When the rotating knife needs to be unlocked, the guide shaft slides in the opposite direction in the slide groove. At this time, the unlocking rod drives the contact rod to move, so that the unlocking wheel rotates a unit angle, and the locking wheel rotates a unit angle accordingly. At this time, one end of the locking rod contacts the blocking tooth. If the guide shaft continues to slide in the opposite direction in the slide groove, the locking rod can block the guide shaft at this time, and because the other end of the locking rod contacts the blocking tooth at this time, the locking rod cannot rotate in the direction, which plays a role in limiting the further movement of the guide shaft, thereby limiting the opening of the rotating knife shearing assembly and the clamping assembly. If unlocking is required, the guide shaft can be moved again in the locking direction and pass through the unlocking rod, and then moved in the opposite direction again. The guide shaft drives the unlocking rod to rotate in the opposite direction again, and the unlocking rod drives the contact rod to move again, so that the unlocking wheel continues to rotate by one unit angle, and the locking wheel rotates by one unit angle accordingly. At this time, the locking wheel rotates a total of two units of angle, and one end of the locking rod is aligned with the unlocking gap. Then the guide shaft continues to slide in the opposite direction in the slide slot. Since the other end of the locking rod is aligned with the unlocking gap, the locking rod can rotate in the opposite direction, and the shearing assembly and the clamping assembly can be opened. The structure that can only be unlocked by the above-mentioned double reverse movement avoids the accidental opening of the shearing assembly and the clamping assembly caused by accidentally touching the switch or accidentally opening the control so that the motor drives the transmission shaft in reverse, thereby improving the safety of the equipment at high altitudes.

[0014] Preferably, the unlocking lever is provided with a first spring to keep the unlocking lever in the middle position; the locking lever is provided with a second spring to keep the locking lever in the middle position. The structure can ensure that the unlocking lever and the locking lever are provided with a spring to keep the locking lever in the middle position, ensuring that the guide shaft can contact them every time it passes.

[0015] Preferably, a damper is provided on the locking wheel. The structure can prevent the locking wheel from rotating by itself when it is not driven by the unlocking lever.

[0016] Preferably, the robot further comprises a docking assembly, which comprises a tool tray, a ramp block, a locking rod, a guide positioning disk and a locking spring, wherein the ramp block is fixed to the tool tray, the locking rod is slidably connected to the tool tray, and the locking spring is arranged between the locking rod and the tool tray. The docking assembly is provided with a locking device for fixing the output shaft of the robot. The wire breaking tool can be connected to the robot, providing a locking effect and improving the operating performance of the entire device.

[0017] Preferably, the driving assembly further comprises a guide rod and a nut seat, the guide rod is fixed to the bracket seat, the screw nut is fixed to the nut seat, and the nut seat is slidably connected to the guide rod. The structure can realize a stable sliding structure.

[0018] Preferably, one end of the transmission shaft extends out of the transition support, and a transfer pin is provided on the extended end of the transmission shaft.

[0019] The beneficial effects of the present invention are: (1) It can cooperate with a live working robot to complete the lead cutting operation, and can effectively cut cables of different wire diameters. It also has a built-in clamping component, which avoids manual participation in the operation and effectively improves the operation efficiency. (2) The locking component can provide a locking effect to avoid the lead falling due to misoperation, thereby improving safety. The structure that can only be unlocked by double reverse movement avoids the situation where the shearing component and the clamping component are accidentally opened due to accidental touching of the switch or the control is accidentally turned on, causing the motor to drive the transmission shaft in reverse, thereby improving the safety of the equipment at high altitudes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 is a cross-sectional view of the present invention;

[0022] Figure 3 is a second axonometric view of the present invention;

[0023] Figure 4 is a third axonometric view of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the locking component.

[0025] In the figure: clamping assembly 1, shearing assembly 2, driving assembly 3, docking assembly 4, distal support 5, shoulder type oil-free bushing 6, thrust ball bearing 7, nut seat 8, shoulder screw 1 9, connecting rod 10, cross knife screw 11, guide column 12, ordinary flat key 2 13, large bevel gear 14, rotating knife 15, proximal support 16, anti-loosening nut 17, fixed knife 18, shoulder screw 2 19, upper V block 20, ordinary flat key 1 21, guide positioning plate 22, tool plate 23, ramp block 24, transfer pin 25, transmission shaft 26, spring 2727, deep groove ball bearing 1 28, locking rod 29, transition support 30, deep groove ball bearing 2 31, small bevel gear 32, bracket seat 33, screw nut 34, clamping block 35, lower V block 36, rectangular spring 37, triangular seat 38, oil-free bushing 2 39, guide rod 40, oil-free bushing 1 41, locking assembly 42, fixing block 43, slide groove 43.1, locking rod 44, unlocking rod 45, locking wheel 46, blocking tooth 46.1, unlocking gap 46.2, unlocking wheel 47, contact tooth 47.1, contact rod 48, extension rod 49, guide shaft 50, limit block 51. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] Embodiment 1:

[0028] like Figure 1 As shown, a wire cutting tool suitable for a live working robot comprises a docking assembly 4, a driving assembly 3, a shearing assembly 2 and a clamping assembly 1.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, the docking assembly includes a tool tray 23, a ramp block 24, a locking rod 29, a guide positioning disk 22, and a spring 27. The three ramp blocks 24 are connected to the tool tray 23 by screws, and a locking spring 27 is compressed between the locking rod 29 and the tool tray 23, and connected by a cylindrical pin. The guide positioning disk 22 is fixed to the tool tray 23 by 3 screws.

[0030] The drive assembly includes a transmission pin 25, a transmission shaft 26, a transition support 30, a bracket seat 33, a proximal support 16, a distal support 5, a small bevel gear 32, a large bevel gear 14, a cross-knife screw 11, a screw nut 34, a nut seat 8, a guide rod 40, an oil-free bushing 1 41, a shoulder-type oil-free bushing 6, a common flat key 1 21, a common flat key 2 13, a thrust ball bearing 7, a deep groove ball bearing 1 28, and a deep groove ball bearing 2 31. The transmission pin 25 is installed at the end of the transmission shaft 26 to fit with the end output shaft and transmit torque. The deep groove ball bearing 1 28 is pressed into the installation hole of the transition support 30, and the deep groove ball bearing 1 28 is pressed by the guide positioning disk 22 of the docking assembly, and the guide positioning disk 22 is connected to the transition support 30 by four screws. The deep groove ball bearing 1 28 fits with the shoulder of the transmission shaft 26. The deep groove ball bearing 2 31 is pressed into the other end of the transition support 30, and the inner hole of the deep groove ball bearing 2 31 cooperates with the transmission shaft 26. The small bevel gear 32 is connected to the end of the transmission shaft 26 through the common flat key 1 21, and the end of the small bevel gear 32 fits the inner ring of the bearing 2 31, and the small bevel gear 32 is connected to the end of the transmission shaft 26 through a screw. The large bevel gear 14 cooperates with the small bevel gear 32. The large and small bevel gear pairs are used for connection, torque transmission and reversing between the transmission shaft and the cross-knife screw 11. The large bevel gear 14 is connected to the cross-knife screw 11 through the common flat key 2 13, and the end face of the large bevel gear 14 fits the shoulder of the cross-knife screw 11 and is connected by 4 screws. The bracket seat 33 and the transition support 30 are positioned by 2 cylindrical pins and connected by 4 screws. The bracket seat 33 is used for the installation and positioning of the support seats at both ends of the cross-knife screw 11. The proximal support 16 is pressed into the mounting hole of the bracket seat 33, positioned by a cylindrical pin, and fixed by 4 screws. The distal support 5 is positioned with the other end of the bracket seat 33 by a cylindrical pin and fixed by two screws. The proximal support 16 and the distal support 5 are used to support the two ends of the cross-blade screw 11. Two shoulder-type oil-free bushings 6 and two thrust ball bearings 7 are pressed into the mounting holes of the proximal support 16 and the distal support 5 respectively. The shaft shoulders at both ends of the cross-blade screw 11 fit with the two thrust ball bearings 7. The screw nut 34 is connected to the cross-blade screw 11 by threads, the nut seat 8 and the screw nut 34 are matched through the shaft hole, and the flange on the end face of the screw nut 34 is connected to the nut seat 8 by four screws. Two oil-free bushings 41 are pressed into the two guide holes of the nut seat respectively. The two guide rods 40 are connected to the nut seat through an oil-free bushing. The guide rod 40 bears radial force and is used to guide the nut seat 8.

[0031] The shearing assembly includes a connecting rod 10, a movable knife 15, a fixed knife 18, a clamping block 35, a shoulder screw 9, and a lock nut 17. The connecting rod 10 is connected to the nut seat 8 in the driving assembly through a shoulder screw 9. The fixed knife 18 is pressed into the mounting groove of the proximal support 16 in the driving assembly and connected by two screws. The connecting rod 10 is connected to the movable knife 15 through a lock nut 17. The connecting rod 10 is used for the connection and force transmission between the driving assembly and the movable knife 15. The movable knife 15 and the fixed knife 18 are connected by a lock nut 17. The clamping block 35 is connected to the movable knife 15 through two screws and is used to press the two shearing knives during the overlap process of the movable knife 15 and the fixed knife 18. The driving assembly drives the connecting rod 10 to rotate, so that the movable knife 15 and the fixed knife 18 gradually fit together to complete the wire breaking shearing operation.

[0032] The clamping assembly includes an upper V-block 20, a lower V-block 36, a guide column 12, a triangular seat 38, an oil-free bushing 2 39, a rectangular spring 37, and a shoulder screw 2 19. The upper V-block 20 is connected to the fixed knife 18 in the shearing assembly through three shoulder screws 2 19. The triangular seat 38 is connected to the movable knife 15 in the shearing assembly through four shoulder screws 2 19. The oil-free bushing 2 39 is pressed into the mounting hole of the triangular seat, and the two guide columns 12 are connected to the triangular seat 38 through the oil-free bushing 2 39. The guide column 12 passes through the rectangular spring 37, fits with the end face of the lower V-block 36, and is connected by screws. During the shearing operation, the lower V-block 36, under the action of the rectangular spring 37, clamps the lead together with the upper V-block to complete the lead clamping action.

[0033] The working process of the present invention is as follows: Step 1: The robot takes out the transverse wire breaker tool, drives the transmission shaft 26 to reverse, drives the connecting rod 10 and the moving knife 15 in the shearing assembly to move through the driving assembly, and moves the moving knife 15 to the maximum opening limit. Step 2: The robot delivers the transverse wire breaker tool to the working area and compares the wire cutting position. After determining the wire cutting position, the robot arm moves so that the transverse wire breaker gradually approaches the lead to be cut. After the lead completely enters the working area of ​​the transverse wire breaker shearing assembly, the robot stops moving. Step 3: Drive the inner rod of the robot arm to rotate, drive the transmission shaft 26 to rotate forward, drive the connecting rod 10 and the moving knife 15 in the shearing assembly to move through the driving assembly, so that the moving knife 15 gradually closes with the fixed knife 18 to complete the wire cutting task. At the same time, the lower V block 36 of the clamping assembly moves with the moving knife 15 and presses the lead. Due to the reaction force of the rectangular spring 37, it works together with the upper V block to press the lead to be cut, completing the clamping action. Step 4: The other robot arm repeats the second and third steps to complete the cutting and clamping action of the other end of the lead wire. Step 5: The two robot arms move together to bring the cut lead wire to the safe release area, drive the transmission shaft 26 to reverse, and the clamping mechanism releases and discards the lead wire. The lead wire cutting operation is completed.

[0034] Embodiment 2:

[0035] like Figure 5As shown, on the basis of Example 1, it also includes a locking assembly 42, which includes a fixed block 43, a locking rod 44, an unlocking rod 45, a locking wheel 46 and an unlocking wheel 47. The end at which the rotating knife 15 is hinged to the fixed knife 18 extends outward to form an extension rod 49, and one end of the connecting rod 10 is hinged to the extension rod 49; a guide shaft 50 is provided on the extension rod 49, and a slide groove 43.1 is provided on the fixed block 43. One end of the guide shaft 50 is fixed to the extension rod 49, and the other end of the guide shaft 50 extends into the slide groove 43.1 and is adapted to the slide groove 43.1. The locking wheel 46 is rotatably connected to the fixed block 43, and a damper is provided on the locking wheel 46. The locking wheel 46 is provided with a plurality of blocking teeth 46.1, which are evenly arranged along the outer circumference of the locking wheel 46, and an unlocking gap 46.2 is provided between two adjacent blocking teeth 46.1, and the width of the blocking teeth 46.1 is equal to the width of the unlocking gap 46.2. The unlocking wheel 47 is connected to the locking wheel 46, and the unlocking wheel 47 is provided with a contact tooth 47.1; the locking rod 44 is hinged to the fixed block 43, one end of the locking rod 44 extends into the slide groove 43.1, and the other end of the locking rod 44 is aligned with the unlocking gap 46.2 or the blocking teeth 46.1; the locking rod 44 is provided with a second spring to keep the locking rod 44 in the middle position. The unlocking rod 45 is hinged to the fixed block 43, one end of the unlocking rod 45 extends into the slide groove 43.1, and the other end of the unlocking rod 45 is hinged with a contact rod 48, one end of the unlocking rod 45 contacts the contact tooth 47.1, and the unlocking rod 45 is provided with a first spring to keep the unlocking rod 45 in the middle position. The unlocking rod 45 is provided with a limit block 51 for limiting the rotation of the unlocking rod 45 in one direction, and the contact rod 48 is provided with a torsion spring for pressing the contact rod 48 against the limit block 51. The unlocking rod 45 is provided with a first spring for keeping the unlocking rod 45 in the middle position; the locking rod 44 is provided with a second spring for keeping the locking rod 44 in the middle position.

[0036] In the above technical solution, the unlocking wheel 47 and the locking wheel 46 can be coaxially fixed or connected through a transmission gear. The locking assembly 42 can provide a locking effect to prevent the lead from falling due to misoperation and improve safety. 1, the locking rod 44 cannot rotate in the direction, which plays a role in limiting the further movement of the guide shaft 50, thereby limiting the opening of the shearing assembly 2 and the clamping assembly 1 of the rotating knife 15. If unlocking is required, the guide shaft 50 can be moved again in the locking direction and pass through the unlocking rod 45, and then moved in the opposite direction again. The guide shaft 50 drives the unlocking rod 45 to rotate in the opposite direction again, and the unlocking rod 45 drives the contact rod 48 to move again, so that the unlocking wheel 47 continues to rotate by one unit angle, and the locking wheel 46 rotates by one unit angle accordingly. At this time, the locking wheel 46 rotates by two units of angle in total, and one end of the locking rod 44 is aligned with the unlocking gap 46.2. Then the guide shaft 50 continues to slide in the opposite direction in the slide groove 43.1. Since the other end of the locking rod 44 is aligned with the unlocking gap 46.2, the locking rod 44 can rotate in the opposite direction, and the shearing assembly 2 and the clamping assembly 1 can be opened. The structure that can only be unlocked by the above-mentioned double reverse movement avoids the situation that the shearing assembly 2 and the clamping assembly 1 are accidentally opened due to the accidental touch of the switch or the control of its accidental opening, which causes the motor to drive the transmission shaft 26 to reverse, thereby improving the safety of the equipment in the air.

[0037] Compared with the prior art, the beneficial effects produced by the present invention include: 1. The transverse wire breaker is suitable for live robot operations. 2. The transverse wire breaker has a simple structure and is easy to install. 3. The transverse wire breaker has its own clamping mechanism, which is suitable for the cutting, clamping and discarding of leads of different wire diameters in the vertical lap lead scenario, greatly improving the working efficiency and safety. 4. The locking component can provide a locking effect to avoid the lead falling due to misoperation, thereby improving safety. The structure that requires two reverse movements to unlock avoids the accidental opening of the shearing component and the clamping component due to accidental touching of the switch or the accidental opening of the control, which causes the motor to drive the transmission shaft in reverse, thereby improving the safety of the equipment at high altitudes.

Claims

1. A wire cutting tool suitable for a live working robot, characterized in that: include: A shearing assembly is used for shearing the lead wire, and the shearing assembly comprises a rotating knife and a fixed knife, wherein one end of the rotating knife is hinged to the fixed knife; A clamping assembly is used to clamp the lead wire, and the clamping assembly includes an upper V-block, a lower V-block, a rectangular spring and a triangular seat, wherein the upper V-block is fixed to the fixed knife, the triangular seat is fixed to the rotating knife, the lower V-block is slidably connected to the triangular seat, one end of the rectangular spring is connected to the lower V-block, and the other end of the rectangular spring is connected to the triangular seat; A driving assembly is used to drive the rotating knife to rotate relative to the fixed knife. The driving assembly includes a fixed frame and a screw nut, and the fixed knife is fixed to the fixed frame; the shearing assembly also includes a connecting rod, one end of the connecting rod is hinged to the screw nut, and the other end of the connecting rod is hinged to the rotating knife; the fixed frame includes a bracket seat and a transition support, and the screw nut is slidably connected to the bracket seat; The locking assembly comprises a fixed block, a locking rod, an unlocking rod, a locking wheel and an unlocking wheel. One end of the rotating knife and the fixed knife is hinged to extend outward to form an extension rod, and one end of the connecting rod is hinged to the extension rod; a guide shaft is provided on the extension rod, and a slide groove is provided on the fixed block. One end of the guide shaft is fixed to the extension rod, and the other end of the guide shaft extends into the slide groove and fits with the slide groove. The locking wheel is rotatably connected to the fixed block, and a plurality of blocking teeth are provided on the locking wheel. The blocking teeth are evenly arranged along the outer circumference of the locking wheel, and there is a gap between two adjacent blocking teeth. An unlocking gap is provided, the width of the blocking tooth is equal to the width of the unlocking gap, the unlocking wheel is connected to the locking wheel, and the unlocking wheel is provided with a contact tooth; the locking rod is hinged to the fixed block, one end of the locking rod extends into the slide groove, and the other end of the locking rod is aligned with the unlocking gap or the blocking tooth; the unlocking rod is hinged to the fixed block, one end of the unlocking rod extends into the slide groove, and the other end of the unlocking rod is hinged with a contact rod, one end of the contact rod contacts with the contact tooth, a limit block is provided on the unlocking rod for limiting the rotation of the contact rod in one direction, and a torsion spring is provided on the contact rod for pressing the contact rod against the limit block.

2. A wire cutting tool suitable for a live working robot according to claim 1, characterized in that: The drive assembly also includes a transmission shaft, a small bevel gear, a large bevel gear, and a cross-blade screw. The transmission shaft is rotatably connected to the transition support, one end of the transmission shaft is fixed to the small bevel gear, the cross-blade screw is rotatably connected to the bracket seat, one end of the cross-blade screw is fixed to the large bevel gear, the large bevel gear is meshed with the small bevel gear, and the screw nut is sleeved on the cross-blade screw and adapted to the cross-blade screw.

3. A wire cutting tool suitable for a live working robot according to claim 1, characterized in that: The unlocking rod is provided with a first spring which keeps the unlocking rod in a middle position; the locking rod is provided with a second spring which keeps the locking rod in a middle position.

4. A wire cutting tool suitable for a live working robot according to claim 1, characterized in that: The locking wheel is provided with a damper.

5. A wire cutting tool suitable for a live working robot according to claim 1, 2, 3 or 4, characterized in that: It also includes a docking assembly, which includes a tool tray, a ramp block, a locking rod, a guide positioning disk and a locking spring. The ramp block is fixed to the tool tray, the locking rod is slidably connected to the tool tray, and the locking spring is arranged between the locking rod and the tool tray.

6. A wire cutting tool suitable for a live working robot according to claim 2, 3 or 4, characterized in that: The driving assembly also includes a guide rod and a nut seat, the guide rod is fixed to the bracket seat, the screw rod nut is fixed to the nut seat, and the nut seat is slidably connected to the guide rod.

7. A wire cutting tool suitable for a live working robot according to claim 2, 3 or 4, characterized in that: One end of the transmission shaft extends out of the transition support, and a transfer pin is arranged on the extended end of the transmission shaft.

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