A wire stripper for live-line robotic arm

Abstract

The application discloses a cable stripping device for a live working mechanical arm, which comprises a power device, a cable stripping disc and a first transmission mechanism connected with the power device, wherein the first transmission mechanism comprises a plurality of driving rods in contact with the periphery of the cable stripping disc; all the driving rods are arranged on the cable stripping disc; at least two driving rods are fixedly rotated to drive the cable stripping disc to rotate in the circumferential direction; the cable stripping disc is provided with a wire arranging groove for allowing a cable to be clamped inward from the periphery of the cable stripping disc and a stripping cutter for cutting the surface of the cable; and the stripping cutter is fixedly arranged on the cable stripping disc in the circumferential direction. The cable stripping device for the live working mechanical arm can be used for automatic cable stripping work, and can realize high-altitude work under the support of a mechanical arm or the like. The cable stripping device mainly comprises mechanical parts, has a simple structure and greatly reduces the use amount of electrical parts, so that the insulation difficulty is simplified, the cable stripping device is convenient to use, and the cable stripping device can be widely applied to the skin stripping work of various cables.

Description

Technical Field

[0001] This application relates to the field of live-line working, and more particularly to a wire stripper for a live-line working robotic arm. Background Technology

[0002] When working on live wires at heights, it is sometimes necessary to strip part of the cable sheath. This is often done using a live-line working robotic arm and a wire stripping assembly for automatic stripping.

[0003] Traditional wire stripping assemblies mostly use multiple power sources to control the operation of multiple components of the wire stripping assembly. For example, traditional wire stripping assemblies require multiple power sources, multiple mechanical parts, and multiple electrical parts to achieve actions such as screw rotation, cutter extension, and wire stripping rotation, thereby meeting the requirements of automatic wire stripping. This not only greatly increases the weight of the equipment, but also requires more insulation parts, which is costly. Furthermore, the wire stripping assembly is easily damaged by the breakdown of insulation materials under high voltage and magnetic field environments. Summary of the Invention

[0004] The purpose of this application is to provide a wire stripper for a live-line working robotic arm, which is mainly composed of mechanical parts and combined with fewer electrical parts to meet the requirements of automatic wire stripping operations in high-voltage and high-magnetic environments, thereby reducing weight and lowering the equipment failure rate.

[0005] To achieve the above objectives, this application provides a wire stripper for a live-line working robotic arm, comprising a power unit, a wire stripping disc, and a first transmission mechanism connected to the power unit. The first transmission mechanism includes multiple drive rods that engage with the circumference of the wire stripping disc. All drive rods are available for mounting the wire stripping disc, and at least two drive rods rotate on a fixed axis to drive the wire stripping disc to rotate circumferentially. The wire stripping disc is provided with a wire groove for inserting the cable from the circumference of the wire stripping disc and a stripping blade for cutting into the cable sheath. The stripping blade and the wire stripping disc are circumferentially fixed.

[0006] In some embodiments, the power device is further connected to a second transmission mechanism; the second transmission mechanism includes a linear drive end that contacts and engages with the end face of the wire stripping disc; the direction of movement of the linear drive end is parallel to the axial direction of the wire stripping disc.

[0007] In some embodiments, the wire stripping reel includes a first reel body and a second reel body; the first reel body and the second reel body are circumferentially fixed and axially slidably connected; the axial projection of the first reel body coincides with or is within the axial projection of the second reel body; the two ends of the stripping blade along the blade length direction are slidably connected to the first reel body and the second reel body respectively, the stripping blade and the first reel body slide relative to each other along the axial direction of the wire stripping reel, and the stripping blade and the second reel body slide relative to each other along the radial direction of the wire stripping reel; the linear drive end contacts and engages with the end face of the second reel body.

[0008] In some embodiments, the wire stripping disc is provided with a plurality of stripping blades; the wire placement groove includes a wire clamping groove located at the center of the wire stripping disc and a guide groove provided on one side of the wire clamping groove; all the stripping blades are evenly distributed around the periphery of the wire clamping groove; the wire stripping disc also includes an electromagnet and an armature respectively provided on the first disc body and the second disc body; when the electromagnet is energized, the first disc body and the second disc body move closer to each other and drive all the stripping blades to surround the wire clamping groove at the first disc body.

[0009] In some embodiments, the wire stripper also includes a guide rod, with its two ends passing through the first disc body and the second disc body respectively. The guide rod is slidably connected to the first disc body and the second disc body along the axial direction of the wire stripper. A pressing block is slidably assembled on the wire stripper, with one end of the pressing block in the sliding direction located in the wire clamping groove and the other end extending into the wire stripper and adjacent to the guide rod. The pressing block, sliding toward the guide rod, pushes the guide rod radially along the guide rod.

[0010] In some embodiments, the circumferences of at least two drive rods engage with the circumferential teeth of the wire stripper disc.

[0011] In some embodiments, any one drive rod is parallel to the axial direction of the wire stripping disc; all drive rods are paired, and the first transmission mechanism includes two or more pairs of drive rods; the distance between the adjacent pair of drive rods with the smallest spacing is greater than the chord length of the wire placement groove at the circumference of the wire stripping disc.

[0012] In some embodiments, the first transmission mechanism has three pairs of drive rods; any one drive rod is horizontal; any pair of drive rods is symmetrically distributed on both sides of the stripper disc, and multiple pairs of drive rods are distributed at intervals along the vertical direction; all drive rods are rotatably connected to the mounting base, and the power equipment is connected to and drives the pair of drive rods at the bottom and the pair of drive rods at the top to rotate.

[0013] In some embodiments, the power device is an electric motor; the second transmission mechanism includes a rotating component connected to the electric motor and a sliding component cooperating with the rotating component; the sliding component is a linear drive end.

[0014] In some embodiments, the rotating component is specifically a drive shaft that rotates on a fixed axis and remains stationary axially, and the sliding component is specifically a sliding block; the drive shaft and the sliding block are threaded together, and the motor is connected to the drive shaft through a drive rod to drive the drive shaft to rotate.

[0015] Compared to the aforementioned background technology, the wire stripper for live-line working robotic arms provided in this application includes a power unit, a wire stripping disc, and a first transmission mechanism connected to the power unit.

[0016] The first transmission mechanism includes multiple drive rods that contact and cooperate with the circumference of the wire stripping disc. All drive rods can be mounted on the wire stripping disc. At least two drive rods rotate on a fixed axis under the action of the power equipment, thereby driving the wire stripping disc to rotate circumferentially.

[0017] The wire stripping reel is equipped with a wire-holding groove for inserting and positioning cables, and a stripping blade for cutting into the cable sheath. The wire-holding groove runs through the axial direction of the wire stripping reel and is exposed radially, so the cable can be inserted from the circumference of the wire stripping reel inward. The stripping blade and the wire stripping reel are circumferentially fixed. When the cable is positioned in the wire-holding groove, the stripping blade cuts into the cable sheath. At this time, the power equipment can drive the wire stripping reel to rotate through the first transmission mechanism and its drive rod, which in turn drives the stripping blade to rotate around the cable, causing the stripping blade to cut the cable sheath, thus achieving automatic wire stripping.

[0018] With the support of robotic arms and other equipment, wire strippers used in live-line working robotic arms can perform automatic wire stripping operations at high altitudes, suitable for high-voltage and high-magnetic environments. Although the wire stripper is in close contact with the cable, both the first transmission mechanism with the drive rod and the stripping disc with the wire slot and stripping blade are mainly mechanical parts. The structure is simple and easy to use, reducing the number of electrical parts and thus significantly reducing the parts of the wire stripper that require insulation protection. This simplifies the insulation operation of the wire stripper and enables its widespread and long-term reliable application in the automatic stripping of various types of cables. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application in the first direction;

[0021] Figure 2 for Figure 1 A magnified view of a portion at point A;

[0022] Figure 3 This is a schematic diagram of the structure of the dial provided in the embodiment of this application;

[0023] Figure 4 This is a front view of the dial provided in an embodiment of this application;

[0024] Figure 5 Left view of the dial provided in an embodiment of this application;

[0025] Figure 6 for Figure 5 A sectional view along the BB direction;

[0026] Figure 7 This is a partial cross-sectional view of the wire-drawing disc at the extrusion block and extrusion ring provided in an embodiment of this application;

[0027] Figure 8 for Figure 7 Local method diagram at point C;

[0028] Figure 9 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application in the second direction;

[0029] Figure 10 for Figure 9 A magnified view of the area at point D;

[0030] Figure 11 This is a top view of a wire stripper for a live-line working robotic arm provided in an embodiment of this application;

[0031] Figure 12 This is a front view of the wire stripper for a live-line working robotic arm provided in an embodiment of this application;

[0032] Figure 13 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application, viewed from a third-party perspective.

[0033] Figure 14 This is a left view of a wire stripper for a live-line working robot provided in an embodiment of this application.

[0034] Among them, 1-stripping disc, 101-wire placement groove, 1011-wire clamping groove, 1012-guide groove, 102-stripping blade, 11-first disc body, 12-second disc body, 13-guide rod, 14-arc cavity, 15-extrusion rod cavity, 16-guide hole, 21-drive rod, 22-drive gear, 23-gear, 24-transmission chain, 25-belt, 31-lateral movable gear, 32-functional shaft, 33-hollow shaft, 34-push plate, 41-extrusion block, 42-extrusion ring, 43-extrusion rod, 5-mounting seat, 51-base plate, 52-frame, 53-auxiliary block, 6-installation component. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Please refer to Figures 1 to 14 , Figure 1 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application in the first direction; Figure 2 for Figure 1 A magnified view of a portion at point A; Figure 3 This is a schematic diagram of the structure of the dial provided in the embodiment of this application; Figure 4 This is a front view of the dial provided in an embodiment of this application; Figure 5 Left view of the dial provided in an embodiment of this application; Figure 6 for Figure 5 A sectional view along the BB direction; Figure 7 This is a partial cross-sectional view of the wire-drawing disc at the extrusion block and extrusion ring provided in an embodiment of this application; Figure 8 for Figure 7 Local method diagram at point C; Figure 9 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application in the second direction; Figure 10 for Figure 9 A magnified view of the area at point D; Figure 11 This is a top view of a wire stripper for a live-line working robotic arm provided in an embodiment of this application; Figure 12 This is a front view of the wire stripper for a live-line working robotic arm provided in an embodiment of this application; Figure 13 A schematic diagram of the wire stripper for a live-line working robotic arm provided in an embodiment of this application, viewed from a third-party perspective. Figure 14 This is a left view of a wire stripper for a live-line working robot provided in an embodiment of this application.

[0038] Please refer to Figures 1 to 8 This application provides a wire stripper for a live-line working robotic arm, including a power unit, a wire stripping disc 1, and a first transmission mechanism. The first transmission mechanism includes multiple drive rods 21, which can contact and cooperate with the circumference of the wire stripping disc 1 to realize the installation of the wire stripping disc 1 among the multiple drive rods 21. The first transmission mechanism is connected to the power unit. When the power unit is turned on, at least two drive rods 21 in the first transmission mechanism rotate on a fixed axis, which can drive the wire stripping disc 1 to rotate circumferentially. The aforementioned wire stripping disc 1 is provided with a wire placement groove 101 for inserting cables and a stripping blade 102 for stripping the outer sheath of cables. The wire placement groove 101 is open inward from the circumference of the wire stripping disc 1 in the radial direction and extends through the axial direction of the wire stripping disc 1. It can be seen that the cable can move radially along the wire stripping disc 1 and be embedded in the wire placement groove 101 to achieve positioning and installation within the wire placement groove 101. When the cable is positioned in the cable tray 101, the stripper 102 cuts into the cable sheath. Once the power equipment drives the stripping disc 1 to rotate axially through the first transmission mechanism, the stripping disc 1 drives the aforementioned stripper 102 to rotate, causing the stripper 102 to cut off the cable sheath, thus stripping the cable sheath.

[0039] The reason for using two or more fixed-axis rotating drive rods 21 to drive the stripping disc 1 to rotate circumferentially is that the stripping disc 1 has a gap around its circumference due to the wire placement groove 101. When one of the drive rods 21 happens to move into the aforementioned gap, that drive rod 21 cannot drive the stripping disc 1 to continue rotating. At this time, it is necessary to use other drive rods 21 that are in contact with the stripping disc 1 and rotate on a fixed axis to drive the stripping disc 1 to continue rotating. It can be seen that during one rotation of the stripping disc 1, the first transmission mechanism contacts and drives the stripping disc 1 to rotate at any given time with at least one fixed-axis rotating drive rod 21. In addition, considering that the stripping disc 1 is supported by multiple drive rods 21, when some drive rods 21 move into the gap of the stripping disc 1, the first transmission mechanism often needs to use two or more drive rods 21 to support the stripping disc 1 upwards to ensure the smooth movement of the stripping disc 1 during circumferential rotation.

[0040] The wire stripper used in this live-line working robotic arm (hereinafter referred to as the wire stripper) is mostly used in high-altitude operations. In other words, the object of the wire stripper is a cable at high altitude. Therefore, in this embodiment, the process of the cable moving and embedding into the cable groove 101 is actually the process of the wire stripper approaching the aforementioned cable. That is, the cable basically remains stationary while the wire stripper gradually approaches the cable.

[0041] When the cable is embedded in the cable tray 101 of the stripper disc 1, the stripper blade 102 can cut into the cable sheath. It can be seen that for a single stripper blade 102, part of the blade 102 is connected to the stripper disc 1, and part of the blade 102 extends into the cable tray 101. Therefore, when the operator moves the stripper towards the cable, the relative position of the stripper and the cable can be controlled, thereby controlling the force applied to the cable by the cable tray 101 and the stripper blade 102 within it, achieving the goal of the stripper blade 102 cutting into the cable sheath.

[0042] When the stripper 102 cuts into the cable sheath, depending on its shape and installation angle within the stripping reel 1, the blade of the stripper 102 can be at various angles to the cable, including but not limited to the intersection of the blade's length direction and the cable's length direction. Furthermore, operators often need to strip the cable in specific areas along its length. Therefore, when the stripper 102 cuts through the cable sheath, the operator can move the stripper 102 along the cable's length. For example, the operator can move the entire stripper relative to the cable, thereby moving the stripping reel 1 and its stripper 102 relative to the cable. Of course, without moving the stripper, by rationally designing the size and installation angle of the stripper 102's blade, the blade can also strip the cable sheath in specific areas along its length.

[0043] In summary, the wire stripper provided in this application, with the support of equipment such as robotic arms, can automatically strip the outer sheath of cables at high altitudes. As a wire stripper that comes into close contact with cables, both the first transmission mechanism with the drive rod 21 and the wire stripping disc 1 with the wire slot 101 and stripping blade 102 are mainly mechanical components with simple structures, greatly simplifying the insulation requirements of the wire stripper, making it easy to use, and enabling its widespread application in stripping operations of various types of cables. Although the power equipment often still requires insulation protection, it can maintain an appropriate distance from the main working area of ​​the wire stripping disc 1 and the first transmission mechanism, reducing electromagnetic interference with the cables, and is also easy to insulate.

[0044] The wire stripper for live-line working robotic arms provided in this application will be further described below with reference to the accompanying drawings and embodiments.

[0045] In some embodiments, please refer to Figure 1 , Figures 9 to 14 The wire stripper provided in this application also includes a second transmission mechanism; the second transmission mechanism and the first transmission mechanism are both connected to a power device, and the power device drives the first transmission mechanism and the second transmission mechanism to move. That is to say, the output end of the power device is simultaneously connected to the input end of the first transmission mechanism and the input end of the second transmission mechanism.

[0046] The aforementioned second transmission mechanism includes a linear drive end that contacts and engages with the end face of the wire stripping disc 1. The direction of movement of this linear drive end is parallel to the axial direction of the wire stripping disc 1. Therefore, when the power device is activated, the second transmission mechanism, through the linear drive end, pushes against the end face of the wire stripping disc 1, causing the wire stripping disc 1 to displace along its own axial direction. Based on the relative position of the wire stripping disc 1 and the cable inserted into it, the axial displacement of the wire stripping disc 1 can be decomposed into the length direction of the cable. Therefore, when the wire stripping disc 1 moves along its axial direction under the drive of the power device and the second transmission mechanism, the wire stripping disc 1 and its stripping blade 102 can strip a specific area of ​​the cable along its length without requiring the entire wire stripper to be moved.

[0047] For example, when an operator needs to use the wire stripper to remove the outer sheath of a cable in the first area along its length, the operator can move and position the wire stripper using a robotic arm or other equipment, causing the wire stripper to engage with the aforementioned first area of ​​the cable. After the stripper's blade 102 cuts into the sheath of the first area, the operator activates the power equipment. On one hand, the power equipment drives the stripping disc 1 and the stripper 102 to rotate circumferentially through the first transmission mechanism and its drive rod 21, causing the stripper 102 to cut the cable sheath. On the other hand, the power equipment pushes the end face of the stripping disc 1 through the second transmission mechanism and its linear drive end, causing the stripping disc 1, which is mounted between multiple drive rods 21, to move along the direction of movement of the linear drive end, that is, to move the aforementioned stripping disc 1 along the axial direction of the stripping disc 1, so that the stripper 102 can cut off the sheath in the entire first area.

[0048] If the operator needs to use the wire stripper to strip the outer sheath of the cable in the second area along the length direction, and the area of ​​the second area is much larger than the area of ​​the first area, it means that the second transmission mechanism alone cannot make the wire stripping disc 1 and its stripping blade 102 strip the outer sheath of the entire second area. In this case, the operator can move the entire wire stripper so that the working area of ​​the wire stripping disc 1 and its stripping blade 102 covers the entire second area.

[0049] When a power device drives the first transmission mechanism and the second transmission mechanism, the power device usually has only one output end, and the movement of this output end is specific. At the same time, the output end of the first transmission mechanism is the drive rod 21, and the motion characteristic of the drive rod 21 is fixed-axis rotation. The output end of the second transmission mechanism is the linear drive end, and the motion characteristic of the linear drive end is translation. It can be seen that the output end of the power device outputs angular displacement outward through the first transmission structure and linear displacement outward through the second transmission mechanism.

[0050] For example, if the output end of the power device outputs an angular displacement, the first transmission mechanism can transmit the angular displacement output by the power device to the drive rod 21 through a gear transmission structure, belt pulley transmission structure, or other structures, thereby achieving the fixed-axis rotation of the drive rod 21. The second transmission mechanism can convert the angular displacement output by the power device into a linear displacement of the linear drive end through a worm gear structure, linear guide structure, or other structures, thereby achieving the translation of the linear drive end. Conversely, the output end of the power device can also output a linear displacement. The first transmission mechanism can convert this linear displacement into an angular displacement and output it outward through its drive rod 21, while the second transmission mechanism can transmit the linear displacement to the linear drive end and output it outward. Undeniably, the power device could also have separate output ends for the first and second transmission mechanisms to drive their respective actions. However, this would increase the structural complexity of the power device and be detrimental to the design and application of the wire stripper. Therefore, in the various embodiments provided in this application, the same output end of the same power device is preferred to drive the first and second transmission mechanisms.

[0051] Generally, when the power equipment is turned on, the first transmission mechanism and its drive rod 21, and the second transmission mechanism and its linear drive end will move synchronously, causing the wire stripper 1 and its stripper blade 102 to both rotate around the cable and move along the length of the cable. Of course, by reasonably designing the initial distance between the linear drive end and the end face of the wire stripper 1, the linear drive end can also be started after the drive rod 21. That is, the wire stripper 1 and its stripper blade 102 will first rotate around the cable for a period of time. During this process, although the linear drive end moves, it has not yet contacted the end face of the wire stripper 1. Therefore, the wire stripper 1 and its stripper blade 102 will not move along the length of the cable. Subsequently, after the movement distance of the linear drive end is greater than the aforementioned initial distance, the linear drive end contacts and pushes the wire stripper 1 to move. At this time, the wire stripper 1 and its stripper blade 102 are controlled by both the drive rod 21 and the linear drive end.

[0052] Regarding the wire stripping disc 1 and its stripping blade 102 mentioned above, a specific setting method is given below.

[0053] For reference Figure 1 , Figures 3 to 5The wire stripper 1 may include a first disc body 11 and a second disc body 12 that are circumferentially fixed and axially slidably connected. The wire placement groove 101 is located both inside the first disc body 11 and the second disc body 12. That is, the wire placement groove 101 in the first disc body 11 and the wire placement groove 101 in the second disc body 12 together form the wire placement groove 101 in the wire stripper 1. When the cable is inserted into and positioned in the wire stripper 1, the cable passes through both the first disc body 11 and the second disc body 12. The stripping blade 102 is slidably connected to the first disc body 11 and the second disc body 12 at both ends along the blade length direction. The sliding direction of the stripping blade 102 and the first disc body 11 is radial to the wire stripper 1, that is, the stripping blade 102 and the first disc body 11 are slidably connected radially to the wire stripper 1. The sliding direction of the stripping blade 102 and the second disc body 12 is axial to the wire stripper 1, that is, the stripping blade 102 and the second disc body 12 slide relative to each other axially to the wire stripper 1.

[0054] Since the drive rod 21 contacts the circumference of the wire stripping disc 1 and drives the wire stripping disc 1 to rotate circumferentially, in other words, the wire stripping disc 1 contacts the drive rod 21 through its circumference. Therefore, the axial projections of the first disc body 11 and the second disc body 12 can completely overlap. At this time, the circumferences of the first disc body 11 and the second disc body 12 are both in contact with the drive rod 21. In addition, the axial projection of one of the first disc body 11 and the second disc body 12 can be within the axial projection of the other. For example, the axial projection of the second disc body 12 is larger than the axial projection of the first disc body 11, and the axial projection of the second disc body 12 completely covers the axial projection of the first disc body 11. Conversely, the axial projection of the first disc body 11 is within the axial projection of the second disc body 12. At this time, the drive rod 21 only contacts the circumference of the second disc body 12 and is separated from the circumference of the first disc body 11. Normally, the linear drive end contacts and engages with the disk end face of the aforementioned second disk 12. When the power equipment drives the second transmission mechanism and its linear drive end to move, the linear drive end contacts and pushes the second disk 12 toward the first disk 11.

[0055] As previously known, the first disc 11 and the second disc 12 are circumferentially fixed and axially slidingly connected. Therefore, even if the drive rod 21 only contacts and drives the second disc 12 to rotate circumferentially, the first disc 11, which is circumferentially fixed to the second disc 12, will also rotate synchronously. Obviously, if the drive rod 21 contacts both the circumference of the first disc 11 and the circumference of the second disc 12, the drive rod 21 will drive the first disc 11 and the second disc 12 to rotate synchronously. When the first disc 11 and the second disc 12 rotate synchronously under the action of the drive rod 21, the stripping blade 102 provided on the stripping disc 1 rotates accordingly and cuts the outer sheath of the cable.

[0056] Based on the axial sliding connection between the first disc 11 and the second disc 12, and the connection between the stripper 102 and the first disc 11 and the second disc 12, when the distance between the first disc 11 and the second disc 12 decreases, the portion of the stripper 102 located on the first disc 11 moves radially along the first disc 11 and deflects appropriately, while the portion of the stripper 102 located on the second disc 12 moves axially outward along the second disc 12, causing the portion of the stripper 102 closer to the first disc 11 to cut into the cable sheath in a manner similar to a guillotine. The first disc 11 and the second disc 12 can be brought closer together to reduce the gap through the pushing action of the linear drive end.

[0057] Generally, multiple stripping blades 102 can be provided inside the wire stripping reel 1. When the cable is inserted into the cable placement groove 101, these stripping blades 102 surround the periphery of the cable and are used to cut into the cable sheath from multiple directions around the cable. For example, the cable placement groove 101 of the wire stripper may include a cable clamping groove 1011 located in the center of the wire stripping reel 1, and may also include a guide groove 1012 located on one side of the cable clamping groove 1011. The cable clamping groove 1011 and the guide groove 1012 are interconnected, and the cable can enter from the guide groove 1012 and move along the guide groove 1012 and be embedded in the cable clamping groove 1011. The multiple stripping blades 102 of the wire stripping reel 1 are evenly distributed around the periphery of the cable clamping groove 1011. When the distance between the first reel body 11 and the second reel body 12 decreases, all the stripping blades 102 surround and cut into the cable at the first reel body 11.

[0058] As described above, the moment when the linear drive end of the second transmission mechanism contacts and pushes the wire stripping disc 1 can be later than the moment when the drive rod 21 of the first transmission mechanism drives the wire stripping disc 1 to rotate circumferentially. When the drive rod 21 drives the wire stripping disc 1 to rotate circumferentially, the stripping blade 102 needs to cut into the cable sheath. In short, if the moment when the linear drive end pushes the wire stripping disc 1 is later than the moment when the wire stripping disc 1 starts to rotate, the wire stripper needs to use other devices besides the second transmission mechanism to reduce the distance between the first disc body 11 and the second disc body 12. Therefore, in the above embodiment, the wire stripping disc 1 also includes an electromagnet and an armature respectively provided on the first disc body 11 and the second disc body 12. For example, the first disc body 11 is provided with an electromagnet, and the second disc body 12 is provided with an armature. This electromagnet can be controlled by a separate circuit. If the power device is an electric device, the electromagnet can also be connected to the motor where the power device is located to achieve synchronous start and stop with the power device. Obviously, when the electromagnet is energized, it will attract the armature, causing the armature to move closer to the electromagnet. During this process, the electromagnet and the armature drive the first disk 11 and the second disk 12 to move closer to each other, thereby shortening the distance between the first disk 11 and the second disk 12.

[0059] For reference Figure 1 , Figures 5 to 8To improve the stripping effect of the stripper 102 on the cable sheath, the stripper can unlock and lock the axial sliding state of the first disc 11 and the second disc 12 through an axial locking component for locking the axial position of the first disc 11 and the second disc 12. For example, when the cable is inserted into the cable slot 101, the axial locking component is in the unlocked state, and the first disc 11 and the second disc 12 can slide relative to each other along the axial direction of the stripping disc 1 to meet the cutting requirements of the stripper 102; when the power equipment is turned on, the axial locking component is in the locked state, and the first disc 11 and the second disc 12 are relatively fixed along the axial direction of the stripping disc 1 to maintain the installation angle of the stripper 102 in the stripping disc 1 and ensure the cutting effect of the stripper 102 during the stripping process.

[0060] This axial locking assembly may include a guide rod 13 and a pressing block 41. The two ends of the guide rod 13 are respectively inserted through and axially slidably connected to the first disc 11 and the second disc 12. That is, both the first disc 11 and the second disc 12 have guide holes for mounting the guide rod 13. One end of the guide rod 13 is inserted along the axial direction of the first disc 11 and slidably connected to the guide hole of the first disc 11, and the other end of the guide rod 13 is inserted along the axial direction of the second disc 12 and slidably connected to the guide hole of the second disc 12. Since the axial direction of the first disc 11 and the axial direction of the second disc 12 are both the axial direction of the wire stripper 1, it can be seen that the length direction of the guide rod 13 is parallel to the axial direction of the wire stripper 1. The pressing block 41 is slidably assembled on the wire stripper 1; one end of the pressing block 41 along the sliding direction is located in the wire clamping groove 1011, and the other end of the pressing block 41 along the sliding direction extends into the wire stripper 1 and is adjacent to the guide rod 13. When the pressing block 41 slides toward the guide rod 13, the pressing block 41 can push the guide rod 13 radially, so that the guide rod 13 is in close contact with the guide hole. The interaction force between the guide rod 13 and the guide hole is used to achieve the relative fixation of the first disc 11 and the second disc 12 along the axial direction.

[0061] The force that pushes the squeezing block 41 toward the guide rod 13 can come from the relative force between the cable and the squeezing block 41. That is, when the cable is inserted into the cable slot 1011, the cable will occupy almost the entire cable slot 1011, thus pushing the squeezing block 41. This causes the part of the squeezing block 41 exposed in the cable slot 1011 to move radially toward the stripping disc 1, thereby enabling the squeezing block 41 to move away from the cable slot 1011 along its own sliding direction. This sliding of the squeezing block 41 also causes the squeezing block 41 to approach and push the guide rod 13.

[0062] In order to enable the extrusion block 41 to drive the guide rod 13 to move radially toward the guide rod 13, the extrusion block 41 can push the guide rod 13 to move radially along the guide rod 13 by means of an inclined surface, or it can drive the guide rod 13 to move radially along the guide rod 13 by means of a lever structure.

[0063] For example, the aforementioned axial locking assembly may also include a compression ring 42 and a compression rod 43. Meanwhile, one of the first disc body 11 and the second disc body 12 has an arc-shaped cavity 14 and a compression rod cavity 15 inside, and the compression rod cavity 15 is connected to the guide hole 13 where the guide rod 13 is located.

[0064] The aforementioned extrusion ring 42 is embedded in the arc-shaped cavity 14. The extrusion ring 42, the arc-shaped cavity 14, and the wire stripping disc 1 are coaxially distributed. The extrusion ring 42 is slidably installed in the arc-shaped cavity 14 along the axial direction of the arc-shaped cavity 14. The extrusion ring 42 and the extrusion block 41 are in contact with each other, and the normal of the contact surface intersects the sliding direction of the extrusion block 41 at an acute angle. The normal of the aforementioned contact surface is perpendicular to the axial direction of the wire stripping disc 1, which is also perpendicular to the guide rod 13.

[0065] The aforementioned extrusion rod 43 is fixed to the extrusion ring 42 and embedded in the extrusion rod cavity 15. The length direction of the extrusion rod 43 is perpendicular to the axial direction of the extrusion ring 42. The end of the extrusion rod 43 away from the extrusion ring 42 is close to the guide rod 13. The extrusion rod 43 can be deflected in the extrusion rod cavity 15 with the central axis of the extrusion ring 42 as the axis of rotation.

[0066] When the extrusion block 41 exposed in the cable slot 1011 slides due to the extrusion of the cable, the extrusion block 41 contacts and pushes the extrusion ring 42. Based on the contact relationship between the extrusion ring 42 and the extrusion block 41, the force applied by the extrusion block 41 to the extrusion ring 42 will cause the extrusion ring 42 to rotate in the arc cavity 14. The rotating extrusion ring 42 will drive the extrusion rod 43 to deflect, and then the deflected extrusion rod 43 will push the guide rod 13, so that the guide rod 13 is tightly against the inner wall of the guide hole 13.

[0067] When locking and unlocking the first disc 11 and the second disc 12 using an axial locking assembly comprising guide rods 13, pressing blocks 41, pressing rings 42, and pressing rods 43, one pressing block 41 and one pressing ring 42 can be installed inside the stripping disc 1, along with multiple guide rods 13 and multiple pressing rods 43. Thus, by using one pressing block 41 and one pressing ring 42 to drive all the pressing rods 43 to push all the guide rods 13 respectively, all the guide rods 13 can be used together to guide and lock the first disc 11 and the second disc 12. The multiple guide rods 13 can be evenly distributed around the central axis of the stripping disc 1.

[0068] In some other embodiments provided in this application, the circumference of the drive rod 21 can mesh with the circumferential teeth of the wire stripping disc 1 to prevent the wire stripping disc 1 from slipping relative to the drive rod 21 during circumferential rotation.

[0069] In addition, you can refer to Figure 1To improve the smoothness and reliability of the stripping disc 1's circumferential rotation, the first transmission mechanism can have four or more drive rods 21 jointly supporting the stripping disc 1. For example, in Figure 1 In the wire stripper shown, the first transmission mechanism has six drive rods 21, which are paired up. The wire stripping disc 1 is placed between these six drive rods 21. Four drive rods 21 are located in the lower half of the wire stripping disc 1, supporting it upwards to prevent it from moving downwards. The other two drive rods 21 are located in the upper half of the wire stripping disc 1, preventing it from moving upwards. Of the six drive rods 21, four are connected to the power device and can be considered as driving elements. The other two are not connected to the power device or the other four drive rods 21 and can be considered as driven elements. For the four driving rods 21 that are driving elements, one drive rod 21 is connected to the output end of the power device, and the other three drive rods 21 can be connected to this drive rod 21 through components such as belts 25, transmission chains 24, and gears 23, thereby enabling one power device to drive the four drive rods 21 to rotate synchronously.

[0070] All drive rods 21 of the first transmission mechanism are parallel to the axial direction of the wire stripping disc 1. For a pair of adjacent drive rods 21 that are distributed in pairs and have the smallest spacing, the spacing is greater than the chord length of the wire groove 101 at the circumference of the wire stripping disc 1. For example, in Figure 1 In the stripping reel 1, the pair of drive rods 21 located at the bottommost end have the smallest distance between them. Therefore, the distance between these two drive rods 21 is greater than the chord length of the wire placement groove 101 around the circumference of the stripping reel 1. The distance between the other paired drive rods 21 is also obviously greater than the chord length of the wire placement groove 101 around the circumference of the stripping reel 1. The chord length of the wire placement groove 101 around the circumference of the stripping reel 1 can be considered as the maximum size of the notch in the volume mentioned earlier. Therefore, let... Figure 1 The distance between the bottom pair of drive rods 21 is greater than the chord length of the wire groove 101 at the circumference of the wire stripping disc 1, which can ensure that the wire stripping disc 1 rotates smoothly among the multiple drive rods 21.

[0071] The wire stripper provided in this application often also includes a mounting base 5, which can be regarded as the outer shell of the wire stripper, such as Figure 1 As shown, the mounting base 5 may include a base plate 51, four frames 52 located at the four corners of the base plate 51, and auxiliary blocks 53 installed between each frame 52. The first transmission mechanism, the second transmission mechanism, and the wire stripper 1 are all assembled through the mounting base 5. For example, all the drive rods 21 of the first transmission mechanism are rotatably mounted on the mounting base 5. The paired drive rods 21 can be respectively located on the left and right sides of the wire stripper 1 through the four frames 52 and multiple auxiliary blocks 53 of the mounting base 5. The left and right sides of the wire stripper 1 referred to here are... Figure 12The stripping disc 1 shown is divided into front and rear sides by the paper surface. Furthermore, a mounting element 6 for connecting the robotic arm can be provided on the side of the mounting base 5 away from the frame 52 and auxiliary block 53.

[0072] Typically, the wire stripper provided in this application uses a motor as the power device; the motor can be coaxially fixed with one of the drive rods 21 of the first transmission mechanism to achieve connection; in order to use the motor to drive the second transmission mechanism to move, the second transmission mechanism includes a rotating part and a sliding part. This rotating part can be connected to the motor to transmit the torque output by the motor outward. For example, the rotating part can be rotatably engaged with the drive rod 21, thereby indirectly connected to the motor; the sliding part of the second transmission mechanism cooperates with the rotating part. The sliding part can be regarded as the linear drive end of the second transmission mechanism. The cooperation relationship between the sliding part and the rotating part can realize the conversion of angular displacement into linear displacement, thereby causing the sliding part to move along the axial direction of the wire stripping disc 1.

[0073] The rotating component of the second transmission mechanism can be specifically configured as a transmission shaft that rotates on a fixed axis and is stationary in the axial direction. This transmission shaft can be connected to the drive rod 21 through a gear structure, sprocket structure, pulley structure, or other structures. The sliding component can be specifically configured as a sliding block that slides in a straight line. The sliding block is threadedly engaged with the transmission shaft. Since the transmission shaft is stationary in the axial direction, when the transmission shaft and the sliding block make helical motion, the angular displacement of the helical motion is borne only by the transmission shaft, while the linear displacement of the helical motion is borne only by the sliding block.

[0074] In addition, the second transmission mechanism can also adopt Figures 9 to 11 The structure is shown. The transmission shaft of the second transmission mechanism is equipped with a transverse movable gear 31, and the drive rod 21 is equipped with a driving gear 22 that meshes with the transverse movable gear 31. The transmission shaft may include a hollow shaft 33 and a functional shaft 32. The transverse movable gear 31 is splinedly connected to the functional shaft 32, and the transverse movable gear 31 is fixedly connected to the hollow shaft 33. The hollow shaft 33 is rotatably connected to the auxiliary block 5312, and the functional shaft 32 is threadedly connected to the auxiliary block 5312. A pusher plate 34 is rotatably connected to the other end of the functional shaft 32, and the pusher plate 34 is slidably connected to one side end face of the wire stripping disc 1. When the motor starts, the motor can drive the drive rod 21 to rotate. The drive rod 21 drives the transverse movable gear 31 to rotate through the driving gear 22, thereby realizing the outward movement of the functional shaft 32 and the transverse movement of the wire stripping disc 1 driven by the pusher plate 34.

[0075] In summary, the wire stripper provided in this application uses a single motor to drive the movement of multiple other components, thereby completing the automatic wire stripping operation in a high-voltage, high-magnetic environment. Because the number of electrical components used in this wire stripper is greatly reduced, insulation protection measures can be significantly reduced, requiring less insulation material. This results in significant weight reduction and lowers the probability of damage to the wire stripper in a high-voltage, high-magnetic environment, ensuring the quality and lifespan of the wire stripper and improving operational safety. Furthermore, the wire stripper can automatically lock the position and angle of the first disc 11, the second disc 12, and the stripping blade 102 in the stripping disc 1 using the cable's own weight and the mutual working force when the cable is engaged with the stripper. This prevents damage to the internal structure of the cable during stripping. This locking and unlocking method is simple and reliable, and does not require the use of sensors commonly used in transmission systems for monitoring. It can function reliably for a long time in high-voltage, high-magnetic environments where the cable is located.

[0076] The wire stripper for live-line working robotic arms provided in this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A wire stripper for a live-line working robotic arm, characterized in that, The device includes a power unit, a wire stripping reel, and a first transmission mechanism connected to the power unit. The first transmission mechanism includes multiple drive rods that engage with the circumference of the wire stripping reel. All drive rods are available for mounting the wire stripping reel, and any one drive rod is parallel to the axial direction of the wire stripping reel. All drive rods are arranged in pairs, and the first transmission mechanism includes three pairs of drive rods. The three pairs of drive rods rotate around a fixed axis to drive the wire stripping reel to rotate circumferentially. The wire stripping reel is provided with a wire-holding groove for inserting cables from the circumference of the reel and a stripping blade for cutting into the cable sheath. The stripping blade and the wire stripping reel are circumferentially fixed. The distance between the adjacent pair of drive rods with the smallest spacing is greater than the chord length of the wire-holding groove at the circumference of the wire stripping reel. The wire stripping reel includes a first reel body and a second reel body; the first reel body and the second reel body are circumferentially fixed and axially slidably connected; the axial projection of the first reel body coincides with or is within the axial projection of the second reel body; the two ends of the stripping blade along the blade length direction are slidably connected to the first reel body and the second reel body respectively, the stripping blade and the first reel body slide relative to each other along the axial direction of the wire stripping reel, and the stripping blade and the second reel body slide relative to each other along the radial direction of the wire stripping reel; The wire stripping disc is provided with a plurality of stripping blades; the wire placement groove includes a wire-holding groove located at the center of the wire stripping disc and a guide groove provided on one side of the wire-holding groove; all the stripping blades are evenly distributed around the periphery of the wire-holding groove; the wire stripping disc also includes an electromagnet and an armature respectively provided on the first disc body and the second disc body; when the electromagnet is energized, the first disc body and the second disc body move closer to each other and drive all the stripping blades to surround the wire-holding groove at the first disc body; The wire stripping reel also includes a guide rod, with its two ends passing through the first reel body and the second reel body respectively. The guide rod is slidably connected to the first reel body and the second reel body along the axial direction of the wire stripping reel. A pressing block is slidably assembled on the wire stripping reel, with one end of the pressing block along the sliding direction located in the wire clamping groove and the other end extending into the wire stripping reel and adjacent to the guide rod. The pressing block, sliding towards the guide rod, pushes the guide rod radially along the guide rod.

2. The wire stripper for a live-line working robotic arm according to claim 1, characterized in that, The power equipment is also connected to a second transmission mechanism; the second transmission mechanism includes a linear drive end that contacts and engages with the end face of the stripping disc; the linear drive end contacts and engages with the end face of the second disc body; the direction of movement of the linear drive end is parallel to the axial direction of the stripping disc.

3. The wire stripper for a live-line working robotic arm according to claim 1, characterized in that, At least two of the drive rods engage with the teeth around the stripper disc.

4. The wire stripper for a live-line working robotic arm according to claim 1, characterized in that, Any one of the drive rods is horizontal; any pair of drive rods are symmetrically distributed on both sides of the stripping disc, and multiple pairs of drive rods are distributed at vertical intervals; all the drive rods are rotatably connected to the mounting base, and the power device is connected to and drives the pair of drive rods at the bottom and the pair of drive rods at the top to rotate.

5. The wire stripper for a live-line working robotic arm according to claim 2, characterized in that, The power device is an electric motor; the second transmission mechanism includes a rotating component connected to the electric motor and a sliding component that is in transmission cooperation with the rotating component; the sliding component is the linear drive end.

6. The wire stripper for a live-line working robotic arm according to claim 5, characterized in that, The rotating component is specifically a transmission shaft that rotates on a fixed axis and remains stationary axially, and the sliding component is specifically a sliding block; the transmission shaft and the sliding block are threaded together, and the motor is connected to the transmission shaft through the drive rod to drive the transmission shaft to rotate.

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