Robotic automatic lap joint drain line fastening device and method

Abstract

A kind of for robot automatic lap joint drainage wire fastening device and method, including: body frame and the wire clamp fastening device body structure module and drainage wire wire clamp module arranged on it, the present application improves the efficiency and reliability of automatic lap joint of drainage wire, avoids the jamming phenomenon of fastening device when separating wire clamp and clamp clamp and wire clamp, improves the operation efficiency of wire clamp fastening device.Make operator away from live cable, reduce the risk of electric shock, reduce labor intensity, improve the operation efficiency, improve the degree of automation and stability of robot in live working drainage wire lap joint task.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special robot live working, in particular to a robot automatic lapping and fastening device and method for drainage wire. BACKGROUND

[0002] In the technical field of power distribution operation, the technical level and proficiency of the operator are very strict for live working. At present, the intermediate potential method is widely used in live working site, the operator stands in the insulating bucket of the insulating bucket truck, and uses the manual tool meeting the safety regulations to complete the lapping and other tasks of the drainage wire under live working; it has the following defects: (1) the operator works on the live high-voltage conductor, which has the risk of electric shock and great safety hazard; (2) the labor intensity of high-altitude operation is large, and the operation efficiency is low. The difficulties and limitations of manual live working limit the high-quality development of the industry, therefore, the use of special robots with corresponding special working devices to realize the automation of live working of power distribution lines has become the theme of the development of the current scientific and technological era. SUMMARY

[0003] The present application proposes a robot automatic lapping and fastening device and method for drainage wire to improve the efficiency and reliability of automatic lapping of drainage wire, avoid the jamming phenomenon of the fastening device when it is separated from the wire clamp and the clamping wire clamp, and improve the operation efficiency of the wire clamp fastening device. The operator is away from the live cable, reducing the risk of electric shock, reducing the labor intensity, improving the operation efficiency, and improving the automation degree and stability of the robot in the task of lapping and fastening of the drainage wire under live working.

[0004] The present application is realized by the following technical solutions:

[0005] The present application relates to a robot automatic lapping and fastening device for drainage wire, comprising a body frame, a wire clamp fastening device body structure module and a drainage wire clamp module arranged on the body frame.

[0006] The wire clamp fastening device body structure module comprises a quick-change mechanism, a pneumatic motor, a movable cylinder and a sleeve for tightening screws arranged in sequence on the body frame, wherein the quick-change mechanism is connected with the pneumatic motor, the movable cylinder is fixedly arranged on the opposite side of the body frame of the pneumatic motor and connected with the shell of the pneumatic motor, and the sleeve is arranged at the end of the pneumatic motor and opposite to the wire clamp body.

[0007] The body frame comprises a vertical plate and a positioning plate, a movable slide rail and a wire clamp fixing block arranged in sequence and fixedly arranged vertically on the vertical plate, wherein the pneumatic motor of the wire clamp fastening device body structure module is slidingly arranged on the movable slide rail, and the wire clamp body is arranged in the wire clamp fixing block.

[0008] The movable slide rail is provided with a first fixed block, a second fixed block and a movable connecting block, wherein the first fixed block and the second fixed block are fixedly arranged outside the air motor, the second fixed block is slidably arranged on the movable slide rail and is fixedly connected with the movable connecting block, and the movable connecting block penetrates through the movable slide rail and is connected with the movable cylinder, so that the air motor is slidably arranged.

[0009] The drainage wire clamp module comprises a wire clamp body arranged on the body frame, upper and lower clamping screws connected therewith, an L-shaped clamp jaw pair slidably arranged on the body frame, and a wire clamp clamping cylinder fixedly arranged on the opposite side of the wire clamp body of the body frame.

[0010] The application relates to an automatic tightening and dismounting method of a drainage wire clamp based on the device.

[0011] Technical effects

[0012] The application adopts the air motor as the driving force device of the tightening screw and the single driving mode, only tightens one wire clamp screw, cooperates with the wire clamp fastening device on the work platform to realize the tightening task of two wire clamp screws, is simple and reliable in operation, is strong in anti-electromagnetic interference, is convenient for the robot end to work away from the base center point, can realize automatic replacement of the wire clamp fastening device of the robot, does not need manual intervention, and is high in automation degree. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is an effect picture of the wire clamp fastening device of the application;

[0014] Figure 2 It is an effect side view of the wire clamp fastening device of the application;

[0015] Figure 3 It is a whole structure diagram of the wire clamp fastening device of the application;

[0016] Figure 4 It is a front side view of the body structure of the wire clamp fastening device of the application;

[0017] Figure 5 It is a front view of the body structure of the wire clamp fastening device of the application;

[0018] Figure 6 It is a rear side view of the body structure of the wire clamp fastening device of the application;

[0019] Figure 7The sectional view of the body structure of the wire clamp fastening device of the present application;

[0020] Figure 8 The structural diagram of the pneumatic motor mounting block of the present application;

[0021] Figure 9 The exploded view of the pneumatic motor module assembly of the present application;

[0022] Figure 10 The exploded view of the wire clamp clamping module of the present application;

[0023] Figure 11 The automatic control diagram of the rotating speed of the pneumatic motor of the present application;

[0024] In the figure: wire clamp fastener device shell 100, wire clamp fastener device body structure module 200, wire clamp main body 300, vertical plate 201, positioning plate 202, reinforcing rib 203, quick-change mechanism 204, pneumatic motor 205, first fixed block 206, pneumatic motor fixing screw 207, sleeve 213, pneumatic motor tension spring pair 214, spring fixing ring 215, wire clamp fixing block 216, positioning plate waist type positioning hole 2021, positioning plate conical positioning hole 2022, pneumatic motor air inlet 2051, pneumatic motor rotation speed adjusting knob 2052, pneumatic motor forward and reverse rotation knob 2053, pneumatic motor air passage switch 2054, pneumatic motor power output shaft 2055, first positioning hole 2161, second positioning hole 2162, wire clamp fixing block avoidance hole 2163, second fixed block 208, pneumatic motor movable connecting block 209, pneumatic motor movable sliding rail 210, air cylinder L-shaped connecting plate 211, pneumatic motor movable air cylinder 212, pneumatic motor movable connecting block connecting hole 2091, pneumatic motor movable air cylinder piston rod 2121, pneumatic motor movable air cylinder extension to position sensor 2122, pneumatic motor movable air cylinder retraction to position sensor 2123, wire clamp clamping sliding rail 217, L-shaped clamp jaw pair 218, clamp jaw connecting block 219, spring fixing ring 220, connecting plate 221, wire clamp clamping air cylinder 222, tension spring pair 223, sleeve hexagonal groove 2131, sleeve connecting shaft 2132, drainage wire clamp 300, wire clamp lower clamping screw 301, wire clamp lower positioning surface 302, wire clamp upper positioning surface 303, wire clamp upper clamping screw 304, pneumatic motor movable connecting block strengthening feature 2092, pneumatic motor movable connecting block upper connecting surface 2093, pneumatic motor movable connecting block lower connecting surface 2094, first fixed block arc surface 2061, first fixed block spring avoidance slot 2062, second fixed block arc surface 2081, second fixed block thread 2082, second fixed block spring avoidance slot 2083, second fixed block upper connecting surface 2084, second fixed block lower connecting surface 2085, first movable sliding rail 2101, second movable sliding rail 2102, wire clamp fixing block sliding rail fixing surface 2164, wire clamp fixing block sliding rail origin reference surface 2165, wire clamp fixing block sliding rail avoidance slot 2166, wire clamp clamping sliding rail guide rail 2171, wire clamp clamping sliding rail sliding block 2172, first L-shaped clamp jaw pair 2181, second L-shaped clamp jaw pair 2182, clamp jaw connecting block connecting hole 2191, clamp jaw connecting block strengthening feature 2192, clamp jaw connecting block lower connecting surface 2193, air pump 401, electromagnetic valve 402, flow controller 403. DETAILED DESCRIPTION

[0025] As Figures 1-6 shown, a robotic automatic lap joint drainage wire fastener device is provided, which comprises a body frame, a wire clamp fastener device body structure module 200 and a drainage wire clamp module arranged thereon.

[0026] As Figures 4-6 The body structure module 200 of the wire clamp fastening device includes a quick-change mechanism 204, a pneumatic motor 205, a movable cylinder 212 and a sleeve 213 for tightening screws, which are sequentially arranged on the body frame. The quick-change mechanism 204 is connected to the pneumatic motor 205, the movable cylinder 212 is fixedly arranged on the opposite side of the body frame of the pneumatic motor 205 and connected to the shell of the pneumatic motor 205, and the sleeve 213 is arranged at the end of the movable cylinder 212 and opposite to the wire clamp body 300.

[0027] The quick-change mechanism 204 is positioned on the positioning plate by two positioning pins and connected to the positioning plate by four M6 screws to form a quick-change mechanism system with the quick-change mechanism at the end of the robot, realizing the function of the robot delivering and replacing tools.

[0028] The pneumatic motor 205 is the power source of the wire clamp fastening device and can provide a torque of 35 NM. The air inlet is at the lower end of the pneumatic motor. When the gas switch is closed, the gas provided by the air pump will enter through the air inlet and drive the motor to rotate, causing the output shaft to rotate at high speed. Under different air pressures, the output shaft rotates at different speeds. The pneumatic motor has a speed adjustment knob on it. Rotating the knob changes the speed of the output shaft and thus changes the output torque of the pneumatic motor. The pneumatic motor also has a forward and reverse switch knob. By turning the knob, the output shaft can be reversed.

[0029] The movable cylinder 212 is connected together through the connecting holes on the L-shaped connecting plate of the cylinder and is fixed on the vertical plate. The cylinder diameter of the pneumatic motor movable cylinder is Φ12 mm, the stroke is 30 mm, and the piston has magnetism. The movable cylinder has a front end position sensing sensor and an end position sensing sensor.

[0030] The sleeve 213 has a hexagonal deep groove at the upper end for tightening the outer hexagonal screw and a hexagonal shaft at the lower end for connecting the output shaft of the pneumatic motor to transmit the torque of the pneumatic motor and achieve the effect of tightening the screw.

[0031] The body frame is further provided with an elastic member connected to the shell of the movable cylinder 212 to provide a pre-tensioning force. The elastic member includes a spring fixing ring 215 arranged on the body frame, a tension spring pair 214 and a fixing screw 207 connected to the shell of the movable cylinder 212 to provide a tightening force to the pneumatic motor, so that the hexagonal groove of the sleeve is always engaged with the outer hexagonal screw to achieve the effect of tightening the screw.

[0032] The body frame comprises: a vertical plate 201 and a positioning plate 202, a movable slide rail 210 and a wire clamp fixing block 216 which are sequentially and vertically fixed on the vertical plate 201, wherein: the pneumatic motor 205 of the wire clamp fastening device body structure module 200 is slidably arranged on the movable slide rail 210, and the wire clamp body 300 is arranged in the wire clamp fixing block 216.

[0033] The vertical plate 201 is the overall framework of the wire clamp fastening device, and other functional module components are fixed on the part, adopts lightweight alloy aluminum, the thickness is 14 mm, the surface is bright color anodizing, and the vertical plate 201 has a positioning groove for installing a slide rail, so that the slide rail is assembled quickly and accurately, and the vertical plate 201 has a rectangular through hole for avoiding position, which is used for the pneumatic motor movable connecting block to pass through and make translational motion therein.

[0034] The positioning plate 202 is fixed on the lower end of the vertical plate through a screw, and has a conical positioning hole and a waist-shaped positioning hole on the positioning plate 202, respectively at two ends of the positioning plate 202, for quickly positioning and placing the wire clamp fastening device. The screw through hole connected with the vertical plate is a countersunk hole, which is used for avoiding position of the quick-change mechanism, adopts lightweight alloy aluminum, the thickness is 12 mm, and the surface is bright color anodizing.

[0035] As shown in Figure 8 The movable connecting block 209 has a lower connecting surface connected with the second fixing block, an upper connecting surface connected with the slider of the pneumatic motor movable slide rail, and a connecting hole connected with the piston rod of the pneumatic cylinder, and the connecting hole is used for transmitting the pneumatic cylinder thrust through the strengthening feature, adopts lightweight alloy aluminum, and the surface is bright color anodizing.

[0036] The movable slide rail 210 has two, and is fixed in the positioning groove of the vertical plate through M3 screws and positioned by side edges. The length direction is the development end, the slider on the movable slide rail 210 is connected with the pneumatic motor movable connecting block to form a moving pair, so that the pneumatic motor makes translational motion.

[0037] The body frame is further provided with a reinforcing rib 203 which is connected and fixed with the vertical plate and the positioning plate through screws, so as to strengthen the connection structure stiffness between the vertical plate and the positioning plate, adopts lightweight alloy aluminum, the thickness is 15 mm, and the surface is bright color anodizing.

[0038] As shown in Figure 4 and Figure 5 The movable slide rail 210 is provided with a first fixing block 206, a second fixing block 208 and a movable connecting block 209. The first fixing block 206 and the second fixing block 208 are fixedly arranged outside the pneumatic motor 205, the second fixing block 208 is slidably arranged on the movable slide rail 210 and fixedly connected with the movable connecting block 209, the movable connecting block 209 passes through the movable slide rail 210 and is connected with the movable pneumatic cylinder 212, so as to realize the sliding arrangement of the pneumatic motor 205.

[0039] The first fixed block 206 is connected with the second fixed block by the pneumatic motor fixing screw, and the pneumatic motor is clamped and fixed.

[0040] As shown in Figure 7 The drainage wire clamp module comprises a wire clamp body 300 arranged on the body frame, upper and lower clamping screws 301 connected therewith, an L-shaped clamp jaw pair 218 slidingly arranged on the body frame, and a wire clamp clamping air cylinder 222 fixedly arranged on the opposite side of the wire clamp body 300 on the body frame, wherein the wire clamp body 300 is arranged in the wire clamp fixed block 216, the lower clamping screw 301 is opposite to the sleeve 213 of the wire clamp fixing device body structure module 200, the L-shaped clamp jaw pair 218 is fixedly connected with the wire clamp clamping air cylinder 222 through a clamp jaw connecting block 219, the wire clamp body is in contact with the L-shaped clamp jaw pair 218, and the L-shaped clamp jaw pair 218 is driven to realize the lifting action through the wire clamp clamping air cylinder 222, so that the wire clamp body 300 is clamped and loosened.

[0041] The wire clamp fixed block 216 is the main framework of the wire clamp fixing mechanism, is fixed to the front end of the vertical plate through an M6 screw, has two cylindrical positioning holes on the bottom positioning surface, has a bevel chamfer with a guide function at the top end of the positioning hole, facilitates insertion of two conical positioning pins on the wire clamp, has a waist-shaped avoidance hole at the middle position of the positioning surface, facilitates passing of an outer hexagonal screw on the wire clamp, and is buckled with the sleeve together to achieve the screw tightening effect; the installation surface for fixing the clamp jaw sliding rail is arranged in the vertical direction of the bottom positioning surface, the installation surface has a sliding block origin reference surface, and has a guide rail groove for installing the sliding rail avoidance, is made of lightweight alloy aluminum, and the surface is bright in color and anodized.

[0042] The L-shaped clamp jaw pair 218 is arranged in mirror image and is connected together through an M4 screw and a clamp jaw connecting block, has a spring fixing ring for fixing a pair of tension springs on the vertical surface of the L-shaped clamp jaw, is made of lightweight alloy aluminum, and the surface is bright in color and anodized.

[0043] The wire clamp clamping air cylinder 222 is movably arranged through a sliding rail mechanism, and the sliding rail mechanism comprises a guide rail 217 and a sliding block, the guide rail is fixed to the wire clamp fixed block through an M3 screw, the sliding block slides on the guide rail and is connected together with the lower connecting surface of the clamp jaw connecting block through a screw, and performs translational motion.

[0044] The body frame is further provided with an elastic member connected with the jaw connecting block 219 to provide a pre-tensioning force, which is a pair of tension springs arranged in mirror image, connected with the spring fixing ring fixed on the L-shaped jaw pair and the spring fixing ring fixed on the vertical plate, with the fixed end being the vertical plate end and the movable end being the L-shaped jaw pair end, to provide a clamping force to the L-shaped jaw pair, so that the jaw clamps the wire clamp without air source, with a wire diameter of 1.0 mm, an outer diameter of 12.0 mm, and a free length of 70 mm.

[0045] The jaw connecting block has a vertical feature on the upper connecting surface to transmit the thrust of the air cylinder, a strengthening feature at the bottom, and a connecting hole at the upper part of the vertical feature to connect the air cylinder, and the piston rod of the wire clamp clamping air cylinder is connected together through a nut, and the wire clamp clamping slide rail, the L-shaped jaw pair, the spring fixing ring, the connecting plate, the wire clamp clamping air cylinder, and the tension spring pair constitute an L-shaped jaw pair movable assembly.

[0046] The wire clamp clamping air cylinder 222 has a body fixed to the connecting plate through a nut, and a piston rod connected with the jaw connecting block through a nut, with a cylinder diameter of Φ16 mm, a stroke of 30 mm, a magnetic piston, a front end position sensing sensor, and an end position sensing sensor.

[0047] The wire clamp fastening device is externally provided with a wire clamp fastening device shell 100, which is not only aesthetically pleasing but also protects the wire clamp fastening device body structure module components, has an arc shape with an aesthetic effect, and does not hurt the hand when the operator touches it, and has an avoidance function when clamping the cable.

[0048] As Figure 11 shown, the present embodiment relates to an automatic tightening and dismounting of the above device and a method for clamping the drainage wire, which comprises automatic tightening of the wire clamp and automatic dismounting of the drainage wire clamp.

[0049] The automatic tightening of the wire clamp comprises:

[0050] Step 1) manually place the wire clamp with the drainage wire on the wire clamp clamping fixing block. When placing the wire clamp, first separate the L-shaped jaw pair from the sleeve of the pneumatic motor, then insert the two conical positioning pins on the wire clamp into the positioning holes of the fixing block, and then release the L-shaped jaw pair and the sleeve of the pneumatic motor in sequence. At this time, the L-shaped jaw pair fixes the wire clamp on the wire clamp fixing block under the action of the spring force. The center line of the sleeve on the pneumatic motor coincides with the center line of the outer hexagonal screw on the wire clamp. The sleeve needs to be manually rotated to embed the outer hexagonal screw on the wire clamp into the sleeve hexagonal groove. The pneumatic motor with the sleeve and the screw on the wire clamp are always in contact under the action of the spring force. At this time, the wire clamp is placed.

[0051] Step 2) Artificially place the fastening device with the clamp through the positioning hole on the workbench. Under the force of gravity, the clamp fastening device is always fixed on the positioning mechanism on the workbench. At this time, the quick-change mechanism interface on the clamp fastening device faces the opposite direction of gravity, facilitating automatic grabbing by the robot.

[0052] Step 3) The robot automatically grabs the clamp fastening device according to the pre-set position through the quick-change mechanism. After the quick-change mechanism at the robot end combines with the quick-change mechanism at the tool end, the gas circuit is automatically connected. At this time, the clamp clamping cylinder is in a retracted state, and the pneumatic motor movable cylinder is in a free state.

[0053] Step 4) The robot places the clamp fastening device with the clamp on the live cable that has been pre-insulated. The robot issues a clamp tightening instruction. At this time, the electromagnetic valve is powered on, the pneumatic motor gas circuit is connected, and the flow control valve opens the gas flow to the maximum value under the clamp tightening instruction. The specific control method is as follows:

[0054] Physical layer: RS485

[0055] Communication protocol: MODBUS protocol

[0056] Transmission format: 8-bit data, 1 stop bit, even parity, RTU mode.

[0057] Baud rate: 9600 bps

[0058] First, read the instantaneous flow

[0059] PC sends command TX: 01 03 00 10 00 02 C5 CE

[0060] PC accepts response RX: 01 03 04 XX XX XX XX XX XX

[0061] Then, set the control mode: 1 floating point number starting from address 116, representing what control mode to use (27 analog mode, 28 digital mode, default 27). Note: when writing the value, write 25 for analog mode and 26 for digital mode. The system will automatically add 2.

[0062] PC sends command TX: 01 10 00 74 00 02 04 00 00 41 D0 C4 B4

[0063] Finally, set the gas flow

[0064] PC sends command TX: 01 10 00 6A 00 02 04 XX XX XX XX XX XX

[0065] The pneumatic motor ventilation switch is always closed by the roller when it is assembled on the fastening device. The pneumatic motor will tighten the wire clamp screw at the maximum rotation speed.

[0066] Step 5) When the robot confirms that the screw tightening instruction duration is completed, the robot will clear the screw tightening instruction. At this time, the solenoid valve loses power, the pneumatic motor gas circuit is closed, and the flow control valve state is switched to standby state.

[0067] Step 6) When the robot confirms that the solenoid valve loses power signal and the flow control valve standby state are correct, the robot sends a wire clamp fastening device separation signal instruction. At this time, the L-shaped clamp jaw extends the clamp cylinder piston rod to separate the L-shaped clamp jaw pair by a certain distance. The pneumatic motor moving cylinder piston rod retracts to separate the sleeve on the pneumatic motor from the wire clamp screw by a certain distance. After the robot confirms that the L-shaped clamp jaw pair clamp cylinder extends to the correct position signal and the pneumatic motor moving cylinder retracts to the correct position signal are correct, it moves vertically downward by a certain distance to completely separate the positioning hole of the wire clamp fixed block from the wire clamp conical positioning pin, and then moves horizontally by a certain distance to completely separate the wire clamp fastening device from the wire clamp. The wire clamp fastening device is automatically placed on the positioning mechanism of the work platform.

[0068] The automatic disassembly of the drainage wire clamp comprises:

[0069] Step a) After the drainage line task is completed, the wire clamp needs to be disassembled. First, the robot automatically grabs the wire clamp fastening device and moves to the wire clamp. At this time, the L-shaped clamp cylinder is in the extended state, the pneumatic motor moving cylinder is in the retracted state, the robot moves horizontally to the wire clamp and makes the vertical wall of the wire clamp fixed block contact with the wire clamp. The robot moves vertically to automatically guide the two conical positioning pins of the wire clamp into the positioning hole of the wire clamp fixed block.

[0070] Step b) The robot sends a clamping instruction. The L-shaped clamp cylinder will retract to clamp the wire clamp. The pneumatic motor cylinder will be in a free state. The pneumatic motor moves towards the wire clamp screw direction under the action of spring force until it completely contacts. At this time, the wire clamp outer hexagonal screw and the sleeve hexagonal groove are in a non-docking state.

[0071] Step c) After the robot confirms that the L-shaped clamp cylinder retraction to position signal and the pneumatic motor cylinder free state signal are correct, it first sends a flow control valve adjustment instruction to adjust the flow control valve to a smaller flow, and then makes the solenoid valve get power. The gas circuit is connected, the pneumatic motor is reversely rotated at low speed after the reverse knob is rotated to the reverse position in advance, the sleeve is slowly rotated to be engaged with the wire clamp outer hexagonal screw, the pneumatic motor moving cylinder reaches the extended position under the action of spring force, the position sensor gets the signal, the robot sends a maximum flow instruction, the flow control valve automatically adjusts the flow to the maximum value, the pneumatic motor rotates at high speed to loosen the wire clamp screw, and the pneumatic motor cylinder is pushed back to the retracted state while the wire clamp screw is loosened.

[0072] Step d) when the robot confirms that the pneumatic motor activity cylinder retraction state signal is correct, the fastening device with the clamp is automatically separated from the live cable and placed on the work platform positioning mechanism, and the robot automatically disassembles the clamp task.

[0073] Through specific experiments, under the working environment of 10kV automatic overlapping of live line without power failure, the robot automatically grabs the clamp fastening device at a height of 13 meters from the ground, and the clamp fastening device performs the clamp screw tightening task under the pressure of 8MPa, and the tightening torque reaches 30NM.

[0074] Compared with the prior art, the pneumatic motor is used as the driving force device for tightening the screw, and the single drive mode is adopted, only one clamp screw is tightened, the clamp fastening device on the work platform is used to realize the tightening task of two clamp screws, the robot can automatically replace the clamp fastening device without manual intervention, the degree of automation is high, the phenomenon of clamp jamming when the fastening device is separated from the clamp and clamps the clamp is avoided, and the working efficiency of the clamp fastening device is improved. In summary, the application of the present application improves the automation degree and stability of the robot in the live working live line overlapping task.

[0075] The above specific embodiments can be adjusted in different ways by those skilled in the art without departing from the principles and purposes of the present application, the protection scope of the present application is subject to the claims and is not limited by the above specific embodiments, and each implementation scheme within the scope is subject to the constraints of the present application.

Claims

1. An automatic tightening and detaching method of a drain wire clamp based on a robot automatic lap joint drain wire fastening device, characterized by, The utility model relates to a kind of automatic tightening and automatic dismounting drainage wire clamp. The automatic tightening clamp comprises: Step 1) manually place the wire clamp with drainage wire on the wire clamp clamping fixing block, when placing the wire clamp, first separate the L-shaped jaw pair from the sleeve pneumatic motor respectively, then insert the two conical positioning pins on the wire clamp into the positioning hole of the fixing block, release the L-shaped jaw pair and the sleeve of pneumatic motor in sequence, at this time, the L-shaped jaw pair fixes the wire clamp on the wire clamp fixing block under the spring force, the center line of the sleeve of pneumatic motor coincides with the center line of the outer hexagonal screw on the wire clamp, the sleeve needs to be manually pushed to embed the outer hexagonal screw on the wire clamp into the sleeve hexagonal slot, the sleeve pneumatic motor with sleeve and the screw on the wire clamp are always in contact under the spring force, thus the wire clamp is placed completely. Step 2) manually place the fastening device with wire clamp through the positioning hole on the working platform, under the gravity, the wire clamp fastening device is always fixed on the positioning mechanism on the working platform, at this time, the quick-change mechanism interface on the wire clamp fastening device faces the opposite direction of gravity, which is convenient for the robot to automatically grab. Step 3) the robot automatically grabs the wire clamp fastening device through the quick-change mechanism according to the pre-set position, after the quick-change mechanism on the robot end combines with the quick-change mechanism on the tool end, the air circuit is automatically connected, at this time, the wire clamp clamping cylinder is in the retracted state, and the pneumatic motor movable cylinder is in the free state. Step 4) the robot places the fastening device with wire clamp on the live cable with pre-stripped insulation layer, and sends the wire clamp tightening instruction, at this time, the electromagnetic valve is powered on to connect the pneumatic motor air circuit, and the flow control valve opens the air flow to the maximum value under the wire clamp tightening instruction. Step 5) when the robot confirms that the tightening screw instruction duration is completed, the robot clears the tightening screw instruction, at this time, the electromagnetic valve is powered off to close the pneumatic motor air circuit, and the flow control valve is in standby state. Step 6) when the robot confirms that the electromagnetic valve power-off signal and the flow control valve standby state are correct, the robot sends the wire clamp fastening device separation signal instruction, at this time, the L-shaped jaw pair clamping cylinder piston rod extends to separate the L-shaped jaw pair from the wire clamp by a certain distance, and the pneumatic motor movable cylinder piston rod retracts to separate the sleeve on the pneumatic motor from the screw on the wire clamp by a certain distance, after the robot confirms that the L-shaped jaw pair clamping cylinder extension signal and the pneumatic motor movable cylinder retraction signal are correct, the robot moves vertically downward by a certain distance to completely separate the positioning hole of the wire clamp fixing block from the conical positioning pin on the wire clamp, and then moves horizontally by a certain distance to completely separate the wire clamp fastening device from the wire clamp, and the wire clamp fastening device is automatically placed on the positioning mechanism on the working platform. The automatic dismounting drainage wire clamp comprises: Step a) when the drainage wire task is completed, the wire clamp needs to be dismounted, first, the robot automatically grabs the wire clamp fastening device and moves to the wire clamp, at this time, the L-shaped clamping cylinder is in the extended state, and the pneumatic motor movable cylinder is in the retracted state, the robot moves horizontally to the wire clamp and makes the vertical wall of the wire clamp fixing block contact with the wire clamp, and then moves vertically to automatically guide the two conical positioning pins on the wire clamp into the positioning hole of the wire clamp fixing block. ​ Step b) the robot sends a clamping instruction, the L-shaped clamping cylinder will retract to clamp the wire clamp, the pneumatic motor cylinder will be in a free state, the pneumatic motor moves under the action of spring force towards the wire clamp screw direction until full contact, at this time, the wire clamp outer hexagonal screw and the sleeve hexagonal groove are in a non-locking state; Step c) after the robot confirms that the L-shaped clamping cylinder retraction signal and the pneumatic motor cylinder free state signal are correct, first send the flow control valve adjustment instruction, adjust the flow control valve to a small flow, then energize the solenoid valve, the gas circuit is connected, the pneumatic motor is reversed at low speed after reversing the knob to the reverse position in advance, the sleeve is buckled with the wire clamp outer hexagonal screw under slow rotation, the pneumatic motor moving cylinder reaches the extended position under the action of spring force, the position sensor gets the signal, the robot sends the maximum flow instruction, the flow control valve automatically adjusts the flow to the maximum value, the pneumatic motor rotates at high speed, loosens the wire clamp screw, and the pneumatic motor cylinder is pushed back to the retracted state while the wire clamp screw is loosened; Step d) after the robot confirms that the pneumatic motor moving cylinder retraction state signal is correct, the fastening device with the wire clamp is automatically separated from the live cable and placed on the work platform positioning mechanism, and the robot automatically disassembles the wire clamp, completing the task; The automatic lap joint drainage wire fastening device for robots comprises a body frame and a wire clamp fastening device body structure module and a drainage wire clamp module arranged on the body frame. The wire clamp fastening device body structure module comprises a quick-change mechanism, a pneumatic motor, a moving cylinder and a sleeve for tightening the screw, which are arranged on the body frame in sequence.

2. The method of automatically tightening and detaching a drain clamp of claim 1, wherein, The body frame comprises a vertical plate and a positioning plate, a movable slide rail and a wire clamp fixing block which are vertically and fixedly arranged on the vertical plate in sequence.

3. The method of automatically tightening and detaching a drain line clamp according to claim 2, wherein The movable slide rail is provided with a first fixing block, a second fixing block and an active connection block.

4. The method of claim 2, wherein the method further comprises: The first fixing block and the second fixing block are fixedly arranged on the outside of the pneumatic motor, the second fixing block is slidably arranged on the movable slide rail and fixedly connected with the active connection block, and the active connection block penetrates through the movable slide rail and is connected with the moving cylinder, so that the pneumatic motor is slidably arranged. The drainage wire clamp module comprises a wire clamp main body arranged on the body frame, upper and lower clamping screws connected with the wire clamp main body, an L-shaped clamp jaw pair slidably arranged on the body frame, and a wire clamp clamping cylinder fixedly arranged on the opposite side of the wire clamp main body. The wire clamp main body is arranged in the wire clamp fixing block, the lower clamping screw is opposite to the sleeve of the wire clamp fastening device body structure module, the L-shaped clamp jaw pair is fixedly connected with the wire clamp clamping cylinder through a clamp jaw connecting block, the wire clamp main body is in contact with the L-shaped clamp jaw, and the L-shaped clamp jaw is driven to realize lifting action through the wire clamp clamping cylinder, so that the wire clamp is clamped and loosened.

5. The method of automatically tightening and detaching a drain line clamp according to claim 4, wherein The connecting block of the clamp jaw has a vertical feature on the upper connecting surface for transmitting the thrust force of the cylinder, a reinforcing feature at the bottom, and a connecting hole at the upper part of the vertical feature for connecting the cylinder, and the piston rod of the cylinder is connected with the wire clamp through a nut, and the wire clamp is connected with the sliding rail, the L-shaped clamp jaw pair, the spring fixing ring, the connecting plate, the wire clamp cylinder, and the stretching spring pair to form an L-shaped clamp jaw pair movable assembly.

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