An emergency wiring robot system for hazardous environments

Abstract

The present invention proposes an emergency wiring robot system for hazardous environments, which belongs to the field of intelligent robots. It solves the problem that cable wiring in hazardous environments is highly harmful to the human body. It includes a mobile platform, on which a wire positioning module and a robotic arm and a wire processing module distributed on both sides of the wire positioning module are provided; the wire positioning module includes two symmetrically arranged wire units; each wire unit includes a wire guide channel, an active wire feeding wheel and a passive wire feeding wheel arranged in the wire guide channel, and a drive assembly; the wire processing module includes a wire pressing unit arranged corresponding to each wire unit, a wire stripping unit and a crimping unit arranged on the side of each wire pressing unit away from the wire positioning module. After stripping, the two wire guide channels are rotated so that the exposed parts of the two cables are opposite to each other, and the crimping unit is used to squeeze the sleeve to complete the connection of the two cables. It is mainly used to complete cable wiring in hazardous environments.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent robots, and in particular relates to an emergency wiring robot system for dangerous environments. Background Art

[0002] Emergency wiring generally refers to the connection or repair of circuits performed in emergency situations. This wiring activity may occur in power systems, communication networks, electronic equipment, or any electrical system that requires rapid restoration of functionality. The purpose of emergency wiring is to restore critical system operations as quickly as possible to prevent or minimize losses caused by system failures. Typically, emergency wiring is performed manually.

[0003] However, emergency wiring operations may also be required in hazardous environments involving nuclear radiation, flammable and explosive materials, chemicals, and other hazardous environments that pose a significant risk to the human body. In these situations, workers must wear protective clothing to perform wiring operations in these hazardous environments. In certain situations, protective clothing cannot completely prevent the effects of hazardous environments on the body, and wearing protective clothing can also hinder workers' operations, making wiring operations difficult. Summary of the Invention

[0004] In view of this, the present invention aims to propose an emergency wiring robot system for hazardous environments to solve the problem that cable wiring in hazardous environments poses great harm to the human body.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an emergency wiring robot system for hazardous environments, comprising:

[0006] A mobile platform is provided with a wire positioning module and a robotic arm and a wire processing module distributed on both sides of the wire positioning module;

[0007] The wire positioning module includes two symmetrically arranged wire units; each of the wire units includes a wire guide channel, an active wire feeding wheel and a passive wire feeding wheel arranged in the wire guide channel and opposite to each other, and a drive assembly for driving the wire guide channel to perform linear and rotational motion relative to the mobile platform;

[0008] The wire processing module includes a wire pressing unit arranged corresponding to each wire unit, a wire stripping unit and a crimping unit arranged on the side of each wire pressing unit away from the wire positioning module. The robotic arm respectively sends the free end of each cable into the corresponding wire guide channel. The free end of the cable is transported to the corresponding wire pressing unit between the active wire feeding wheel and the passive wire feeding wheel and is compressed and then stripped by the corresponding wire stripping unit. After stripping, the two wire guide channels are rotated so that the exposed parts of the two cables are opposite to each other. The crimping unit is used to transport the sleeve between the two wires. Each of the wire units drives the corresponding cable to be inserted into the sleeve, and the crimping unit is used to squeeze the sleeve to complete the connection between the two cables.

[0009] Furthermore, the wire pressing unit and the wire stripping unit are both connected to the first base plate through the wire stripping base plate, the crimping unit is connected to the first base plate, and the first base plate is connected to the moving end of the first screw slide.

[0010] Furthermore, the wire pressing unit includes a stationary wire pressing plate, a movable wire pressing plate and a wire pressing cylinder. The stationary wire pressing plate and the movable wire pressing plate are arranged relative to each other. The movable end of the wire pressing cylinder is connected to the movable wire pressing plate to drive the movable wire pressing plate closer to or away from the stationary wire pressing plate. The stationary wire pressing plate and the wire pressing cylinder are both fixedly connected to the side wall of the wire stripping base plate.

[0011] Furthermore, the wire stripping unit includes a stationary blade, a movable blade, a wire stripping cylinder and a wire stripping sliding plate. The stationary blade and the wire stripping cylinder are fixedly connected to the wire stripping sliding plate. The movable blade is arranged opposite to the stationary blade. The movable end of the wire stripping cylinder is connected to the movable blade for controlling the movable blade to approach or move away from the stationary blade.

[0012] Furthermore, the wire stripping unit also includes a second slider, a second guide rail, a second cylinder and a wire twisting cylinder. The wire stripping sliding plate is connected to the second slider, the second slider is slidably connected to the second guide rail, the second guide rail is connected to the wire stripping base plate, the wire twisting cylinder is connected to the wire stripping sliding plate, the movable end of the wire twisting cylinder is used to clamp the free end of the cable and rotate to twist the wire, the second cylinder is connected to the wire stripping base plate, and the movable end of the second cylinder is connected to the wire stripping sliding plate.

[0013] Furthermore, the wire guide channel includes a connecting plate, an opening and closing cylinder, a movable guide mold and a stationary guide mold. The passive wire feeding wheel is rotatably connected to the movable guide mold, and the active wire feeding wheel is rotatably connected to the stationary guide mold. The movable guide mold is connected to one end of the connecting plate, and the other end of the connecting plate is connected to the movable end of the opening and closing cylinder. The opening and closing cylinder is used to drive the movable guide mold close to or away from the stationary guide mold, and the active wire feeding wheel is provided with a matching motor drive.

[0014] Furthermore, the wire positioning module also includes a slewing bearing, a driving gear, a turntable motor, a turntable base plate, a platform plate and a support shell. The outer ring of the slewing bearing is provided with a ring gear and the ring gear is engaged with the driving gear at the rotating end of the turntable motor. The slewing bearing and the turntable motor are both connected to the turntable base plate. The platform plate is arranged on the upper side of the slewing bearing. The opening and closing cylinder and the support shell are both connected to the platform plate, and the stationary guide mold is connected to the support shell.

[0015] Furthermore, the support shell includes a first side plate, a second side plate and an upper plate, the first side plate and the second side plate are arranged opposite to each other and the upper ends are connected to the upper plate and the lower ends are connected to the platform plate, and the stationary guide mold is connected to the upper plate.

[0016] Furthermore, the wire positioning module also includes a slide motor, a second screw slide and a second base plate. The slide motor is connected to the second screw slide for driving the sliding end of the second screw slide to move. The sliding end of the second screw slide is connected to the turntable base plate, and the second screw slide is connected to the mobile platform through the second base plate.

[0017] Furthermore, the crimping unit includes a crimping cylinder, an upper crimping mold, a lower crimping mold, a first guide rail, a first slider, a first cylinder, a crimping sleeve storage box, a crimping sleeve conveying motor and a crimping movable plate. The first slider is slidably arranged on the first guide rail, and the upper end of the first slider is connected to the crimping movable plate. The lower crimping mold is arranged on the upper part of the crimping movable plate, and the upper crimping mold is arranged above the lower crimping mold. The upper crimping mold is connected to the movable end of the crimping cylinder, and the crimping cylinder is fixedly connected to the side wall of the crimping movable plate. The crimping sleeve conveying motor is arranged at the outlet end of the crimping sleeve storage box, and the movable end of the first cylinder is arranged at the outlet end of the crimping sleeve storage box for pushing the sleeve that slides out of the crimping sleeve storage box to between the upper crimping mold and the lower crimping mold.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This system uses remote teleoperation to allow operators to operate the robot outside of dangerous environments to complete emergency wiring operations, ensuring personnel safety;

[0020] 2. This system can guide the cables by forming a wire guide channel, so that the cables can accurately reach the designated position for stripping operations. At the same time, the setting of the wire pressing unit can further pre-fix the cables to prevent relative slippage during the stripping process, which may cause further wiring difficulties, and has high accuracy.

[0021] 3. This system is equipped with a wire stripping unit to remove the cable skin. In conjunction with the wire crimping unit, it can smoothly pull off the outer skin and twist the exposed part of the cable, which has high operating efficiency.

[0022] 4. This system is equipped with a wire processing module, which can guide and reverse the cable at the same time. In conjunction with the use of the crimping unit, it can smoothly complete the connection of the two free ends of the cable. The wire processing module can realize the control of the cable in one unit, saving processing links, reducing the number of parts used, and improving efficiency.

[0023] 5. By setting each unit to be movable, this system can achieve precise alignment by setting appropriate sensors and controllers, thereby improving the flexibility and accuracy of cable connection;

[0024] 6. This system can accurately position and transport the cables through the wire guide channel. The wire guide channel itself is in a split form and can be separated after the cable is processed, which makes it easy to separate the system from the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of an emergency wiring robot system for hazardous environments according to the present invention;

[0027] Figure 2 Schematic diagram of the side structure of the crimping unit of the present invention;

[0028] Figure 3 The relative position layout diagram of the crimping sleeve storage box and the crimping sleeve conveying motor;

[0029] Figure 4 A schematic diagram of a motor driving a crimping sleeve to convey a crimping sleeve;

[0030] Figure 5 Schematic diagram of the relative positions of the crimping unit, the wire pressing unit and the wire stripping unit according to the present invention;

[0031] Figure 6 A side view of the wire stripping unit according to the present invention;

[0032] Figure 7 This is a structural diagram of the wire positioning module of the present invention;

[0033] Figure 8It is a schematic diagram of the connection relationship between the connecting plate and the opening and closing cylinder.

[0034] Wire processing module 1; crimping cylinder 1-1; upper crimping die 1-2; lower crimping die 1-3; first guide rail 1-4; first slider 1-5; first cylinder 1-6; crimping sleeve storage box 1-7; crimping sleeve conveying motor 1-8; crimping movable plate 1-9; first base plate 1-10; first lead screw slide 1-11; stationary crimping plate 1-12; moving crimping plate 1-13; crimping cylinder 1-14; second slider 1-15; second guide rail 1-16; second cylinder 1-17; wire twisting cylinder 1-18; stripping slide plate 1-19; stripping base plate 1-20; stationary Blade 1-21; movable blade 1-22; wire stripping cylinder 1-23; movable platform 2; robotic arm 3; wire positioning module 4; active wire feeding wheel 4-1; passive wire feeding wheel 4-2; connecting plate 4-3; opening and closing cylinder 4-4; slewing bearing 4-5; driving gear 4-6; slide motor 4-7; second screw slide 4-8; second base plate 4-9; turntable motor 4-10; turntable base plate 4-11; platform plate 4-12; first side plate 4-13; second side plate 4-14; upper plate 4-15; movable guide mold 4-16; stationary guide mold 4-17; wire taking gripper 5. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0036] It should be noted that the descriptions of the present invention regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", and "bottom" are all defined based on the relationship between the orientations or positions shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure described must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0037] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0038] Referring to the accompanying drawings, this embodiment is described, which is an emergency wiring robot system for hazardous environments, characterized by comprising:

[0039] A mobile platform 2 is provided with a wire positioning module 4 and a robotic arm 3 and a wire processing module 1 distributed on both sides of the wire positioning module 4; for the mobile platform 2, a more flexible AGV wheeled mobile platform is adopted, and its main function is to serve as a mobile carrier of the robot system. The existing AGV wheeled mobile platform can be used. Similarly, the controller, sensor and visual movement scheme required for the control of the movement of the AGV wheeled mobile platform can all adopt existing technologies. They are all relatively mature technologies and will not be described in detail here. For the robotic arm 3, a wire-taking gripper 5 can be provided at the end of the robotic arm 3, and the gripping and transfer of the cable can be completed through the cooperation of the robotic arm 3 and the wire-taking gripper 5. Here, corresponding sensors, controllers and control programs also need to be provided for corresponding matching and use. Existing technologies can be used and will not be described in detail here.

[0040] The wire positioning module 4 includes two symmetrically arranged wire units; each of the wire units includes a wire guide channel, an active wire feeding wheel 4-1 and a passive wire feeding wheel 4-2 arranged relatively in the wire guide channel, and a driving component for driving the wire guide channel to perform linear motion and rotational motion relative to the mobile platform 2; for the wire guide channel, a rounded groove can be appropriately provided at one end entering the cable to facilitate feeding the cable into the wire guide channel, and the spacing between the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 can be set according to the actual cable diameter. For the form in which the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 are installed in the wire guide channel, a detachable and adjustable form can also be adopted. Specifically, it can be set by a slider and a track and a matching motor to drive it, so as to facilitate adjusting the relative distance between the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2, so that it can be adjusted according to different cable specifications. In order to adapt to general cables, this scheme does not make too many restrictions, so only one form of fixed installation position is disclosed. The driving assembly is specifically composed of a slewing bearing 4-5, a driving gear 4-6, a slide motor 4-7, a second screw slide 4-8, a turntable motor 4-10, a turntable base plate 4-11 and a platform plate 4-12. The specific action relationship and layout position are described later and will not be explained in detail here.

[0041] The wire processing module 1 includes a wire pressing unit arranged corresponding to each wire unit, a wire stripping unit and a crimping unit arranged on the side of each wire pressing unit away from the wire positioning module 4, and the robotic arm 3 respectively sends the free end of each cable into the corresponding wire guide channel, and the free end of the cable is transported to the corresponding wire pressing unit between the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 and is compressed and then stripped by the corresponding wire stripping unit. After stripping, the two wire guide channels are rotated so that the exposed parts of the two cables are opposite to each other, and the crimping unit is used to transport the sleeve between the two wires, and each of the wire units drives the corresponding cable to be inserted into the sleeve, and the crimping unit is used to squeeze the sleeve to complete the connection of the two cables.

[0042] In this embodiment, the wire pressing unit and the wire stripping unit are both connected to the first base plate 1-10 via the wire stripping base plate 1-20, the crimping unit is connected to the first base plate 1-10, and the first base plate 1-10 is connected to the movable end of the first screw slide 1-11. By controlling the controller and the movable end of the first screw slide 1-11 to move, the first screw slide 1-11 can be driven to drive the corresponding wire pressing unit, wire stripping unit, and crimping unit to move laterally relative to the wire positioning module, so that corresponding adjustments can be made according to the position of the cable to ensure smooth alignment of the cable. Here, the intervention of sensors, controllers, and control programs is also required, and existing technologies can be used.

[0043] In this embodiment, the wire pressing unit includes a stationary wire pressing plate 1-12, a movable wire pressing plate 1-13 and a wire pressing cylinder 1-14. The stationary wire pressing plate 1-12 and the movable wire pressing plate 1-13 are arranged relative to each other. The movable end of the wire pressing cylinder 1-14 is connected to the movable wire pressing plate 1-13 and is used to drive the movable wire pressing plate 1-13 to move closer to or away from the stationary wire pressing plate 1-12. The stationary wire pressing plate 1-12 and the wire pressing cylinder 1-14 are both fixedly connected to the side wall of the wire stripping base plate 1-20. The movable end of the wire pressing cylinder 1-14 can drive the moving wire pressing plate 1-13 to move. Specifically, the static wire pressing plate 1-12 is fixed below the moving wire pressing plate 1-13, and the moving wire pressing plate 1-13 can slide in the vertical direction. By the proximity of the two, the cables delivered by the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 can be compressed. In this way, during the wire stripping process, the cables will not move relative to each other, which can ensure the quality of wire stripping.

[0044] In this embodiment, the stripping unit includes a stationary blade 1-21, a movable blade 1-22, a stripping cylinder 1-23, and a stripping sliding plate 1-19. The stationary blade 1-21 and the stripping cylinder 1-23 are fixedly connected to the stripping sliding plate 1-19. The movable blade 1-22 is arranged opposite to the stationary blade 1-21. The movable end of the stripping cylinder 1-23 is connected to the movable blade 1-22 to control the movable blade 1-22 to move closer to or away from the stationary blade 1-21. The setting principle of the stationary blade 1-21 and the movable blade 1-22 is the same as that of the stationary wire pressing plate 1-12 and the movable wire pressing plate 1-13. The stripping cylinder 1-23 can drive the movable blade 1-22 to move in the vertical direction, so that after approaching the stationary blade 1-21, the fixed cable is cut, so that the outer sheath of the cable is cut open, which facilitates the subsequent separation of the outer sheath and the inner core. The blades on the opposite sides of the moving blade 1-22 and the stationary blade 1-21 should be provided with grooves adapted to the cable to prevent the inner core from being cut. The stripping sliding plate 1-19 should have side walls and a bottom plate to support the corresponding components.

[0045] In this embodiment, the wire stripping unit also includes a second slider 1-15, a second guide rail 1-16, a second cylinder 1-17 and a wire twisting cylinder 1-18. The wire stripping sliding plate 1-19 is connected to the second slider 1-15. The second slider 1-15 is slidably connected to the second guide rail 1-16. The second guide rail 1-16 is connected to the wire stripping base plate 1-20. The wire twisting cylinder 1-18 is connected to the wire stripping sliding plate 1-19. The movable end of the wire twisting cylinder 1-18 is used to clamp the free end of the cable and rotate to twist the wire. The second cylinder 1-17 is connected to the wire stripping base plate 1-20. The movable end of the second cylinder 1-17 is connected to the wire stripping sliding plate 1-19. The movable end of the wire twisting cylinder 1-18 can be clamped and rotated. The existing wire twisting cylinder 1-18 can be used. The second cylinder 1-17 can drive the wire stripping sliding plate 1-19 to move, thereby driving the wire twisting cylinder 1-18 on the wire stripping sliding plate 1-19 to move. When it moves to the specified position, the cable is clamped and then rotated to twist the wire. At the same time, it is driven back by the second cylinder 1-17, which can synchronously drive the stationary blade 1-21 and the movable blade 1-22 to move, so that the cut outer skin can be pulled down synchronously, and the wire twisting work and the separation of the outer skin and the inner core are completed synchronously. It should also be noted that the control of the wire twisting cylinder 1-18 and the second cylinder 1-17 can also be carried out by using existing technology, which will not be elaborated here.

[0046] In this embodiment, the wire guide channel includes a connecting plate 4-3, an opening and closing cylinder 4-4, a movable guide mold 4-16 and a stationary guide mold 4-17. The passive wire feeding wheel 4-2 is rotatably connected to the movable guide mold 4-16, and the active wire feeding wheel 4-1 is rotatably connected to the stationary guide mold 4-17. The movable guide mold 4-16 is connected to one end of the connecting plate 4-3, and the other end of the connecting plate 4-3 is connected to the movable end of the opening and closing cylinder 4-4. The opening and closing cylinder 4-4 is used to drive the movable guide mold 4-16 to approach or move away from the stationary guide mold 4-17. The active wire feeding wheel 4-1 is provided with a matching motor drive. By opening and closing the movable end of the cylinder 4-4, the connecting plate 4-3 can be driven to move, so that the movable guide mold 4-16 can approach or move away from the stationary guide mold 4-17, thereby facilitating the cable to enter or leave the wire guide channel. After the cable is connected, the system and the cable can be separated. The separation process also requires the intervention of the wire-taking claw 5 to separate the cable from the wire guide channel.

[0047] In this embodiment, the wire positioning module 4 also includes a slewing bearing 4-5, a driving gear 4-6, a turntable motor 4-10, a turntable base plate 4-11, a platform plate 4-12 and a support shell. The outer ring of the slewing bearing 4-5 is provided with a ring gear and the ring gear is engaged with the driving gear 4-6 at the rotating end of the turntable motor 4-10. The slewing bearing 4-5 and the turntable motor 4-10 are both connected to the turntable base plate 4-11. The platform plate 4-12 is arranged on the upper side of the slewing bearing 4-5. The opening and closing cylinder 4-4 and the support shell are both connected to the platform plate 4-12, and the stationary guide mold 4-17 is connected to the support shell. The slewing bearing 4-5 can be specifically rotated relative to the turntable base plate 4-11, and driven by the turntable motor 4-10 to drive the driving gear 4-6 to rotate. The rotation of the driving gear 4-6 will drive the slewing bearing 4-5 to rotate. The rotation of the slewing bearing 4-5 can drive the platform plate 4-12 to rotate accordingly. The platform plate 4-12 can drive the wire guide channel to rotate, thereby helping the cable to adjust its direction. After the cable is cut and the outer skin and inner core are separated, it can be rotated accordingly to complete the adjustment of the cable direction, which is convenient for the overlap of the two cables and the crimping of the outer sleeve. The support shell is a conventional frame structure, the purpose of which is to form a support for the wire guide channel. At the same time, corresponding openings need to be set on the support shell to facilitate the movement of the connecting plate 4-3 when it moves. The opening and closing cylinder 4-4 is arranged in a way that is conducive to the movement of the connecting plate 4-3, and can be adaptively set according to actual needs.

[0048] In this embodiment, the support shell includes a first side plate 4-13, a second side plate 4-14, and an upper plate 4-15. The first side plate 4-13 and the second side plate 4-14 are arranged opposite to each other, and their upper ends are connected to the upper plate 4-15, and their lower ends are connected to the platform plate 4-12. The stationary guide mold 4-17 is connected to the upper plate 4-15. The upper plate 4-15 can support the stationary guide mold 4-17.

[0049] In this embodiment, the wire positioning module 4 also includes a slide motor 4-7, a second lead screw slide 4-8 and a second base plate 4-9. The slide motor 4-7 is connected to the second lead screw slide 4-8 for driving the sliding end of the second lead screw slide 4-8 to move. The sliding end of the second lead screw slide 4-8 is connected to the turntable base plate 4-11, and the second lead screw slide 4-8 is connected to the mobile platform 2 through the second base plate 4-9. The slide motor 4-7 is connected to the lead screw of the second lead screw slide 4-8, so that the sliding end is driven to slide accordingly by the rotation of the lead screw, thereby driving the turntable base plate 4-11 to perform corresponding lateral movement, so that it can be positioned with the wire pressing unit during the stage of stripping the cable, thereby facilitating the stripping of the cable. At the same time, it can be easily aligned with the upper crimping mold 1-2 and the lower crimping mold 1-3 during the stage of tightening the sleeve, thereby facilitating the completion of the crimping process.

[0050] In this embodiment, the crimping unit includes a crimping cylinder 1-1, an upper crimping mold 1-2, a lower crimping mold 1-3, a first guide rail 1-4, a first slider 1-5, a first cylinder 1-6, a crimping sleeve storage box 1-7, a crimping sleeve conveying motor 1-8 and a crimping moving plate 1-9, wherein the first slider 1-5 is slidably arranged on the first guide rail 1-4, the upper end of the first slider 1-5 is connected to the crimping moving plate 1-9, the lower crimping mold 1-3 is arranged on the upper part of the crimping moving plate 1-9, and the lower crimping An upper crimping mold 1-2 is provided above the mold 1-3, and the upper crimping mold 1-2 is connected to the movable end of the crimping cylinder 1-1, and the crimping cylinder 1-1 is fixedly connected to the side wall of the crimping movable plate 1-9. A crimping sleeve conveying motor 1-8 is provided at the outlet end of the crimping sleeve storage box 1-7, and the movable end of the first cylinder 1-6 is provided at the outlet end of the crimping sleeve storage box 1-7 for pushing the sleeve that slides out of the crimping sleeve storage box 1-7 to between the upper crimping mold 1-2 and the lower crimping mold 1-3. For the crimping sleeve storage box 1-7, a corresponding opening and closing plate can be provided at its outlet end, and the crimping sleeve conveying motor 1-8 controls the opening and closing of the opening and closing plate to complete the discharge of the crimping tube. The crimping sleeve storage box 1-7 can use a box body with a certain height to accommodate multiple crimping sleeves arranged vertically or obliquely, and the purpose of single discharge of the crimping sleeve is achieved by opening and closing the opening and closing of the opening and closing plate. Furthermore, the crimping sleeve storage box 1-7 can be provided with a certain discharge channel, such as a slope, so that the discharged crimping sleeve can slide along the slope to the lower crimping mold 1-3 after discharge, and be ready for crimping. Figure 3 、 Figure 4In the manner shown, a certain number of crimping sleeves are stored in a crimping sleeve storage box 1-7, and the crimping sleeve storage box 1-7 is connected to the space where the crimping sleeve conveying wheel is located through a channel. A plurality of grooves for accommodating crimping sleeves are evenly distributed around the circumference of the crimping sleeve conveying wheel, and the crimping sleeve conveying wheel is connected to the crimping sleeve conveying motor 1-8 through a synchronous pulley. The crimping sleeve conveying motor 1-8 can drive the crimping sleeve conveying wheel to rotate so that the sleeve in the groove rotates. When it is connected to the crimping sleeve conveying groove, there is a certain height difference here so that the crimping sleeve falls into the crimping sleeve conveying groove and slides onto the lower crimping mold 1-3. When the sleeve moves to the lower crimping die 1-3, the first cylinder 1-6 drives the crimping movable plate 1-9 to move, so that the crimping sleeve moves to the appropriate position. The active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 cooperate to move the free end of the cable that has completed the rotation movement from the corresponding crimping sleeve opening end to complete the overlap. The upper crimping die 1-2 is driven downward by the crimping cylinder 1-1 to tightly crimp the crimping sleeve and the cable to complete the connection of the two cables. Then, the opening and closing cylinder 4-4 drives the connecting plate 4-3 to separate the movable guide die 4-16 and the stationary guide die 4-17. The connected cable is taken out and placed in the appropriate position by the wire taking claw 5.

[0051] When in use, the wire-taking claw 5 is first driven by the mechanical arm 3 to move to grab the free end of the cable and then transport it to the corresponding wire guide channel. The active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 at the corresponding position cooperate to drive the cable to move. Before movement, the wire guide channel needs to be aligned with the static wire pressing plate 1-12 at the corresponding position. The adjustment process of the alignment action is to drive the moving end of the second screw slide 4-8 to move through the operation of the slide motor 4-7, thereby adjusting the position of the wire guide channel to align with the static wire pressing plate 1-12. After alignment, the active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 cooperate to drive the cable to move, so that the cable moves to the position required for cutting and twisting. Then, the wire pressing cylinder 1-14 drives the moving wire pressing plate 1-13 to move and cooperate with the static wire pressing plate 1-12 to compress the cable. After the compression action is completed, the wire stripping cylinder 1-23 drives the moving blade 1-22 to move downward and cooperate with the static blade 1-21 to cut the cable sheath. The wire twisting cylinder 1-18 clamps the free end of the cable and rotates it. Then, the wire stripping cylinder 1-23 drives the wire stripping sliding plate 1-19 to move, so that the moving blade 1-22 and the static blade 1-21 cooperate to tear off the sheath, completing the separation of the sheath and the inner core. Then, the wire pressing cylinder 1-14 and the wire stripping cylinder 1-23 move in opposite directions to loosen the cable. The process of the two wires is the same and will not be repeated here. At this time, the turntable motor 4-10 drives the active gear 4-6 to rotate, and the active gear 4-6 drives the slewing bearing 4-5 to rotate, thereby driving the wire guide channel to rotate 90 degrees, so that the two cables are distributed in a straight line. At this time, the crimping sleeve storage box 1-7 releases the crimping sleeve. When the sleeve moves to the lower crimping die 1-3, the first cylinder 1-6 drives the crimping movable plate 1-9 to move, so that the crimping sleeve moves to the appropriate position. The active wire feeding wheel 4-1 and the passive wire feeding wheel 4-2 cooperate to move the free end of the cable that has completed the rotation action from the corresponding crimping sleeve open end to complete the overlap. The upper crimping die 1-2 is driven downward by the crimping cylinder 1-1 to crimp the crimping sleeve and the cable tightly, completing the connection of the two cables. Then, the opening and closing cylinder 4-4 drives the connecting plate 4-3 to move so that the movable guide die 4-16 and the stationary guide die 4-17 are separated, and the connected cable is taken out and placed in the appropriate position by the wire taking claw 5. This system is able to operate the cables accordingly by setting up a visual system and cooperating with human control. The controllers, sensors, control programs, cameras and other visual observation solutions designed for remote control actions can all use existing technologies and will not be described in detail here.

[0052] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. An emergency wiring robot system for hazardous environments, characterized in that: include: A mobile platform (2) is provided with a wire positioning module (4) and a mechanical arm (3) and a wire processing module (1) distributed on both sides of the wire positioning module (4); The wire positioning module (4) comprises two symmetrically arranged wire units; each of the wire units comprises a wire guide channel, an active wire feeding wheel (4-1) and a passive wire feeding wheel (4-2) arranged in the wire guide channel and arranged opposite to each other, and a drive assembly for driving the wire guide channel to perform linear motion and rotational motion relative to the mobile platform (2); The wire processing module (1) comprises a wire pressing unit arranged corresponding to each wire unit, a wire stripping unit and a crimping unit arranged on a side of each wire pressing unit away from the wire positioning module (4); the mechanical arm (3) respectively feeds the free end of each cable into the corresponding wire guide channel; the free end of the cable is transported between the active wire feeding wheel (4-1) and the passive wire feeding wheel (4-2) to the corresponding wire pressing unit and compressed, and then stripped by the corresponding wire stripping unit; after stripping, the two wire guide channels are rotated so that the exposed parts of the two cables are opposite to each other; the crimping unit is used to transport the sleeve between the two wires; each wire unit drives the corresponding cable to be inserted into the sleeve; the crimping unit is used to squeeze the sleeve to complete the connection of the two cables.

2. The emergency wiring robot system for hazardous environments according to claim 1, characterized in that: The wire pressing unit and the wire stripping unit are both connected to the first base plate (1-10) via a wire stripping base plate (1-20), the crimping unit is connected to the first base plate (1-10), and the first base plate (1-10) is connected to the movable end of the first lead screw slide (1-11).

3. The emergency wiring robot system for hazardous environments according to claim 2, characterized in that: The wire pressing unit comprises a stationary wire pressing plate (1-12), a movable wire pressing plate (1-13) and a wire pressing cylinder (1-14); the stationary wire pressing plate (1-12) and the movable wire pressing plate (1-13) are arranged relative to each other; the movable end of the wire pressing cylinder (1-14) is connected to the movable wire pressing plate (1-13) for driving the movable wire pressing plate (1-13) to approach or move away from the stationary wire pressing plate (1-12); and the stationary wire pressing plate (1-12) and the wire pressing cylinder (1-14) are both fixedly connected to the side wall of a wire stripping base plate (1-20).

4. The emergency wiring robot system for hazardous environments according to claim 2, characterized in that: The wire stripping unit comprises a stationary blade (1-21), a movable blade (1-22), a wire stripping cylinder (1-23) and a wire stripping sliding plate (1-19); the stationary blade (1-21) and the wire stripping cylinder (1-23) are fixedly connected to the wire stripping sliding plate (1-19); the movable blade (1-22) and the stationary blade (1-21) are arranged opposite to each other; and the movable end of the wire stripping cylinder (1-23) is connected to the movable blade (1-22) for controlling the movable blade (1-22) to approach or move away from the stationary blade (1-21).

5. The emergency wiring robot system for hazardous environments according to claim 4, characterized in that: The wire stripping unit further comprises a second slider (1-15), a second guide rail (1-16), a second cylinder (1-17) and a wire twisting cylinder (1-18); the wire stripping sliding plate (1-19) is connected to the second slider (1-15); the second slider (1-15) is slidably connected to the second guide rail (1-16); the second guide rail (1-16) is connected to the wire stripping base plate (1-20); the wire twisting cylinder (1-18) is connected to the wire stripping sliding plate (1-19); the movable end of the wire twisting cylinder (1-18) is used for clamping the free end of the cable and rotating to twist the wire; the second cylinder (1-17) is connected to the wire stripping base plate (1-20); and the movable end of the second cylinder (1-17) is connected to the wire stripping sliding plate (1-19).

6. The emergency wiring robot system for hazardous environments according to claim 1, characterized in that: The wire guide channel comprises a connecting plate (4-3), an opening and closing cylinder (4-4), a movable guide mold (4-16) and a stationary guide mold (4-17); the passive wire feeding wheel (4-2) is rotatably connected to the movable guide mold (4-16); the active wire feeding wheel (4-1) is rotatably connected to the stationary guide mold (4-17); the movable guide mold (4-16) is connected to one end of the connecting plate (4-3); the other end of the connecting plate (4-3) is connected to the movable end of the opening and closing cylinder (4-4); the opening and closing cylinder (4-4) is used to drive the movable guide mold (4-16) to approach or move away from the stationary guide mold (4-17); and the active wire feeding wheel (4-1) is provided with a matching motor drive.

7. The emergency wiring robot system for hazardous environments according to claim 6, characterized in that: The wire positioning module (4) also includes a slewing bearing (4-5), a driving gear (4-6), a turntable motor (4-10), a turntable base plate (4-11), a platform plate (4-12) and a support shell. The outer ring of the slewing bearing (4-5) is provided with a gear ring, and the gear ring is engaged with the driving gear (4-6) at the rotating end of the turntable motor (4-10). The slewing bearing (4-5) and the turntable motor (4-10) are both connected to the turntable base plate (4-11). The platform plate (4-12) is arranged on the upper side of the slewing bearing (4-5). The opening and closing cylinder (4-4) and the support shell are both connected to the platform plate (4-12). The stationary guide mold (4-17) is connected to the support shell.

8. The emergency wiring robot system for hazardous environments according to claim 7, characterized in that: The supporting shell comprises a first side plate (4-13), a second side plate (4-14) and an upper plate (4-15); the first side plate (4-13) and the second side plate (4-14) are arranged opposite to each other, and the upper ends of the first side plate (4-13) and the second side plate (4-14) are connected to the upper plate (4-15), and the lower ends of the first side plate (4-13) and the second side plate (4-14) are connected to the platform plate (4-12); the stationary guide mold (4-17) is connected to the upper plate (4-15).

9. The emergency wiring robot system for hazardous environments according to claim 7, characterized in that: The wire positioning module (4) also includes a slide motor (4-7), a second lead screw slide (4-8) and a second base plate (4-9); the slide motor (4-7) is connected to the second lead screw slide (4-8) for driving the sliding end of the second lead screw slide (4-8) to move; the sliding end of the second lead screw slide (4-8) is connected to the turntable base plate (4-11); and the second lead screw slide (4-8) is connected to the mobile platform (2) via the second base plate (4-9).

10. An emergency wiring robot system for hazardous environments according to any one of claims 1 to 9, characterized in that: The crimping unit comprises a crimping cylinder (1-1), an upper crimping die (1-2), a lower crimping die (1-3), a first guide rail (1-4), a first slider (1-5), a first cylinder (1-6), a crimping sleeve storage box (1-7), a crimping sleeve conveying motor (1-8) and a crimping movable plate (1-9), wherein the first slider (1-5) is slidably arranged on the first guide rail (1-4), the upper end of the first slider (1-5) is connected to the crimping movable plate (1-9), the lower crimping die (1-3) is arranged on the upper part of the crimping movable plate (1-9), and the lower crimping die An upper crimping die (1-2) is arranged above the tool (1-3); the upper crimping die (1-2) is connected to the movable end of the crimping cylinder (1-1); the crimping cylinder (1-1) is fixedly connected to the side wall of the crimping movable plate (1-9); a crimping sleeve conveying motor (1-8) is arranged at the outlet end of the crimping sleeve storage box (1-7); the movable end of the first cylinder (1-6) is arranged at the outlet end of the crimping sleeve storage box (1-7) and is used to push the sleeve that slides out of the crimping sleeve storage box (1-7) to between the upper crimping die (1-2) and the lower crimping die (1-3).

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