Electric lock rod and control method

Abstract

The invention discloses an electric lock rod and a control method. The lock rod comprises a clamping module. The clamping module comprises a clamping jaw and a first motor which are connected with each other; the first encoder is used for acquiring a first motor position; the first current sensor is used for acquiring first motor current; the controller is used for, when the wire needs to be clamped, firstly, putting the wire into the clamping jaw, controlling the first motor to drive the clamping jaw to be opened to the maximum, recording the position S0 of the first motor at the moment, then controlling the first motor to drive the clamping jaw to be closed until the current change rate of the first motor is greater than or equal to a set value, and recording the position S2 of the first motor at the moment; calculating and determining the movement distance of the first motor according to S2 and S0; further determining the maximum clamping current when the wire is completely clamped; and finally, the first motor is controlled to drive the clamping jaw to be closed until the current of the first motor is the maximum clamping current, and the wire is completely clamped. And accurate clamping of the whole-wire-diameter wire can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of live distribution network operations, and in particular to an electric locking rod and a control method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The operation of disconnecting the drainage wire by the insulating rod method is a common operation item in the non-stop operation of the distribution network. During the operation, the wire is energized and the insulating rod plays the role of the main insulation. During the operation, in order to prevent the wire from shaking and touching other potential equipment, causing a short circuit accident, in addition to the wire cutting tools and wire clamp installation tools, a locking rod is also required to fix the wire. The basic requirements for the locking rod are: to lock the wire tightly and prevent it from loosening, and to ensure that the jaws are aligned with the drainage wire when clamping.

[0004] The locking rod in the related art is mainly a mechanical locking mechanism. The locking process is complicated to operate and relies on the arm strength of the staff to clamp the wire. Due to the diversity of drainage wire specifications, it is difficult to firmly clamp wires of various specifications.

[0005] In addition, when workers are climbing poles, the inclination angles of the leads vary, and some leads have large inclination angles. The angle of the clamp on the existing locking rod cannot be adjusted, which makes it extremely inconvenient to clamp the inclined wires. Especially when clamping leads with large inclination angles, it is more difficult to clamp, and the lead clamping is prone to instability, causing the clamped lead to fall off. Due to the limitations of the working environment, workers have to twist their arms or swing their bodies at a certain angle to align the clamping jaws with the drainage wire, which poses a great challenge to operating experience, professional technical level and physical strength.

[0006] At present, the control method of the electric locking rod is relatively rough, which may easily lead to problems such as insufficient clamping force causing the wire to fall off, excessive clamping force causing the wire to be clamped, and the angle and direction of the clamping jaws cannot be adjusted. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes an electric locking rod and a control method, which can clamp wires of all wire diameters with precise clamping force and can also adjust the position of the clamping jaws and the wires.

[0008] To achieve the above object, the present invention adopts the following technical solution:

[0009] In a first aspect, an electric locking rod is provided, comprising a clamping module, a first encoder, a first current sensor and a controller; the clamping module comprises a clamping jaw and a first motor, the first motor is connected to the clamping jaw and can drive the clamping jaw to open and close;

[0010] A first encoder, used to obtain a first motor position;

[0011] A first current sensor, used to obtain a first motor current;

[0012] The controller is used for, when clamping a wire, firstly, placing the wire into the clamping jaws, and controlling the first motor to drive the clamping jaws to open to the maximum, recording the position S0 of the first motor at this time, and then controlling the first motor to drive the clamping jaws to close until the rate of change of the first motor current is greater than or equal to a set value, recording the position S2 of the first motor at this time; calculating and determining the movement distance of the first motor according to the first motor positions S2 and S0; determining the maximum clamping current when the wire is fully clamped according to the movement distance of the first motor; finally, controlling the first motor to continue to drive the clamping jaws to close until the first motor current is the maximum clamping current, and the wire is fully clamped, wherein the rate of change of the first motor current is obtained by calculating the first motor current at the current moment and the previous moment.

[0013] Furthermore, it also includes an image acquisition device;

[0014] An image acquisition device, used to acquire an image of the clamping module;

[0015] The controller is also used to determine whether the wire is completely dropped into the clamping jaws according to the clamping module image.

[0016] Furthermore, the controller is communicatively connected with the remote controller; a display screen is provided on the remote controller, and the display screen is used to display the image of the clamping module.

[0017] Furthermore, the controller is used to determine the wire diameter specification of the wire according to the movement distance of the first motor; and determine the maximum clamping current when the wire is fully clamped according to the wire diameter specification of the wire.

[0018] Furthermore, it also includes a first limit sensor;

[0019] The first limit sensor is used to detect whether the clamping jaws are opened to the maximum.

[0020] Furthermore, the clamping jaws include a first clamping block, a second clamping block and a first lead screw; the first clamping block and the second clamping block are both connected to the first lead screw; the first lead screw is connected to the first motor; the first motor can drive the first lead screw to rotate, thereby driving the first clamping block and the second clamping block to move toward or away from each other, so that the clamping jaws are closed or opened.

[0021] Further, the clamping module is connected to the bracket and can rotate relative to the bracket;

[0022] The bracket is also connected to the rotating module, which includes a second motor, a second screw and a crank connecting rod; the first end of the crank connecting rod is connected to the clamping module, the second end of the crank connecting rod is connected to the second screw, and the second motor is connected to the second screw; the second motor can drive the second screw to rotate, thereby driving the second end of the crank connecting rod to move up and down, so that the first end of the crank connecting rod drives the clamping module to rotate, changing the direction of the clamping jaws.

[0023] Furthermore, it also includes a second current sensor and a reset sensor;

[0024] A second current sensor, used for obtaining a second motor current;

[0025] A reset sensor is used to detect whether the clamping jaws are in the initial position;

[0026] The controller is used to first control the second motor to drive the second end of the crank connecting rod to move downward when the clamping jaws are reset, until the second motor current reaches the maximum limit current; then, control the second motor to drive the second end of the crank connecting rod to move upward until the reset sensor is triggered.

[0027] In a second aspect, a control method for an electric lock rod according to the first aspect is provided, comprising:

[0028] Acquire the position of the first motor by using the first encoder;

[0029] Acquire the first motor current by using the first current sensor

[0030] When the wire needs to be clamped, first put the wire into the clamping jaws; control the first motor to drive the clamping jaws to open to the maximum, and record the position S0 of the first motor at this time;

[0031] Afterwards, the first motor is controlled to drive the clamping jaws to close until the current change rate of the first motor is greater than or equal to the set value, and the position S2 of the first motor at this time is recorded;

[0032] According to the first motor positions S2 and S0, the movement distance of the first motor is calculated and determined; according to the movement distance of the first motor, the maximum clamping current when the wire is fully clamped is determined;

[0033] Finally, the first motor is controlled to continue to drive the clamping jaws to close until the first motor current reaches the maximum clamping current to completely clamp the wire, wherein the first motor current change rate is calculated based on the first motor current at the current moment and the previous moment.

[0034] Furthermore, the second motor controls the second lead screw to rotate, thereby driving the second end of the crank connecting rod to move up and down, so that the first end of the crank connecting rod drives the clamping module to rotate, thereby changing the direction of the clamping jaws.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention discloses an electric lock rod and control method, wherein the clamping jaws in the electric lock rod can be opened and closed, thereby loosening or clamping the wire, and the first motor position is obtained by setting a first encoder, and the first motor current is obtained by a first current sensor; when the wire needs to be clamped, the maximum clamping current when the wire is fully clamped is determined according to the movement distance of the first motor in the process from the clamping jaws being opened to the maximum to contacting the wire; then, the clamping jaws are controlled to close until the first motor current is the maximum clamping current to clamp the wire; the clamping of wires of different wire diameters is achieved, and the clamping force of the clamped wire can be accurately controlled to prevent the wire from falling off due to insufficient clamping force, or the clamping force is too large to damage the wire. In addition, a rotating module is also provided in the electric lock rod, and the rotating module can drive the clamping module to rotate, thereby changing the direction of the clamping jaws, and adjusting the clamping jaws and the orientation of the wire.

[0037] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0039] Figure 1 A schematic diagram of the structure of an electric lock rod disclosed in an embodiment;

[0040] Figure 2 A schematic diagram of a state in which the clamping jaws of an electric locking rod are changed in direction according to an embodiment;

[0041] Figure 3 It is a block diagram of the overall structure of an electric lock rod disclosed in the embodiment;

[0042] Figure 4 The present invention is a structural block diagram of a control system of an electric lock rod disclosed in an embodiment.

[0043] Among them: 1. clamping module, 2. rotating module, 3. bracket, 1-1 clamping jaws, 2-1, second lead screw, 2-2, crank connecting rod. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0048] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0049] Example 1

[0050] In this embodiment, an electric lock bar is disclosed, such as Figure 1-Figure 4 As shown, it includes a clamping module 1, a first encoder, a first current sensor and a controller; the clamping module 1 includes a clamping jaw 1-1 and a first motor, the first motor is connected to the clamping jaw 1-1, and can drive the clamping jaw 1-1 to open and close;

[0051] A first encoder, used to obtain a first motor position;

[0052] A first current sensor, used to obtain a first motor current;

[0053] The controller is used for, when clamping a wire, firstly, placing the wire into the clamping jaws, and controlling the first motor to drive the clamping jaws to open to the maximum, recording the position S0 of the first motor at this time, and then controlling the first motor to drive the clamping jaws to close until the rate of change of the first motor current is greater than or equal to a set value, recording the position S2 of the first motor at this time; calculating and determining the movement distance of the first motor according to the first motor positions S2 and S0; determining the maximum clamping current when the wire is fully clamped according to the movement distance of the first motor; finally, controlling the first motor to continue to drive the clamping jaws to close until the first motor current is the maximum clamping current, and the wire is fully clamped, wherein the rate of change of the first motor current is obtained by calculating the first motor current at the current moment and the previous moment.

[0054] Among them, the clamping jaw 1-1 includes a first clamping block, a second clamping block and a first screw; the first clamping block and the second clamping block are both connected to the first screw; the first screw is connected to the first motor; the first motor can drive the first screw to rotate, and then drive the first clamping block and the second clamping block to move toward or away from each other, so that the clamping jaw 1-1 is closed or opened.

[0055] Preferably, the first screw is a bidirectional screw.

[0056] In this embodiment, the first clamping block and the second clamping block move toward or away from each other to achieve clamping and loosening of wires with different wire diameters.

[0057] In order to adjust the clamping jaws and the orientation of the wire, the present embodiment provides a clamping module 1 connected to a bracket 3 and capable of rotating relative to the bracket 3; the bracket 3 is also connected to a rotating module 2, which includes a second motor, a second screw rod 2-1 and a crank connecting rod 2-2; the first end of the crank connecting rod 2-2 is connected to the clamping module 1, the second end of the crank connecting rod 2-2 is connected to the second screw rod 2-1, and the second motor is connected to the second screw rod 2-1; the second motor can drive the second screw rod 2-1 to rotate, thereby driving the second end of the crank connecting rod 2-2 to move up and down, so that the first end of the crank connecting rod 2-2 drives the clamping module to rotate, thereby changing the orientation of the clamping jaws.

[0058] Preferably, the second lead screw is a one-way lead screw.

[0059] The crank connecting rod 2-2 includes a slider, a first connecting rod and a second connecting rod; the slider is connected to the second lead screw and can move up and down along the second lead screw, one end of the second connecting rod is hinged to the slider; the other end of the second connecting rod is hinged to the first connecting rod; the first connecting rod is hinged to the clamping module 1.

[0060] The opening and closing direction of the clamping jaws is in the same direction as the rotation axis of the clamping module.

[0061] In this embodiment, the direction of the clamping jaws can be adjusted by the second motor, thereby achieving adjustment of the orientation of the clamping jaws and the wire.

[0062] The bracket of this embodiment is also connected to the insulating rod interface, and the insulating rod interface is connected to the insulating rod.

[0063] Preferably, the insulating rod interface is plum blossom-shaped, and the installation angle between the insulating rod and the insulating rod interface can be adjusted according to the working conditions.

[0064] In order to monitor whether the wire is completely dropped into the clamping jaw 1-1, the electric locking rod disclosed in this embodiment further includes an image acquisition device;

[0065] An image acquisition device, used to acquire an image of the clamping module;

[0066] The controller is also used to determine whether the wire is completely dropped into the clamping jaws according to the clamping module image.

[0067] Preferably, the image acquisition device uses an observation camera to observe the clamping module and the rotating module to see whether the direction of the clamping jaws is adjusted in place before the operation, whether the wire falls completely into the clamping jaws, etc.

[0068] In addition, the present embodiment also connects the controller to the remote controller for communication; the remote controller is provided with a display screen, which is used to display the image of the clamping module.

[0069] Preferably, the remote controller communicates with the controller via a communication module.

[0070] The remote control is installed on the insulating rod through a buckle; buttons for clamping the wire, loosening the wire, adjusting the direction of the clamping jaws, etc. are provided on the remote control. By operating the buttons of the corresponding commands, the corresponding commands are sent to the controller, and the controller controls the start and stop of the first motor and the second motor according to the received commands.

[0071] In order to achieve precise control of the clamping force of the clamped wire, this embodiment further provides a first encoder and a first current sensor; both the first encoder and the first current sensor are communicatively connected to the controller.

[0072] The first encoder is used to control the first motor and obtain the position of the first motor.

[0073] The first current sensor is used to obtain a first motor current, wherein the first motor current refers to an output current of the first motor.

[0074] The electric lock rod disclosed in this embodiment also includes a first limit sensor;

[0075] The first limit sensor is used to detect whether the clamping jaws are opened to the maximum.

[0076] When the wire needs to be clamped, first, the wire is completely placed in the clamping jaws. The controller sends a reset command to the first encoder, controls the first motor to move so that the clamping jaws are opened until the first limit sensor is triggered. At this time, the clamping jaws are opened to the maximum, and the first encoder records the first motor position S0 at this time. After that, the controller controls the first motor to drive the clamping jaws to close. During the closing process, the first current sensor collects the first motor current in real time, and calculates and determines the current change rate of the first motor according to the first motor current at the current moment and the first motor current at the previous moment; when the clamping jaws are closed until the first motor current change rate is greater than or equal to the set value ρmax, it indicates that the clamping jaws have contacted the wire, and the first motor position S2 at this time is recorded; according to the first motor positions S2 and S0, the movement distance L of the first motor is calculated and determined, L=S2-S0; the controller determines the maximum clamping current Iimax when the wire is completely clamped according to the movement distance L of the first motor; finally, the first motor is controlled to continue to drive the clamping jaws to close until the first motor current is the maximum clamping current Iimax, indicating that the wire has been completely clamped, and the first motor is controlled to stop moving.

[0077] The controller is used to determine the wire diameter specification of the wire according to the movement distance of the first motor; and to determine the maximum clamping current when the wire is fully clamped according to the wire diameter specification of the wire.

[0078] This embodiment tests in advance the maximum instantaneous current change rate ρimax when the clamping jaws contact wires of different wire diameters, where i corresponds to 240 mm 2 、185mm 2 , 150mm 2 , 120mm 2 The maximum value is selected from all ρimax as the maximum instantaneous current change rate ρmax when the full-diameter wire is clamped, and the maximum instantaneous current change rate ρmax is encapsulated in the controller as a set value to determine whether the first motor position S2 needs to be recorded.

[0079] This embodiment also tests in advance the movement distance Li of the first motor when the clamping jaws are clamped on wires of different wire diameters, from the maximum opening of the clamping jaws to the contact of the clamping jaws with the wires, where i corresponds to 240 mm 2 、185mm 2 、150mm 2 , 120mm 2 The movement distance Li of the first motor corresponding to the wires of different wire diameters is packaged into the controller to determine the wire diameter of the wire that needs to be clamped.

[0080] This embodiment also tests in advance the maximum clamping current Iimax when the clamping jaws clamp wires of different wire diameters, where i corresponds to 240 mm 2 、185mm 2 、150mm 2 , 120mm 2 The maximum clamping current Iimax corresponding to the wires of different wire diameters is encapsulated in the controller to determine whether the wires of different wire diameters are clamped.

[0081] This embodiment monitors the movement distance of the first motor to identify the wire diameters of different wires, and then determines the maximum clamping current corresponding to the wire of the wire diameter based on the identified wire diameter. By monitoring the current of the first motor, on the basis of ensuring the clamping of the wire, precise control of the clamping force of the clamped wire is achieved to ensure that the wire will not get loose and will not be damaged after the clamping jaws clamp the wire. In particular, when the drainage wire is energized and connected to a bare wire, clamping damage to the wire is avoided.

[0082] During the wire clamping process, the controller sends operating information such as the specifications of the clamped wire, the process of the jaws clamping the wire, and whether the wire is located in the jaws to the remote control. The remote control's display screen displays the received operating information in real time, allowing staff to understand the operating status in real time, thus realizing visualization of the work site.

[0083] The electric lock rod disclosed in this embodiment also includes a second current sensor and a reset sensor;

[0084] A second current sensor, used for obtaining a second motor current;

[0085] A reset sensor is used to detect whether the clamping jaws are in the initial position;

[0086] The controller is used to first control the second motor to drive the second end of the crank connecting rod to move downward when the clamping jaws are reset, until the second motor current reaches the maximum limit current; then, control the second motor to drive the second end of the crank connecting rod to move upward until the reset sensor is triggered.

[0087] The second motor current is the output current of the second motor.

[0088] The electric lock rod disclosed in this embodiment also includes a second encoder, and the second encoder is used to control the second motor.

[0089] When the reset sensor is triggered, it indicates that the clamping jaws are in the initial position. At this time, the slider in the crank connecting rod is in the middle position of the second screw. Figure 1 Initial orientation is shown.

[0090] When the position of the clamping jaws is adjusted, the controller sends a command to control the second motor to start and adjust the position of the clamping jaws. During the position adjustment of the clamping jaws, the image of the clamping module is acquired in real time by the image acquisition device, and the image of the clamping module is sent to the remote control. The image of the clamping module is displayed on the display screen of the remote control, and the position of the clamping jaws is checked and corrected in real time. Figure 2 Shown is a schematic diagram of the overall structure after adjusting the position of the clamping jaws.

[0091] The maximum current I2max of the second motor when the clamping jaws are in the extreme position is obtained through testing, and the maximum current I2max of the second motor is encapsulated in the controller. When the staff adjusts the angle of the clamping jaws, the second motor current is detected in real time through the second current sensor; when the second current sensor detects that the second motor current I2=I2max, it indicates that the clamping jaws are already in the maximum adjustable angle position. At this time, the controller controls the second motor to stop moving to avoid damage. In this case, if the position of the clamping jaws has not been adjusted in place, the adjustable position of the rotating module can be compensated by adjusting the installation angle of the insulating rod interface and the insulating rod.

[0092] When the clamping jaws need to be reset, the controller sends a reset command to the second motor, and the second motor drives the slider to move downward until the second current sensor detects that the second motor current I2=I2max, indicating that the slider has reached the lower limit position at this time, and the second motor is controlled to stop moving; after the above actions are completed, the controller controls the second motor to perform reverse movement until the reset sensor is triggered, indicating that the clamping jaws are reset to the initial position.

[0093] By setting the reset sensor, the position drift caused by the accumulated error caused by simply relying on the second encoder to record the position of the second motor is avoided.

[0094] The electric locking rod disclosed in this embodiment can adjust the position of the clamping jaws and can clamp wires of all wire diameters with precise clamping force. It is easy to use and will not cause damage to the clamped wires.

[0095] Example 2

[0096] In this embodiment, a control method of an electric lock rod disclosed in Embodiment 1 is disclosed, including:

[0097] Acquire the position of the first motor by using the first encoder;

[0098] Acquire the first motor current by using the first current sensor

[0099] When the wire needs to be clamped, first put the wire into the clamping jaws; control the first motor to drive the clamping jaws to open to the maximum, and record the position S0 of the first motor at this time;

[0100] Afterwards, the first motor is controlled to drive the clamping jaws to close until the current change rate of the first motor is greater than or equal to the set value, and the position S2 of the first motor at this time is recorded;

[0101] According to the first motor positions S2 and S0, the movement distance of the first motor is calculated and determined; according to the movement distance of the first motor, the maximum clamping current when the wire is fully clamped is determined;

[0102] Finally, the first motor is controlled to continue to drive the clamping jaws to close until the first motor current reaches the maximum clamping current to completely clamp the wire, wherein the first motor current change rate is calculated based on the first motor current at the current moment and the previous moment.

[0103] Furthermore, the second motor controls the second lead screw to rotate, thereby driving the second end of the crank connecting rod to move up and down, so that the first end of the crank connecting rod drives the clamping module to rotate, thereby changing the direction of the clamping jaws.

[0104] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An electric lock rod, characterized in that: It includes a clamping module, a first encoder, a first current sensor and a controller; the clamping module includes a clamping jaw and a first motor, the first motor is connected to the clamping jaw and can drive the clamping jaw to open and close; A first encoder, used to obtain a first motor position; A first current sensor, used to obtain a first motor current; The controller is used for, when clamping a wire, firstly, placing the wire into the clamping jaws, and controlling the first motor to drive the clamping jaws to open to the maximum, recording the position S0 of the first motor at this time, and then controlling the first motor to drive the clamping jaws to close until the rate of change of the first motor current is greater than or equal to a set value, recording the position S2 of the first motor at this time; calculating and determining the movement distance of the first motor according to the first motor positions S2 and S0; determining the maximum clamping current when the wire is fully clamped according to the movement distance of the first motor; finally, controlling the first motor to continue to drive the clamping jaws to close until the first motor current is the maximum clamping current, and the wire is fully clamped, wherein the rate of change of the first motor current is obtained by calculating the first motor current at the current moment and the previous moment.

2. An electric lock rod as claimed in claim 1, characterized in that: Also included is an image acquisition device; An image acquisition device, used to acquire an image of the clamping module; The controller is also used to determine whether the wire is completely dropped into the clamping jaws according to the clamping module image.

3. An electric lock rod as claimed in claim 2, characterized in that: The controller is connected to the remote controller for communication; the remote controller is provided with a display screen for displaying the image of the clamping module.

4. An electric lock rod as claimed in claim 1, characterized in that: The controller is used to determine the wire diameter specification of the wire according to the movement distance of the first motor; and to determine the maximum clamping current when the wire is fully clamped according to the wire diameter specification of the wire.

5. An electric lock rod as claimed in claim 1, characterized in that: Also included is a first limit sensor; The first limit sensor is used to detect whether the clamping jaws are opened to the maximum.

6. An electric lock rod as claimed in claim 1, characterized in that: The clamping jaws include a first clamping block, a second clamping block and a first lead screw; the first clamping block and the second clamping block are both connected to the first lead screw; the first lead screw is connected to the first motor; the first motor can drive the first lead screw to rotate, thereby driving the first clamping block and the second clamping block to move toward or away from each other, so that the clamping jaws are closed or opened.

7. An electric lock rod as claimed in claim 1, characterized in that: The clamping module is connected to the bracket and can rotate relative to the bracket; The bracket is also connected to the rotating module, which includes a second motor, a second screw and a crank connecting rod; the first end of the crank connecting rod is connected to the clamping module, the second end of the crank connecting rod is connected to the second screw, and the second motor is connected to the second screw; The second motor can drive the second screw rod to rotate, thereby driving the second end of the crank connecting rod to move up and down, so that the first end of the crank connecting rod drives the clamping module to rotate, thereby changing the direction of the clamping jaws.

8. An electric lock rod as claimed in claim 7, characterized in that: Also included is a second current sensor and a reset sensor; A second current sensor, used for obtaining a second motor current; A reset sensor is used to detect whether the clamping jaws are in the initial position; The controller is used to first control the second motor to drive the second end of the crank connecting rod to move downward when the clamping jaws are reset, until the second motor current reaches the maximum limit current; then, control the second motor to drive the second end of the crank connecting rod to move upward until the reset sensor is triggered.

9. A method for controlling an electric lock rod according to any one of claims 1 to 8, characterized in that: include: Acquire the position of the first motor by using the first encoder; Acquire the first motor current by using the first current sensor When the wire needs to be clamped, first put the wire into the clamping jaws; control the first motor to drive the clamping jaws to open to the maximum, and record the position S0 of the first motor at this time; Afterwards, the first motor is controlled to drive the clamping jaws to close until the current change rate of the first motor is greater than or equal to the set value, and the position S2 of the first motor at this time is recorded; According to the first motor positions S2 and S0, the movement distance of the first motor is calculated and determined; according to the movement distance of the first motor, the maximum clamping current when the wire is fully clamped is determined; Finally, the first motor is controlled to continue to drive the clamping jaws to close until the first motor current reaches the maximum clamping current to completely clamp the wire, wherein the first motor current change rate is calculated based on the first motor current at the current moment and the previous moment.

10. A method for controlling an electric lock rod as claimed in claim 9, characterized in that: The second motor controls the second lead screw to rotate, thereby driving the second end of the crank connecting rod to move up and down, so that the first end of the crank connecting rod drives the clamping module to rotate, thereby changing the direction of the clamping jaws.

Images