Wire clamp wiring tool, wiring tool assembly and wiring method

Abstract

The present invention provides a wire clamp wiring tool, a wiring tool assembly and a wiring method, which relate to the field of live-line operation robots for distribution networks, and include a base; a base connection portion and at least one wire clamp disassembly portion are provided on the base; each wire clamp disassembly portion includes a buckle assembly and a screw assembly; the front side surface of the base is provided with at least one clamping groove having the same number and one-to-one correspondence with the wire clamp disassembly portion, and the buckle assembly is installed on the base for locking the wire clamp housing in the clamping groove; the screw assembly includes a rotary drive portion installed on the base and at least two rotating sleeves connected to the rotary drive portion in a transmission manner, the axial direction of each rotating sleeve extends along the front and rear direction of the base and the front end of the rotating sleeve is located at the rear side of the clamping groove; a bolt inner hole is provided on the front end surface of each rotating sleeve, and the bolt inner hole and the clamping groove are interconnected along the front and rear direction of the base. The present invention alleviates the technical problems of inconvenient wiring operation and low efficiency in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of robots for live-line working in distribution networks, and in particular to a wire clamp wiring tool, a wiring tool assembly and a wiring method. Background Art

[0002] In the field of distribution network, with the continuous increase in the amount of live-line work, social production has higher and higher requirements for power supply, and continuous and reliable power supply is particularly important. The live-line wiring work of the circuit is mainly to supply power to new users. It is also a necessary operation for line transformation and installation of new pole-mounted equipment. The operation is carried out frequently.

[0003] The existing high-voltage circuit live wiring operation has at least the following problems:

[0004] ① When conducting live wiring work on traditional high-voltage circuits, the power supply at the input end of the line must be cut off to ensure safety. Cutting off the line will cause inconvenience to users and bring losses to users (especially medium and large enterprise users);

[0005] ② During wiring operations, the use of live working robots to assist in the operation is beneficial to reducing the workload of staff. Compared with manual wiring, it is easier to operate and control. However, the wiring tools equipped with existing live working robots can only install one wire clamp at a time, which makes the operation cumbersome and inefficient. Summary of the invention

[0006] An object of the present invention is to provide a wire clamp wiring tool, a wiring tool assembly and a wiring method to alleviate at least one of the above-mentioned technical problems existing in the prior art.

[0007] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a wire clamp wiring tool, comprising a base body; the base body is provided with a base body connection portion for connecting to an arm of a live working robot and at least one wire clamp disassembly portion.

[0009] Each of the wire clamp disassembly and assembly parts includes a buckle assembly and a screw assembly;

[0010] The front side surface of the base is provided with at least one clamping groove, which is the same in number and one-to-one corresponding to the wire clamp disassembly and assembly part, and the buckle assembly is installed on the base to lock the wire clamp housing in the clamping groove. The screwing assembly includes a rotation drive part installed on the base and at least two rotating sleeves connected to the rotation drive part in a transmission manner, and the axial direction of each rotating sleeve extends along the front-to-back direction of the base and the front end of the rotating sleeve is located at the rear side of the clamping groove; the front end surface of each rotating sleeve is provided with a bolt inner hole, and along the front-to-back direction of the base, the bolt inner hole is connected to the clamping groove.

[0011] In an optional technical solution of an embodiment of the present invention, the wire clamp disassembly and assembly portion further includes a baffle assembly, the baffle assembly including a lifting drive mechanism installed on the base and a baffle connected to the lifting drive mechanism so as to be driven by the lifting drive mechanism to be lifted and lowered relative to the base;

[0012] The baffle plate is arranged between the clamping groove and the front end face of the rotating sleeve, and the thickness direction of the baffle plate extends along the axial direction of the rotating sleeve; the top surface of the baffle plate is provided with a limiting groove which corresponds to the rotating sleeve one by one and passes through the baffle plate along the thickness direction of the baffle plate, and the central axis of each of the limiting grooves on the baffle plate coincides with the projection of the central axis of the bolt inner hole corresponding to the rotating sleeve on the same horizontal plane of the base.

[0013] In an optional technical solution of the embodiment of the present invention, the buckle assembly includes a first tongue assembly and a second tongue assembly which are arranged on two sides of the clamping groove;

[0014] The first tongue assembly and the second tongue assembly respectively include respective tongues and tongue telescopic driving parts; the tongue telescopic driving part is installed on the base and connected to the tongue, and the tongue telescopic driving part can drive the tongue to extend into or withdraw from the engaging slot.

[0015] In an optional technical solution of the embodiment of the present invention, the wire clamp wiring tool further includes a branch line guide portion;

[0016] The front-to-back direction of the substrate is the Y direction, the left-to-right direction is the X direction, and the vertical direction is the Z direction:

[0017] The branch line guide part includes a Z-direction telescopic movement mechanism, a Y-direction telescopic movement mechanism and a flip limiter;

[0018] The flip limiter is provided with a corner, and a branch line limit groove is formed at the corner;

[0019] The driving part of the Z-direction telescopic moving mechanism is installed on the base, and the driving part of the Y-direction telescopic moving mechanism is installed on the telescopic arm of the Z-direction telescopic moving mechanism; the part of the flip limiter that is opposite to the notch of the branch line limiter groove is rotatably installed on the telescopic arm of the Y-direction telescopic moving mechanism; the Y-direction telescopic moving mechanism is configured to be able to extend or retract toward the front side of the base;

[0020] The flip limiter has a return position and a flip position; in the return position, the notch of the branch line limit slot faces upward to guide the branch line into the branch line limit slot; in the flip position, the notch of the branch line limit slot faces backward to limit the branch line from sliding forward out of the branch line limit slot;

[0021] The flip limiter can be maintained at the return position under the action of its own gravity, or a return spring is provided between the flip limiter and the telescopic arm of the Y-axis telescopic movement mechanism, and the return spring is configured to ensure that the flip limiter always has a movement tendency to return to the return position.

[0022] Further optionally, the branch line limiting groove is 90 degrees, and when the flip limiting member is in the return position, the angle between the side wall of the branch line limiting groove and the vertical direction is 45 degrees;

[0023] And / or, the portion of the flip limiter corresponding to the notch of the branch line limiter groove is rotatably mounted on the side of the telescopic arm of the Y-axis telescopic moving mechanism, and a reset block is also provided on the side of the telescopic arm of the Y-axis telescopic moving mechanism, and when the flip limiter rotates to the return position, the outer side wall of the portion of the flip limiter corresponding to the branch line limiter groove overlaps with the reset block to prevent the flip limiter from continuing to rotate;

[0024] And / or, the portion of the flip limiter that is opposite to the notch of the branch line limiter groove is rotatably mounted on the side of the telescopic arm of the Y-axis telescopic moving mechanism, and a flip stopper is also provided on the side of the telescopic arm of the Y-axis telescopic moving mechanism, and a rear bending portion is provided at the rear end of the flip limiter, and when the flip limiter rotates to the flip position, the rear bending portion overlaps with the flip stopper to prevent the flip limiter from continuing to rotate;

[0025] And / or, a front side bending portion is provided at the front end of the flip limiting member for guiding the branch line to enter the branch line limiting groove.

[0026] Optionally, the wire clamp wiring tool further comprises a conductive connection sensor, the conductive connection sensor comprises a sensing circuit arranged inside the base body and two groups of conductive rods connected to the sensing circuit, the two groups of conductive rods are respectively arranged at two ends of the base body in the X direction and protrude toward the front side of the base body; the sensing circuit can form an energized circuit when both groups of conductive rods are in contact with the bare wires, and send a wire clamping signal to the outside;

[0027] And / or, a photoelectric distance measuring sensor is further provided on the front surface of the substrate, and the photoelectric distance measuring sensor can sense the distance between the wire and the front surface of the substrate, and send a wire clamping signal when a preset distance is reached.

[0028] In an optional technical solution of an embodiment of the present invention, the wire clamp wiring tool also includes a main line guide portion; the main line guide portion includes at least two main line guide rods, the lower end of each of the main line guide rods is fixedly connected to the top of the base, and the upper end of each of the main line guide rods is inclined along the Y direction toward the rear side of the base.

[0029] In an optional technical solution of the embodiment of the present invention, at least two wire clamp disassembly and assembly parts are provided.

[0030] In a second aspect, an embodiment of the present invention provides a wiring tool assembly, including a wire clamp and a wire clamp wiring tool as described in any one of the aforementioned embodiments;

[0031] The wire clamp includes a first shell, a second shell and at least two connecting rods; the first shell is arranged opposite to the second shell, and each of the connecting rods passes through a first through hole provided in the first shell and a second through hole provided in the second shell respectively, and the second end of each of the connecting rods is threadedly connected to the second through hole, and the end of the first end of each of the connecting rods is provided with a torsion shear bolt head that can be inserted into the bolt inner hole of the rotating sleeve.

[0032] In a third aspect, an embodiment of the present invention further provides a wiring method, using the wiring tool assembly provided in the second aspect, wherein the wiring method comprises the following steps:

[0033] The base connecting part is mounted on the arm of the live working robot; the torsion shear bolt heads of the connecting rods in the wire clamp are inserted into the bolt inner holes of the rotating sleeves one by one; the first shell of the wire clamp is locked in the clamping groove by using the buckle assembly;

[0034] Leading the branch line into the branch line groove between the first shell and the second shell of the wire clamp, and leading the main line into the main line groove between the first shell and the second shell of the wire clamp;

[0035] Controlling the rotary drive unit to drive the rotary sleeve to rotate so that the first shell and the second shell are close to each other until the main line and the branch line are clamped;

[0036] And the rotary drive part is controlled to drive the rotary sleeve to continue rotating so as to twist off the corresponding torsion shear bolt head.

[0037] In particular, in the embodiments of the present invention, “and / or” indicates that the first feature before “and / or” and the second feature after “and / or” include the following specific setting methods: (1) only the first feature is set, and the second feature is not set; (2) only the second feature is set, and the first feature is not set; (3) the first feature and the second feature are set at the same time.

[0038] The wire clamp wiring tool, wiring tool assembly and wiring method provided in the present application can be used in conjunction with a live working robot to perform wire clamp wiring operations on exposed wires. Since it is a live working operation and there is no need to cut off the power, it will not cause large-scale power outages, and can reduce the losses caused to users by the distribution network wiring operation. In addition, the operation of the live working robot is conducive to reducing the workload of the staff and is easier to operate and control than manual wiring.

[0039] Most importantly, the wire clamp wiring tool, wiring tool assembly and wiring method provided by the present application, when cooperating with the wire clamp, fix the first shell of the wire clamp through the snap assembly, and drive the rotating sleeve to rotate through the rotating drive part of the screwing assembly, so that the connecting rod of the wire clamp rotates, the wire clamps are closed and clamp the internal wires, and then the torsion shear bolt head at the first end of the connecting rod is twisted off by further rotation, and then the snap assembly is opened to separate the wire clamp from the wire clamp wiring tool. The whole process is simple and convenient to operate with high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 The overall structure of the wiring tool provided by the embodiment of the present invention is measured Figure 1 ;

[0042] Figure 2 The overall structure of the wiring tool provided by the embodiment of the present invention is measured Figure 2 ;

[0043] Figure 3 for Figure 1 A magnified view of the local structure of the middle A area;

[0044] Figure 4 for Figure 1 A magnified view of the local structure of part B in the middle;

[0045] Figure 5 for Figure 2 A magnified view of the local structure of the middle C area;

[0046] Figure 6 A schematic diagram of the overall structure of a wire clamp in a wiring tool provided in an embodiment of the present invention;

[0047] Figure 7 A top view of the working state of the wiring tool provided by an embodiment of the present invention;

[0048] Figure 8 An axonometric diagram of the working state of the wiring tool provided by an embodiment of the present invention;

[0049] Fig. 9 A second top view of the working state of the wiring tool provided by the embodiment of the present invention;

[0050] Fig.10A two-axis view of the working state of the wiring tool provided by the embodiment of the present invention;

[0051] Fig.11 Three top views of the working state of the wiring tool provided by the embodiment of the present invention;

[0052] Fig.12 A triaxial diagram of the working state of the wiring tool provided by an embodiment of the present invention;

[0053] Fig.13 Four top views of the working state of the wiring tool provided by the embodiment of the present invention;

[0054] Fig.14 A four-axis diagram of the working state of the wiring tool provided by an embodiment of the present invention;

[0055] Fig.15 A top view of the working state of the wiring tool provided by the embodiment of the present invention;

[0056] Fig.16 A five-axonometric diagram of the working state of the wiring tool provided in an embodiment of the present invention.

[0057] Icon: 110-main line; 120-branch line;

[0058] 1-base; 11-clip groove; 12-base connecting part;

[0059] 2-clip assembly and disassembly part; 21-clip assembly; 211-first latch assembly; 212-second latch assembly; 22-screwing assembly; 221-rotation drive part; 222-rotation sleeve; 220-bolt inner hole; 23-baffle assembly; 231-baffle; 2311-limiting groove;

[0060] 3-branch guide; 31-Z-direction telescopic moving mechanism; 311-driving motor; 312-lead screw; 313-screw nut translation block; 314-guide rod; 32-Y-direction telescopic moving mechanism; 321-fixed plate; 322-guide rail; 323-slider; 324-slide plate; 3201-reset block; 3202-flip block; 33-flip limiter; 330-branch limiter groove; 331-rear side bending portion; 332-front side bending portion;

[0061] 4-conductive communication sensor; 41-conductive rod; 42-photoelectric distance sensor;

[0062] 5- Main line guide rod;

[0063] 61-first housing; 62-second housing; 63-connecting rod; 631-torsion shear bolt head;

[0064] 7- Binocular positioning module; 8- Observation module. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] It should be noted that like reference numerals and letters denote similar items in the drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0068] In the description of the present invention, it should be noted that:

[0069] Unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] The terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Furthermore, the terms "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0071] The terms “first”, “second”, etc. are only used for distinguishing descriptions and do not indicate the total number or relative position in time and / or space, and cannot be understood as indicating or implying relative importance.

[0072] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and the optional embodiments in the embodiments can be combined with each other, and for the purpose of simplicity and clarity, detailed descriptions of well-known devices, circuits and methods are omitted to avoid unnecessary details that make the description of the present invention unclear.

[0073] The first aspect of the present application provides a wire clamp wiring tool, referring to Figures 1 to 5 The wire clamp wiring tool comprises a base 1, on which a base connection portion 12 for connecting to a live working robot arm and at least one wire clamp disassembly portion 2 are provided. Each wire clamp disassembly portion 2 comprises a buckle assembly 21 and a screw assembly 22. With the front-to-back direction of the base 1 as the Y direction, the left-to-right direction as the X direction, and the vertical direction as the Z direction: the front side surface of the base 1 is provided with at least one clamping groove 11 of the same number and one-to-one corresponding to the wire clamp disassembly and assembly part 2, and the buckle assembly 21 is installed on the base 1, and is used to lock the wire clamp housing in the clamping groove 11; the screwing assembly 22 includes a rotating drive part 221 installed on the base 1 and at least two rotating sleeves 222 transmission-connected to the rotating drive part 221, and the axial direction of each rotating sleeve 222 extends along the front-to-back direction (Y direction) of the base 1 and the front end of the rotating sleeve 222 is located at the rear side of the clamping groove 11; a bolt inner hole 220 is provided on the front end surface of each rotating sleeve 222, and the bolt inner hole 220 is connected to the clamping groove 11 along the front-to-back direction (Y direction) of the base 1.

[0074] The second aspect of the present application provides a wiring tool assembly, the wiring tool assembly comprising a wire clamp and the wire clamp wiring tool provided by the first aspect. Figure 6 The wire clamp includes a first shell 61, a second shell 62 and at least two connecting rods 63; the first shell 61 and the second shell 62 are arranged opposite to each other, and each connecting rod 63 passes through a first through hole provided in the first shell 61 and a second through hole provided in the second shell 62 respectively, and the second end of each connecting rod 63 is threadedly connected to the second through hole provided in the second shell 62, and the end of the first end of each connecting rod 63 is provided with a torsion shear bolt head 631, which can be inserted into the bolt inner hole 220 of the rotating sleeve 222 of the screwing assembly 22 in the aforementioned wire clamp wiring tool.

[0075] A third aspect of the present application provides a wiring method, using the aforementioned wiring tool assembly, the wiring method comprising the following steps:

[0076] Reference Figure 7 and Figure 8, install the base connecting part 12 of the base 1 in the wire clamp wiring tool on the arm of the live working robot; insert the torsion shear bolt heads 631 of each connecting rod 63 in the wire clamp into the bolt inner holes 220 of each rotating sleeve 222 one by one; use the buckle assembly 21 to lock the first housing 61 of the wire clamp in the clamping groove 11;

[0077] Reference Figures 9 to 14 , guide the branch line 120 into the branch line groove between the first shell 61 and the second shell 62 of the wire clamp, refer to Fig.15 and Fig.16 , guide the main line 110 into the main line slot between the first shell 61 and the second shell 62 of the wire clamp;

[0078] The rotation driving part 221 of the screwing assembly 22 in the control clamp wiring tool is driven to rotate so as to make the first housing 61 and the second housing 62 approach each other until the main line 110 and the branch line 120 are clamped (in the process, since the clamp is provided with at least two connecting rods 63, and the first housing 61 is fixed by the buckle assembly 21, when the rotating sleeve 222 rotates with the connecting rod 63, the second housing 62 will not rotate but will move relative to the first housing 61 along the Y direction with the rotation of the connecting rod 63. When the first housing 61 and the second housing 62 clamp the wire, the second end of the connecting rod 63 extends out of a part of the second housing 62);

[0079] Furthermore, the rotary driving part 221 is controlled to drive the rotary sleeve 222 to continue rotating to twist off the corresponding torsion shear bolt head 631 .

[0080] The wire clamp wiring tool, wiring tool assembly and wiring method provided in this application can be used in conjunction with a live working robot to perform wire clamp wiring operations on exposed wires. Since it is a live working operation and there is no need to cut off the power, it will not cause large-scale power outages, and can reduce the losses caused to users by the distribution network wiring operation. In addition, the operation of the live working robot is conducive to reducing the workload of the staff and is easier to operate and control than manual wiring.

[0081] Most importantly, the wire clamp wiring tool, wiring tool assembly and wiring method provided by the present application, when cooperating with the wire clamp, fix the first shell 61 of the wire clamp through the buckle assembly 21, and drive the rotating sleeve 222 to rotate through the rotating drive part 221 of the screwing assembly 22, so that the connecting rod 63 of the wire clamp rotates, and the wire clamp is closed to clamp the internal wire, and then the torsion shear bolt head 631 at the first end of the connecting rod 63 is twisted off by further rotation, and then the buckle assembly 21 is opened to separate the wire clamp from the wire clamp wiring tool. The whole process is simple and convenient to operate with high work efficiency.

[0082] For the wire clamp wiring tool provided in this application, the following structure may be further provided:

[0083] Reference Figures 1 to 5In some optional embodiments of the wire clamp wiring tool, the wire clamp disassembly and assembly part 2 further includes a baffle assembly 23, which includes a lifting drive mechanism (not shown) installed on the base 1 and a baffle 231 connected to the lifting drive mechanism so as to be driven by the lifting drive mechanism to lift relative to the base 1. The baffle 231 is arranged between the clamping groove 11 and the front end surface of the rotating sleeve 222, and the thickness direction of the baffle 231 extends along the axial direction of the rotating sleeve 222; the top surface of the baffle 231 is provided with a limiting groove 2311 corresponding to the rotating sleeve 222 and penetrating the baffle 231 along the thickness direction of the baffle 231, and the central axis of each limiting groove 2311 on the baffle 231 coincides with the projection of the central axis of the bolt inner hole 220 of the corresponding rotating sleeve 222 on the same horizontal plane of the base 1. The lifting drive mechanism may be selected from, but not limited to, an electric telescopic rod structure composed of a driving motor and a telescopic rod, or an electric slide structure, or a telescopic structure composed of a cylinder and a cylinder piston rod, or other common lifting drive mechanisms in the mechanical field. A corresponding accommodation cavity or through hole may be provided on the base 1 to provide space for the lifting of the baffle 231. The baffle 231 may be provided so that, in the wiring method, when the rotating drive unit 221 is controlled to drive the rotating sleeve 222 to continue rotating, thereby twisting off the corresponding torsion shear bolt head 631, the baffle 231 may be driven to rise by the lifting drive mechanism, so that the baffle 231 is blocked at the front side of the rotating sleeve 222, so as to prevent the torsion shear bolt head 631 twisted off by the rotating sleeve 222 in the bolt inner hole 220 from falling from a high altitude, thereby improving the safety of the operation.

[0084] Continue to refer to Figures 1 to 5In some optional embodiments of the wire clamp wiring tool, the buckle assembly 21 includes a first tongue assembly 211 and a second tongue assembly 212 which are relatively arranged on both sides of the clamping slot 11; the first tongue assembly 211 and the second tongue assembly 212 respectively include their own tongues and tongue telescopic driving parts; the tongue telescopic driving part is installed on the base 1 and connected to the tongue, and the tongue telescopic driving part can drive the tongue to extend into or out of the clamping slot 11. Among them, the tongue telescopic driving part has a variety of optional structures, such as but not limited to: in one type of optional structure, the tongue telescopic driving part includes a spring fixed to the base 1, and the spring makes the corresponding tongue always have a movement tendency to extend into the clamping groove 11. Correspondingly, the front surface of the tongue can be set as a guiding slope. When the first shell 61 of the wire clamp is pressed toward the rear side of the clamping groove 11, the tongue can be pressed to both sides of the clamping groove 11. After the first shell 61 is pressed into the clamping groove 11, the tongue rebounds and the first shell 61 can be clamped; in another type of optional structure, the tongue telescopic driving part is a cylinder and piston rod assembly or a motor and telescopic rod assembly or other translation mechanism, whose fixed end is fixed to the base 1, and the movable end is connected to the corresponding tongue to drive the tongue in and out of the clamping groove 11. Furthermore, the first tongue assembly 211 and the second tongue assembly 212 can be arranged on the front surface of the base 1, or can be arranged in the internal space corresponding to the base 1 and the two side walls of the card slot. Preferably, along the X direction of the base 1, tongue cavities are respectively arranged at the positions on the base 1 located on both sides of the card slot, and openings connected to the corresponding tongue cavities are respectively arranged on the two side walls of the card slot opposite to each other along the X direction of the base 1. The tongue of the first tongue assembly 211 is arranged in the tongue cavity on one side, and the tongue of the second tongue assembly 212 is arranged in the tongue cavity on the other side; the tongue telescopic driving part is arranged in the tongue cavity provided with the corresponding tongue and connected with the corresponding tongue, or passes through the corresponding tongue cavity and is connected with the corresponding tongue; the tongue telescopic driving part drives the corresponding tongue to extend out of the corresponding tongue cavity and thus extend into the card slot 11, or retract into the tongue cavity and thus exit the card slot 11.

[0085] Correspondingly, the outer surfaces of both ends of the first housing of the wire clamp in the X direction may be provided with corresponding clamping grooves for the above-mentioned clamping tongue to be engaged.

[0086] Continue to refer to Figures 1 to 5In some optional embodiments of the wire clamp wiring tool, the wire clamp wiring tool further includes a branch line guide portion 3; the branch line guide portion 3 includes a Z-direction telescopic moving mechanism 31, a Y-direction telescopic moving mechanism 32 and a flip stopper 33. The flip stopper 33 is provided with a corner, and a branch line limiting groove 330 is formed at the corner. The driving portion of the Z-direction telescopic moving mechanism 31 is installed on the base 1, and the driving portion of the Y-direction telescopic moving mechanism 32 is installed on the telescopic arm of the Z-direction telescopic moving mechanism 31; the portion of the flip stopper 33 that is opposite to the notch of the branch line limiting groove 330 is rotatably installed on the telescopic arm of the Y-direction telescopic moving mechanism 32; the Y-direction telescopic moving mechanism 32 is configured to be able to extend or retract toward the front side of the base 1. The flip limiter 33 has a return position and a flip position; in the return position, the notch of the branch line limiter slot 330 faces upward to guide the branch line 120 into the branch line limiter slot 330; in the flip position, the notch of the branch line limiter slot 330 faces backward to limit the branch line 120 from sliding forward out of the branch line limiter slot 330. The flip limiter 33 can be kept in the return position under the action of its own gravity, or a return spring is provided between the flip limiter 33 and the telescopic arm of the Y-direction telescopic moving mechanism 32, and the return spring is configured to make the flip limiter 33 always have a movement tendency to return to the return position.

[0087] Reference Figures 7 to 14 In the wiring method, the branch line 120 can be guided into the branch line groove between the first housing 61 and the second housing 62 of the wire clamp by using the branch line guide part 3, which is convenient to operate and has a low error rate, and is conducive to further improving the wiring efficiency. Figure 7 and Figure 8 Install the wire clamp on the wire clamp wiring tool, and install the wire clamp wiring tool on the arm of the live working robot; then, refer to Fig. 9 and Fig.10 The binocular positioning module 7 and the observation module 8 installed on the base 1, or the image recognition device additionally installed on the live working robot arm recognizes the position of the branch line 120, and guides the branch line 120 into its branch line limiting groove 330 along the front end of the flip limiter 33. Under the pressure of the branch line 120, the flip limiter 33 rotates from the return position to the flip position, limiting the branch line 120 from sliding forward out of the branch line limiting groove 330; Next, refer to Fig.11 and Fig.12 , the Y-axis telescopic movement mechanism 32 is retracted, and the branch line 120 is introduced backward to the bottom between the first housing 61 and the second housing 62 of the wire clamp; Fig.13 and Fig.14 The Z-axis telescopic movement mechanism 31 then guides the branch line 120 upward into the branch line groove between the first shell 61 and the second shell 62 of the wire clamp.

[0088] There are many optional implementations for the specific structures of the Z-axis telescopic movement mechanism 31 and the Y-axis telescopic movement mechanism 32, including but not limited to: Figures 1 to 5 As shown, the Z-direction telescopic moving mechanism 31 includes a driving motor 311, a lead screw 312, a nut translation block 313 and a guide rod 314; the driving motor 311 is fixed to a motor seat on the base 1, and a nut translation block 313 is arranged on the lead screw 312, one end of the lead screw 312 is transmission-connected with the output end of the driving motor 311, and the other end is rotatably mounted on the base 1, the guide rod 314 passes through the nut translation block 313 and one end of the guide rod 314 is fixed to the motor seat, and the other end is fixed to the base 1; the lead screw 312 and the guide rod 314 both extend along the Z direction of the base 1, and the driving motor 311 can drive the lead screw 312 to rotate so that the nut translation block 313 can be lifted and lowered along the lead screw 312 and the guide rod 314. The Y-direction telescopic moving mechanism 32 includes a Y-direction telescopic moving mechanism fixed plate 321, a guide rail 322, a slider 323, and a slide plate 324; the fixed plate 321 is fixed to the nut translation block 313 of the Z-direction telescopic moving mechanism 31, the guide rail 322 is fixed to the fixed plate 321 and extends along the Y direction of the base 1, an electric push rod or a cylinder piston rod assembly is installed on one side of the guide rail 322 as a telescopic driving part, the slider 323 is slidably installed on the guide rail 322 and is transmission-connected with the telescopic driving part, the slide plate 324 is fixed to one side of the slider 323 as the telescopic arm of the Y-direction telescopic moving mechanism 32, and the telescopic driving part can drive the slider 323 to carry the slide plate 324 (i.e., the telescopic arm of the Y-direction telescopic moving mechanism 32) to slide along the guide rail 322 to achieve Y-direction telescopic.

[0089] To facilitate operation, in this embodiment, optionally, the branch line limit groove 330 is 90 degrees, and when the flip limit member 33 is in the return position, the angle between the side wall of the branch line limit groove 330 and the vertical direction is 45 degrees. The above angle is conducive to the branch line 120 sliding quickly into the branch line limit groove 330, and can effectively prevent the branch line 120 from sliding out of the branch line limit groove 330.

[0090] There are many ways to switch the flip limit member 33 between the return station and the flip station and to position the corresponding station, such as but not limited to setting a limit groove on the surface of the telescopic arm of the Y-axis telescopic moving mechanism 32, embedding the portion of the flip limit member 33 opposite to the groove of the branch line limit groove 330 and rotatably installing it in the limit groove (the rotational installation method includes but is not limited to through a pin or a rotating shaft), or realizing the above-mentioned flipping and positioning in other ways.

[0091] Optionally, the portion of the flip limit member 33 that is opposite to the notch of the branch line limit groove 330 is rotatably mounted on the side of the telescopic arm of the Y-axis telescopic moving mechanism 32 (the rotatable mounting method includes but is not limited to through a pin or a rotating shaft). For the return position, further optionally, a reset stopper 3201 is provided on the side of the telescopic arm of the Y-axis telescopic moving mechanism 32. When the flip limit member 33 is rotated to the return position, the outer wall of the portion of the flip limit member 33 that corresponds to the branch line limit groove 330 overlaps with the reset stopper 3201 to prevent the flip limit member 33 from continuing to rotate; for the flip position, further optionally, a flip stopper 3202 is provided on the side of the telescopic arm of the Y-axis telescopic moving mechanism 32, and a rear side bending portion 331 is provided at the rear end of the flip limit member 33. When the flip limit member 33 is rotated to the flip position, the rear side bending portion 331 overlaps with the flip stopper 3202 to prevent the flip limit member 33 from continuing to rotate.

[0092] Optionally, a front bending portion 332 is provided at the front end of the flip limiter 33 to guide the branch line 120 to quickly enter the branch line limit slot 330 .

[0093] In addition, in the present embodiment, optionally, the wire clamp wiring tool further comprises a conductive connection sensor 4, which comprises a sensing circuit arranged inside the substrate 1 and two groups of conductive rods 41 connected to the sensing circuit, wherein the two groups of conductive rods 41 are respectively arranged at both ends of the substrate 1 in the X direction and protrude toward the front side of the substrate 1; the sensing circuit can form an energized circuit when both groups of conductive rods 41 are in contact with the bare wires, and send a wire clamping signal to the outside; optionally, a photoelectric distance measuring sensor 42 is further provided on the front side surface of the substrate 1, and the photoelectric distance measuring sensor 42 can sense the distance between the wire and the front side surface of the substrate 1, and send a wire clamping signal when the preset distance is reached. The above arrangement can be used in the wiring method when referring to Fig.11 and Fig.12 When the Y-axis telescopic moving mechanism 32 contracts and guides the branch line 120 backward to the bottom between the first shell 61 and the second shell 62 of the wire clamp, an instruction to guide the branch line 120 into place is issued to help engineers determine the current operating status of the powered robot.

[0094] Continue to refer to Figures 1 to 5 In some optional embodiments of the wire clamp wiring tool, the wire clamp wiring tool also includes a main line guide portion; the main line guide portion includes at least two main line guide rods 5, the lower end of each main line guide rod 5 is fixedly connected to the top of the base 1, and the upper end of each main line guide rod 5 is inclined along the Y direction toward the rear side of the base 1 to guide the main line 110 to quickly enter the main line groove between the first shell 61 and the second shell 62 of the wire clamp.

[0095] In addition, in the wire clamp wiring tool provided in this embodiment, preferably, at least two wire clamp disassembly and assembly parts 2 are provided, so that at least two wire clamps can be installed at the same time, greatly improving work efficiency.

[0096] Finally, it should be noted that:

[0097] 1. The various components in this application can be connected to the control system through signals to achieve programmed control. The specific connection and control methods can be obtained by changing parameters of existing software, which will not be described in detail here;

[0098] 2. The above embodiments and optional implementation modes in this specification are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above optional implementation modes, or replace part or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. In addition, it is emphasized again that the features of the embodiments in this specification and the optional implementation modes in the embodiments can be combined with each other without conflict.

Claims

1. A wire clamp wiring tool, characterized in that: It comprises a base (1); the base (1) is provided with a base connection portion (12) for connecting to an arm of a live working robot and at least one wire clamp disassembly portion (2); Each of the wire clamp disassembly and assembly parts (2) comprises a buckle assembly (21) and a screwing assembly (22); The front side surface of the base body (1) is provided with at least one clamping groove (11) of the same number as and corresponding to the wire clamp assembly and disassembly portion (2); the buckle assembly (21) is mounted on the base body (1) and is used to lock the wire clamp housing into the clamping groove (11); The screwing assembly (22) comprises a rotation driving part (221) mounted on the base (1) and at least two rotation sleeves (222) drivingly connected to the rotation driving part (221), the axial direction of each rotation sleeve (222) extending along the front-to-back direction of the base (1) and the front end of the rotation sleeve (222) being located at the rear side of the clamping groove (11); a bolt inner hole (220) is provided on the front end surface of each rotation sleeve (222), and the bolt inner hole (220) is connected to the clamping groove (11) along the front-to-back direction of the base (1); The wire clamp wiring tool further comprises a branch line guide portion (3); with the front-to-back direction of the base body (1) being the Y direction, the left-to-right direction being the X direction, and the vertical direction being the Z direction: the branch line guide portion (3) comprises a Z-direction telescopic movement mechanism (31), a Y-direction telescopic movement mechanism (32), and a flip limiter (33); The flip limiter (33) is provided with a corner, and a branch line limiter groove (330) is formed at the corner; the driving part of the Z-direction telescopic moving mechanism (31) is mounted on the base (1), and the driving part of the Y-direction telescopic moving mechanism (32) is mounted on the telescopic arm of the Z-direction telescopic moving mechanism (31); the portion of the flip limiter (33) opposite to the notch of the branch line limiter groove (330) is rotatably mounted on the telescopic arm of the Y-direction telescopic moving mechanism (32); the Y-direction telescopic moving mechanism (32) is configured to be able to extend or retract toward the front side of the base (1); The flipping limiting member (33) has a return position and a flipping position; in the return position, the notch of the branch line limiting groove (330) faces upwards to guide the branch line (120) into the branch line limiting groove (330); in the flipping position, the notch of the branch line limiting groove (330) faces backwards to limit the branch line (120) from sliding forward out of the branch line limiting groove (330); The flip limiter (33) can be maintained at the return position under the action of its own gravity, or a return spring is provided between the flip limiter (33) and the telescopic arm of the Y-direction telescopic movement mechanism (32), and the return spring is configured to ensure that the flip limiter (33) always has a movement tendency to return to the return position; The portion of the flip limiter (33) that is opposite to the notch of the branch line limiter groove (330) is rotatably mounted on the side of the telescopic arm of the Y-axis telescopic moving mechanism (32), and a reset stopper (3201) and a flip stopper (3202) are also provided on the side of the telescopic arm of the Y-axis telescopic moving mechanism (32); when the flip limiter (33) is rotated to the return position, the outer wall of the portion of the flip limiter (33) that is corresponding to the branch line limiter groove (330) overlaps with the reset stopper (3201) to prevent the flip limiter (33) from continuing to rotate; a rear side bending portion (331) is provided at the rear end of the flip limiter (33); when the flip limiter (33) is rotated to the flip position, the rear side bending portion (331) overlaps with the flip stopper (3202) to prevent the flip limiter (33) from continuing to rotate.

2. The wire clamp wiring tool according to claim 1, characterized in that: The wire clamp assembly and disassembly portion (2) further comprises a baffle assembly (23), wherein the baffle assembly (23) comprises a lifting drive mechanism mounted on the base (1) and a baffle (231) connected to the lifting drive mechanism so as to be driven by the lifting drive mechanism to be lifted and lowered relative to the base (1); The baffle plate (231) is arranged between the clamping groove (11) and the front end surface of the rotating sleeve (222), and the thickness direction of the baffle plate (231) extends along the axial direction of the rotating sleeve (222); the top surface of the baffle plate (231) is provided with limiting grooves (2311) corresponding to the rotating sleeve (222) one by one and penetrating the baffle plate (231) along the thickness direction of the baffle plate (231), and the central axis of each of the limiting grooves (2311) on the baffle plate (231) coincides with the projection of the central axis of the bolt inner hole (220) of the corresponding rotating sleeve (222) on the same horizontal plane of the base body (1).

3. The wire clamp wiring tool according to claim 1, characterized in that: The buckle assembly (21) comprises a first latching tongue assembly (211) and a second latching tongue assembly (212) which are arranged on two sides of the latching slot (11) opposite to each other. The first latch tongue assembly (211) and the second latch tongue assembly (212) respectively comprise a latch tongue and a latch tongue telescopic drive unit; the latch tongue telescopic drive unit is mounted on the base (1) and connected to the latch tongue, and the latch tongue telescopic drive unit is capable of driving the latch tongue to extend into or withdraw from the latching slot (11).

4. The wire clamp wiring tool according to claim 1, characterized in that: The branch line limiting groove (330) is at an angle of 90 degrees, and when the flip limiting member (33) is in the return position, the angle between the side wall of the branch line limiting groove (330) and the vertical direction is 45 degrees; And / or, a front side bending portion (332) is provided at the front end of the flip limiter (33) for guiding the branch line (120) to enter the branch line limit slot (330).

5. The wire clamp wiring tool according to claim 1, characterized in that: The wire clamp wiring tool further comprises a conductive interconnection sensor (4), the conductive interconnection sensor comprising an induction circuit arranged inside the base (1) and two groups of conductive rods (41) connected to the induction circuit, the two groups of conductive rods (41) being arranged at two ends of the base (1) in the X direction and protruding toward the front side of the base (1); the induction circuit can form an electric circuit when both groups of conductive rods (41) are in contact with the bare wires, and send a wire clamping signal to the outside; And / or, the front surface of the substrate (1) is further provided with a photoelectric distance sensor (42), the photoelectric distance sensor (42) being capable of sensing the distance between the wire and the front surface of the substrate (1), and sending a wire clamping signal when a preset distance is reached.

6. The wire clamp wiring tool according to claim 1, characterized in that: The wire clamp wiring tool also includes a main line guide; The main line guide portion comprises at least two main line guide rods (5), the lower end of each main line guide rod (5) being fixedly connected to the top of the base (1), and the upper end of each main line guide rod (5) being inclined along the Y direction toward the rear side of the base (1).

7. The wire clamp wiring tool according to claim 1, characterized in that: The wire clamp disassembly and assembly parts (2) are provided with at least two.

8. A wiring tool assembly, characterized in that: A wire clamp and a wire clamp wiring tool according to any one of claims 1 to 7; The wire clamp comprises a first shell (61), a second shell (62) and at least two connecting rods (63); the first shell (61) and the second shell (62) are arranged opposite to each other, each of the connecting rods (63) passes through a first through hole provided in the first shell (61) and a second through hole provided in the second shell (62), and the second end of each of the connecting rods (63) is threadedly connected to the second through hole, and the end of the first end of each of the connecting rods (63) is provided with a torsion shear bolt head (631) capable of being inserted into the bolt inner hole (220) of the rotating sleeve (222).

9. A wiring method, using the wiring tool assembly according to claim 8, characterized in that: The wiring method comprises the following steps: The base connecting portion (12) is mounted on the arm of the live working robot; the torsion shear bolt heads (631) of the connecting rods (63) in the wire clamp are inserted into the bolt inner holes (220) of the rotating sleeves (222) one by one; and the first housing (61) of the wire clamp is locked in the clamping groove (11) by using the buckle assembly (21); Leading a branch line (120) into a branch line groove between a first housing (61) and a second housing (62) of the wire clamp, and leading a main line (110) into a main line groove between a first housing (61) and a second housing (62) of the wire clamp; Controlling the rotary drive unit (221) to drive the rotary sleeve (222) to rotate so that the first shell (61) and the second shell (62) approach each other until the main line (110) and the branch line (120) are clamped; And controlling the rotation drive part (221) to drive the rotation sleeve (222) to continue rotating so as to twist off the corresponding torsion shear bolt head (631).

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