Automatic wire stripping method capable of stripping wire in electrified manner

Abstract

The invention discloses an automatic wire stripping method capable of stripping a wire in an electrified manner. The wire stripping method comprises the following steps: S1, conveying the wire to a wire through a mechanical arm together with an automatic stripping machine; s2, the posture of the mechanical arm is adjusted so that the wire can be located in the working position of the automatic peeling machine; s3, the automatic peeling machine is started to complete peeling; s4, adjusting the posture of the mechanical arm to enable the wire to be separated from the automatic peeling machine; the automatic peeling machine comprises a base used for being installed on a mechanical arm, the base is used for being installed on the mechanical arm, a C-shaped ring is rotationally connected to the base, a notch for a wire to pass through is formed in the C-shaped ring, and the rotating axis of the C-shaped ring is arranged in the length direction of the wire; a peeling assembly used for peeling is arranged on the inner side of the C-shaped ring; the base is further provided with a driving assembly used for driving the C-shaped ring to rotate. The C-shaped ring rotates to drive the peeling assembly to carry out girdling on the wire so as to complete peeling; the automatic peeling machine is additionally arranged on an existing mechanical arm, the posture of a wire is adjusted through power of the mechanical arm, and peeling is completed through the peeling assembly; the low-voltage electrified lap robot is convenient to operate, does not need cumbersome operation setting of a worker, can be quickly operated, is high in precision and speed, can replace manual stripping of a wire insulating layer, improves the working efficiency, the working quality and the working safety, and reduces the labor intensity.

Description

Technical Field

[0001] The invention relates to the technical field of wire stripping, in particular to an automatic wire stripping method capable of stripping wires under power. Background Art

[0002] In order to ensure the efficient operation of the power system, the maintenance and overhaul of power equipment has always been an important part of the power industry. Traditional power equipment maintenance and overhaul methods mainly rely on manual operation, but with the expansion of the scale of the power grid, the increase in the complexity of equipment and the improvement of safety requirements for operators, traditional manual maintenance methods can no longer fully meet the needs of modern power system operation.

[0003] There are many technical patents related to point-operating robots or robotic arms, which generally include a platform and a moving component. The setting of the moving component enables the platform to move along the wire and make posture adjustments. At the same time, some equipment for maintenance operations or other related operations will be installed on the platform; thereby achieving the effect of automatic operation, such as de-icing; however, existing robotic arms are unable to complete operations such as ignition, mainly because operations such as ignition require stripping of the wire, so related operations involving stripping are still performed manually.

[0004] The existing stripping machines on the market, such as Japan's C351 wire stripping machine and the American ARTOS wire stripping machine, are mainly used for non-charged wires on the ground. The main body includes a ring body, and one end of the wire passes through the ring body. There will be related stripping work on the inner wall of the ring body, and the ring body completes the stripping during the rotation process; however, the two ends of the energized wire are connected and cannot pass through the ring body; therefore, the structure of this type of stripping machine is destined to make it impossible to complete the live stripping of the wire. Summary of the invention

[0005] In order to complete automatic live wire stripping on a robotic arm, the present application provides an automatic wire stripping method that can strip wires while they are live.

[0006] The present application provides an automatic wire stripping method capable of stripping wires under power, which adopts the following technical solution:

[0007] An automatic wire stripping method capable of stripping wires under power, comprising the following steps:

[0008] S1, sent to the conductor through a robotic arm together with an automatic stripping machine;

[0009] S2. Adjust the posture of the robot arm so that the wire is located in the working position of the automatic stripping machine;

[0010] S3, the automatic peeling machine starts and completes the peeling;

[0011] S4, adjusting the posture of the robot arm to make the wire separate from the automatic stripping machine;

[0012] The automatic stripping machine includes a base for installation on a robotic arm, the base is used to be installed on the robotic arm, a C-shaped ring is rotatably connected to the base, a notch is provided on the C-shaped ring for the wire to pass through, and the rotation axis of the C-shaped ring is arranged along the length direction of the wire; a stripping assembly for stripping is arranged on the inner side of the C-shaped ring; and a driving assembly for driving the C-shaped ring to rotate is also arranged on the base.

[0013] Optionally, the drive assembly is provided with two groups, the drive assembly includes a drive motor, a gear and a rack, the rack is a flexible rack, the rack surrounds the outside of the C-shaped ring, the drive motor is fixedly arranged on the base, the gear is coaxially fixedly connected to the output shaft of the drive motor, and the gear is meshed with the rack; the two drive motors are respectively and parallelly arranged on both sides of the C-shaped ring.

[0014] Optionally, the stripping assembly includes a linear motor and a stripping knife. The linear motor is arranged on the inner side of the C-shaped ring, and the stripping knife is fixed on the sliding end of the linear motor. The linear motor is used to drive the stripping knife close to or away from the wire. A pressure sensor for sensing the pressure of the stripping knife tip is also provided between the linear motor and the stripping knife.

[0015] Optionally, a PID control algorithm is provided in the linear motor to control the stripping pressure of the stripping knife. By adjusting the parameters of the proportional link, the integral link, and the differential link, the controller can control the pressure of the linear motor to cut the wire to remain constant.

[0016] Optionally, the stripping assembly also includes a conductive detection module. When the stripping knife contacts the conductor of the wire, the current in the conductor will be transmitted back to the linear motor controller through the stripping knife, and the linear motor will retract the blade.

[0017] Optionally, the conductive detection module includes a stripping knife, a large resistor, a small resistor, a GND module, a single-chip microcomputer and a controller which are connected in sequence, wherein the single-chip microcomputer is also connected between the large resistor and the small resistor.

[0018] Optionally, the base is also provided with a clamping assembly for clamping the wire, the clamping assembly includes two clamping rods, the two clamping rods are arranged on both sides of the axial direction of the C-shaped ring, and the top of the clamping rod is provided with an electromagnetic suction ring for clamping the wire. When the wire is located in the two rings, the two rings are electromagnetically driven to clamp the wire.

[0019] In summary, this application includes the following beneficial technical effects:

[0020] First: The low-voltage live tapping robot is easy to operate, does not require cumbersome operation settings by the staff, can be quickly used, and has high precision and high speed. It can replace manual stripping of the wire insulation layer, improves work efficiency, quality and operation safety, and reduces labor intensity.

[0021] Second: Strong scalability: The robot's head part only contains two motors and simple mechanical parts, so it is more portable, small in size, and light in weight. It can be easily combined with an insulating rod or the tool end of a robotic arm to form a low-voltage live automatic wire stripping robot, replacing manual dangerous operations and saving human resources.

[0022] Third: The low-voltage live wire stripping robot has a pressure detection function. When peeling and stripping wires, the pressure sensor transmits the pressure data back to the controller. The controller adjusts the pressure of the wire stripping blade on the wire by controlling the linear motor according to the pressure information, so that the blade can ensure that the cutting pressure remains unchanged when stripping the wire. This not only improves the quality and stability of wire stripping, but also effectively avoids material waste caused by improper wire stripping, which is especially important when using expensive special wires (such as aerospace cables and low-voltage cables). BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the automatic peeling machine in this application;

[0024] Figure 2 yes Figure 1 The overall structure diagram of the middle peeling component;

[0025] Figure 3 is a schematic diagram of a conductive detection module in a stripping assembly;

[0026] Figure 4 is a schematic diagram of the pressure control algorithm in the peeling component.

[0027] Description of reference numerals:

[0028] 1. C-arm; 2. C-ring; 3. rack; 4. drive motor; 5. gear; 6. stripping assembly; 7. wire; 8. controller; 9. clamping rod; 10. base; 11. linear motor; 12. pressure sensor; 13. stripping knife. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-4 This application is described in further detail.

[0030] The embodiment of the present application discloses an automatic wire stripping method capable of live wire stripping. The method is based on an existing live wire working robot arm, on which an automatic wire stripping machine is applied, and comprises the following steps:

[0031] S1, sent to the wire 7 by a mechanical arm together with an automatic stripping machine;

[0032] S2, adjusting the posture of the robot arm so that the wire 7 is located in the working position of the automatic stripping machine;

[0033] S3, the automatic peeling machine starts and completes the peeling;

[0034] S4, adjusting the posture of the robot arm to make the wire 7 separate from the automatic stripping machine;

[0035] The automatic stripping machine includes a base 10, on which a C-arm 1 is fixedly provided, on which a C-shaped ring 2 is coaxially rotatably connected, the C-shaped ring 2 is provided with a notch for the wire 7 to pass through, and the rotation axis of the C-shaped ring 2 is arranged along the length direction of the wire 7; a stripping assembly 6 for stripping is arranged on the inner side of the C-shaped ring 2; a driving assembly for driving the C-shaped ring 2 to rotate is also provided on the base 10; the rotation of the C-shaped ring 2 drives the stripping assembly 6 to perform circumcision on the wire 7 to complete the stripping.

[0036] At the same time, a clamping assembly for clamping the conductor 7 is provided on the base 10, and the clamping assembly includes two clamping rods 9, and the two clamping rods 9 are arranged on both sides of the axial direction of the C-shaped ring 2. The top of the clamping rod 9 is provided with an electromagnetic suction buckle for clamping the conductor 7; the posture is adjusted by the robotic arm, and when the conductor 7 passes through the gap of the C-shaped ring 2 and is located in the two buckles, the two buckles are electromagnetically driven to clamp the conductor 7; then the stripping assembly 6 and the C-shaped ring 2 can be rotated to perform circumcision on the conductor 7 to complete the stripping.

[0037] In the present application, two groups of drive components are provided, and the drive components include a drive motor 4, a gear 5 and a rack 3. The rack 3 is a flexible rack 3, and the rack 3 surrounds the outside of the C-shaped ring 2. The drive motor 4 is fixedly arranged on the base 10, and the gear 5 is coaxially fixedly connected with the output shaft of the drive motor 4, and the gear 5 is meshed with the rack 3; the two drive motors 4 are respectively and parallelly arranged on both sides of the C-shaped ring 2; the reason for setting two groups of drive components is that the circumcision of the wire 7 requires the C-shaped ring 2 to complete a 360° rotation. Due to the presence of the notch on the C-shaped ring 2, if only one group is provided, when the C-shaped ring 2 rotates to a certain angle, the rack 3 and the gear 5 are disengaged and cannot rotate.

[0038] In the embodiment of the present application, the peeling assembly 6 includes a linear motor 11 and a peeling knife 13. The linear motor 11 is arranged on the inner wall of the C-shaped ring 2, and the peeling knife 13 is fixedly arranged on the sliding end of the linear motor 11. A pressure sensor 12 for sensing the tip pressure of the peeling knife 13 is also arranged between the linear motor 11 and the peeling knife 13.

[0039] In order to prevent the peeling knife 13 from cutting too deep to damage the conductor, the present application also provides a conductive detection module, refer to Figure 3 The conductive detection module includes a stripping knife 13, a large resistor, a small resistor, a GND module, a single-chip microcomputer and a controller 8 connected in sequence, wherein the single-chip microcomputer is also connected between the large resistor and the small resistor; when the metal blade contacts the wire core, the current will be transmitted back to the single-chip microcomputer, so that the single-chip microcomputer can control the linear motor 11 to retract the blade in time to avoid damaging the wire core, and it can also serve as a signal to complete the wire stripping task.

[0040] Furthermore, the automatic stripping machine is provided with a pressure detection function. When stripping the wire, the pressure sensor 12 transmits the pressure data back to the controller 8. The controller 8 adjusts the pressure of the stripping blade on the wire by controlling the linear motor 11 according to the pressure information, so that the blade can ensure that the cutting pressure remains unchanged when stripping the wire. This not only improves the quality and stability of wire stripping, but also effectively avoids the waste of materials caused by improper wire stripping, which is particularly important when using expensive special wires (such as aerospace cables, low-voltage cables); its specific algorithm can refer to the PID algorithm. The PID algorithm adjusts the parameters of the proportional link, the integral link, and the differential link, so that the controller 8 can control the pressure of the linear motor 11 to cut the wire 7 to remain constant; so as to drive the stripping knife 13 to cut in more accurately and at a uniform speed, thereby further preventing the stripping knife 13 from excessively cutting the wire 7.

[0041] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic wire stripping method capable of stripping wires under power, characterized in that The steps include: S1, sent to the conductor through a robotic arm together with an automatic stripping machine; S2. Adjust the posture of the robot arm so that the wire is located in the working position of the automatic stripping machine; S3, the automatic peeling machine starts and completes the peeling; S4, adjusting the posture of the robot arm to make the wire separate from the automatic stripping machine; The automatic stripping machine includes a base for installation on a robotic arm, the base is used to be installed on the robotic arm, a C-shaped ring is rotatably connected to the base, a notch is provided on the C-shaped ring for the wire to pass through, and the rotation axis of the C-shaped ring is arranged along the length direction of the wire; a stripping assembly for stripping is arranged on the inner side of the C-shaped ring; a driving assembly for driving the C-shaped ring to rotate is also arranged on the base; the rotation of the C-shaped ring drives the stripping assembly to perform ring cutting on the wire to complete stripping.

2. The automatic wire stripping method capable of live wire stripping according to claim 1, characterized in that: The driving assembly is provided with two groups, and the driving assembly includes a driving motor, a gear and a rack. The rack is a flexible rack, and the rack surrounds the outside of the C-shaped ring. The driving motor is fixedly arranged on the base, and the gear is coaxially fixedly connected with the output shaft of the driving motor, and the gear is meshed with the rack; the two driving motors are respectively arranged in parallel and spaced apart on both sides of the C-shaped ring.

3. The automatic wire stripping method capable of live wire stripping according to claim 2, characterized in that: The stripping assembly includes a linear motor and a stripping knife. The linear motor is arranged on the inner side of the C-shaped ring. The stripping knife is fixed on the sliding end of the linear motor. The linear motor is used to drive the stripping knife to approach or move away from the wire. A pressure sensor for sensing the pressure of the stripping knife tip is also provided between the linear motor and the stripping knife.

4. The automatic wire stripping method capable of live wire stripping according to claim 3, characterized in that: The linear motor is provided with a PID control algorithm to control the stripping pressure of the stripping knife. By adjusting the parameters of the proportional link, the integral link, and the differential link, the controller can control the pressure of the linear motor cutting the wire to remain constant.

5. The automatic wire stripping method capable of live wire stripping according to claim 4, characterized in that: The stripping assembly also includes a conductive detection module. When the stripping knife contacts the conductor of the wire, the current in the conductor will be transmitted back to the linear motor controller through the stripping knife, and the linear motor will retract the blade.

6. The automatic wire stripping method capable of live wire stripping according to claim 5, characterized in that: The conductive detection module comprises a peeling knife, a large resistor, a small resistor, a GND module, a single-chip microcomputer and a controller which are connected in sequence, wherein the single-chip microcomputer is also connected between the large resistor and the small resistor.

7. The automatic wire stripping method capable of live wire stripping according to claim 1, characterized in that: The base is also provided with a clamping assembly for clamping the wire, which includes two clamping rods, which are arranged on both sides of the axis direction of the C-shaped ring, and the top of the clamping rod is provided with an electromagnetic suction buckle for clamping the wire; when the wire is located in the two buckles, the two buckles are electromagnetically driven to clamp the wire.

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