Live-line work wire stripping tool based on unmanned aerial vehicle and working method

Abstract

The invention relates to the technical field of electric power engineering, in particular to a live-line work wire stripping tool based on an unmanned aerial vehicle and a working method.The live-line work wire stripping tool comprises two sets of guide plates arranged side by side, and a hanging assembly is arranged at the top; the suspension assembly comprises guide rails arranged between the two sets of guide plates in parallel, and electromagnetic locks are arranged on the guide rails and connected with the unmanned aerial vehicle through insulating ropes. Wherein the outer side of one group of guide plates is provided with a cutter adjusting assembly and an aligning assembly which are connected together, and the inner side of the guide plate is provided with a rotating assembly for driving the cutter adjusting assembly and the aligning assembly to rotate; the aligning assembly extrudes the wire into V-shaped grooves of aligning clamping blocks through two groups of aligning clamping blocks which are close to each other, and the axis position of the wire is determined; a holding assembly is arranged on the inner side of the other group of guide plates, and an advancing assembly is arranged between the two groups of guide plates; the holding assembly clamps and fixes the wire through two sets of holding clamping blocks which are close to each other. The advancing assembly drives the enclasping assembly and the main body support to do linear motion in the axis direction of the wire through a lead screw sliding block structure.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering, and in particular to a live wire stripping tool and a working method based on an unmanned aerial vehicle. 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] Live working is a maintenance method for overhead lines. Currently, live working on 10kV distribution networks mainly uses insulated rods and insulated boom trucks. If the working scene is suitable, live working with robots will also be carried out. Using insulated rods and insulated boom trucks requires workers to directly face live equipment for related inspection and maintenance work, resulting in a high safety risk of electric shock for workers. However, the cost of robot live working is high, and the robot needs to be transported to the high-altitude working point through the insulated bucket of the insulated boom truck, and the workers need to cooperate in the work inside the bucket.

[0004] Since most of the overhead lines in the 10kV distribution network are located in mountainous areas and other areas without paved roads, it is difficult for insulated boom trucks to reach them. Even using robots for live operations will be difficult because the insulated boom trucks cannot get close to the overhead lines. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a live wire stripping tool and a working method based on a drone. Taking the live wire stripping operation as an example, a drone carrying the wire stripping tool is flown above the set position of the overhead wire, and the wire is allowed to enter the tool by falling. After the tool is clamped and fixed to the wire through a clamping action, the live wire stripping operation is realized. On the one hand, the risk of workers directly facing live equipment is reduced, and on the other hand, it can cope with areas that cannot be reached by insulated boom trucks.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a live wire stripping tool based on a drone, comprising a main frame, comprising two sets of guide plates arranged in parallel, and a suspension assembly is provided on the top; the suspension assembly comprises a guide rail arranged in parallel between the two sets of guide plates, an electromagnetic lock is provided on the guide rail, and the electromagnetic lock is connected to the drone through an insulating rope;

[0008] A knife adjusting assembly and a centering assembly connected together are arranged on the outer side of one set of guide plates, and a rotating assembly is arranged on the inner side of the guide plate, and the rotating assembly drives the knife adjusting assembly and the centering assembly to realize rotational motion; the centering assembly squeezes the conductor into the V-shaped groove of the centering clamp block through two sets of centering clamp blocks close to each other to determine the axis position of the conductor;

[0009] A clamping assembly is provided on the inner side of the other set of guide plates, and a traveling assembly is provided between the two sets of guide plates to drive the clamping assembly to realize linear motion; the clamping assembly clamps and fixes the wire through two sets of clamping clamps close to each other; the traveling assembly drives the clamping assembly together with the main support to make linear motion along the wire axis direction through the screw slider structure.

[0010] Furthermore, an in-place detection sensor is provided on the side where the two sets of guide plates are close to each other, and a high-level signal is output when the wire is within the detection range of the in-place detection sensor; if only one of the in-place detection sensors sends a signal, the tool is tilted, and the drone is required to lift the tool again and place it again until the in-place detection sensors on both sides send signals at the same time.

[0011] Furthermore, the rotating assembly includes a rotating drive module that drives the gear set to rotate, and transmits the rotational motion to the knife adjusting assembly and the centering assembly through the output gear in the gear set, which is used to drive the knife adjusting assembly and the centering assembly to rotate around the conductor axis.

[0012] Furthermore, the self-aligning component includes a self-aligning screw driven by a self-aligning drive module. The self-aligning screw and the self-aligning clamp are movably connected to form a screw slider structure. The self-aligning clamp has two groups. The self-aligning drive module drives the self-aligning screw to rotate, so that the two groups of self-aligning clamps are guided by the direction of the self-aligning guide shaft to move closer to or farther away from each other, forming a split and clamping movement mode.

[0013] Furthermore, the two sets of aligning clamps are provided with V-shaped grooves on the sides close to each other. When the conductor is clamped, the conductor is squeezed into the space formed by the V-shaped grooves of the aligning clamps to determine the axis position of conductors of different linear shapes.

[0014] Furthermore, the knife adjusting assembly is connected to one of the centering clamps of the centering assembly, and includes a knife adjusting screw driven to rotate by the knife adjusting power module, the knife adjusting screw and the knife adjusting nut are movably connected to form a screw slider structure, the knife adjusting nut is connected to the tool bracket, the tool bracket is respectively connected to the tool and the knife adjusting sensor, and the knife adjusting sensor is used to detect the wire core of the conductor.

[0015] Furthermore, the traveling assembly is located between the two guide plates, and includes a traveling screw connected to the traveling drive module. The traveling screw and the traveling guide shaft are arranged in parallel. The traveling screw and the traveling guide shaft are movably connected to the first connecting frame through a slider to form a screw slider structure. The first connecting frame is connected to the clamping assembly.

[0016] Furthermore, the traveling component also has a second connecting frame, which is used to connect with the rotating component, and a high-voltage electrical detection detector is provided on the housing of the rotating component.

[0017] Furthermore, the clamping assembly includes a clamping screw driven by a clamping drive module, and the clamping screw is movably connected to a clamping clamp to form a screw slider structure. The clamping clamp has two groups, and the clamping screw is driven to rotate by the clamping drive module, so that the two groups of clamping clamps are moved closer to or farther away from each other under the guidance of the clamping guide shaft, so as to clamp and fix the wire in an open clamping manner.

[0018] A second aspect of the present invention provides a working method of a live wire stripping tool based on a drone, comprising the following steps:

[0019] Assemble the drone and the wire stripping tool in advance, and use the drone to drive the wire stripping tool to fly to the space above the working position;

[0020] The drone descends, and uses the guide plate on the wire stripping tool to guide the wire into the wire stripping tool. When the two sets of in-place detection sensors send signals at the same time, the wire smoothly enters between the clamping blocks of the centering component or the clamping component.

[0021] The centering assembly moves to determine the position of the conductor axis;

[0022] The action of holding the assembly fixes the wire and the tool, and the drone hovers in the space above the wire;

[0023] The knife adjustment assembly moves to feed the knife into the conductor to a set depth;

[0024] The rotating assembly drives the knife adjusting assembly and the centering assembly to rotate. At the same time, the knife adjusting assembly keeps moving to make the cutter keep moving forward and start stripping the wire. When the wire is stripped to the wire core position, the high-voltage electrical detector senses a signal and the knife adjusting assembly stops moving forward.

[0025] The rotating component continues to work, while the traveling component uses the clamping component fixed on the wire as a fixed point, and drives the tool to move along the wire axis through its own action, so that the tool moves in a spiral forward manner until the wire stripping operation is completed;

[0026] The wire stripping operation is completed, the self-aligning assembly and the clamping assembly release the wire, the drone rises to lift the tool off the wire, and the wire stripping operation is completed.

[0027] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0028] 1. Use a drone to carry a wire stripping tool, fly it to the set position of the overhead wire, and let the wire enter the tool by falling. After the tool is clamped and fixed with the wire through a clamping action, the live wire stripping operation is realized. On the one hand, it reduces the risk of workers directly facing live equipment, and on the other hand, it copes with areas that cannot be reached by insulated boom trucks.

[0029] 2. Since the wire has a certain elasticity, when the wire stripping tool is mounted on the wire, its own gravity will cause the wire to fall a certain distance and deform. When the tool strips the deformed wire, it is difficult to determine the position of the wire core, which can easily damage the wire core. This tool uses its own gravity to initially straighten the wire between the two guide plates, reducing the risk of damaging the wire core when stripping the deformed wire; and the travel component uses its own movement to drive the entire tool to move horizontally along the wire axis. Each translation can ensure that this part of the initially straightened wire is in a "centering" state before entering the knife adjustment component, that is, the axial position of the wire is determined before stripping, which can avoid damage to the wire core caused by the stripping operation.

[0030] 3. The traveling component drives the entire tool to form a translational motion. The rotating component drives the knife adjusting component and the centering component to make the tool rotate around the axis of the wire. The translational motion and the orbital motion of the tool are coupled to form a spiral motion trajectory of the tool. During this period, the knife adjusting component that performs wire stripping is located at the very end of the translational motion. In conjunction with the sensor on the knife adjusting component, the position of the wire core is further determined to prevent the tool from damaging the wire core during stripping.

[0031] 4. During wire stripping, the drone hovers above the wire and is stationary relative to the wire. Driven by the travel assembly, the tool moves in a small range along the wire axis. At this time, the electromagnetic lock releases the lock between the guide rail, allowing horizontal relative movement between the tool and the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 is a schematic structural diagram of a wire stripping tool provided by one or more embodiments of the present invention from a first viewing angle;

[0034] Figure 2 is a schematic structural diagram of a wire stripping tool provided by one or more embodiments of the present invention from a second viewing angle;

[0035] Figure 3 is a schematic structural diagram of a rotating assembly in a wire stripping tool provided by one or more embodiments of the present invention;

[0036] Figure 4 is a structural schematic diagram of a centering component in a wire stripping tool provided by one or more embodiments of the present invention;

[0037] Figure 5 is a structural schematic diagram of a knife adjustment assembly in a wire stripping tool provided by one or more embodiments of the present invention;

[0038] Figure 6 is a schematic structural diagram of a traveling assembly in a wire stripping tool provided by one or more embodiments of the present invention;

[0039] Figure 7 is a structural schematic diagram of a clamping assembly in a wire stripping tool provided by one or more embodiments of the present invention;

[0040] Figure 8 It is a schematic diagram of the operation flow of a wire stripping tool provided by one or more embodiments of the present invention.

[0041] Figure 1-Figure 2 Middle: 1 suspension assembly, 2 observation camera, 3 in-position detection sensor, 4 high voltage electrical detector, 5 rotation assembly, 6 guide plate, 7 clamping assembly, 8 travel assembly, 9 control assembly, 10 knife adjustment assembly, 11 centering assembly;

[0042] Figure 3 Middle: 51 rotation drive module, 52 connection frame;

[0043] Figure 4 Middle: 111 self-aligning drive module, 112 self-aligning clamping block, 113 self-aligning lead screw, 114 self-aligning guide shaft, 115 self-aligning drive unlocking ring;

[0044] Figure 5 Middle: 101 tool adjustment scale, 102 tool adjustment screw, 103 tool holder

[0045] Figure 6 Middle: 801 travel drive module, 802 travel lead screw, 803 travel guide shaft, 804 first connecting frame, 805 second connecting frame;

[0046] Figure 7 Middle: 701 holds the clamping block, 702 holds the lead screw, 703 holds the guide shaft, and 704 holds the drive unlocking ring. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0048] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. 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 invention belongs.

[0049] It should be noted that the terms herein are only intended to describe specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is 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.

[0050] Terminology explanation:

[0051] Live wire stripping refers to the operation of stripping the insulation layer (sheath) of wires and cables on an energized circuit or electrical equipment. The most primitive method of stripping the outer layer of wire insulation is the bevel method, that is, using an electrician's knife to cut into the insulation layer at an angle of 45°. When the knife is cut close to the wire core, stop using the knife, change the knife surface to 15°, and push forward along the surface of the wire core to cut the insulation layer. According to the needs of the operation, special cutting tools can also be used for stripping, but it is necessary to ensure that the wire is not damaged. It is usually used to check the health of the line. By stripping the insulation layer, the condition of the wire can be visually observed so that problems can be discovered and dealt with in time. Or in the process of upgrading or renovating the power system, when it is necessary to replace or add wires, the insulation layer of the original wire is stripped for connection or replacement. Or by checking the part of the wire where the insulation layer is stripped, the specific location of the fault can be found and repaired. In addition, during the installation and commissioning of electrical equipment, by stripping the insulation layer of the wire, the wire can be correctly connected to the equipment to ensure the normal operation of the electrical equipment.

[0052] Therefore, the following embodiments take the live wire stripping operation as an example and provide a live wire stripping tool and working method based on a drone. The drone is used to carry the wire stripping tool and fly above the set position of the overhead wire. The wire is dropped into the tool. After the tool is clamped and fixed to the wire through a clamping action, the live wire stripping operation is achieved. On the one hand, the risk of workers directly facing live equipment is reduced, and on the other hand, it can deal with areas that cannot be reached by insulated boom trucks.

[0053] Embodiment 1:

[0054] like Figure 1-Figure 2 As shown, the tool includes two groups of guide plates 6 arranged in parallel, and the two groups of guide plates 6 are connected together by ribs to form a main frame of the tool, and the main frame serves as a carrier of each functional component.

[0055] The guide plate 6 is arranged in an inclined "human" shape, that is, one of the legs of the "human" shaped guide plate 6 is arranged vertically, and the other leg is arranged inclined, and the two sets of legs form a "human" shaped structure. The drone hoists the tool above the overhead line and starts to descend. The inclined legs prompt the overhead wires to enter the middle of the "human" shape, and through the guiding role played, the tool is smoothly inserted into the overhead line.

[0056] A suspension assembly 1 is provided on the top of the main support, and the suspension assembly 1 is used to connect the drone and the tool. The suspension assembly 1 includes a guide rail arranged in parallel between two sets of guide plates 6, and an electromagnetic lock is provided on the guide rail, and the electromagnetic lock is connected to the drone through an insulating rope. When the tool performs the wire stripping operation, it will move along the axis of the wire in a small range, while the drone remains in a hovering state. The electromagnetic lock provided on the guide rail allows a certain amount of sliding between the electromagnetic lock and the guide rail to support the movement of the tool along the axis of the wire.

[0057] In this embodiment, the electromagnetic lock can lock / unlock the relative movement with the guide rail. During the flight and descent of the wire stripping tool hoisted by the drone, the electromagnetic lock and the guide rail are in a fixed state. When the tool performs the wire stripping operation, the drone hovers in the space above the stripping area of ​​the wire, and the tool moves in a small range along the axis of the wire during the stripping process. At this time, the electromagnetic lock unlocks the locked state with the guide rail, allowing horizontal relative movement between the tool and the drone.

[0058] In this embodiment, the electromagnetic lock is also used for safety tripping in emergency situations. When the tool cannot be removed from the line, the ground personnel can control the action of the electromagnetic lock to release the lifting rope from the electromagnetic lock. The drone can be detached from the tool and controlled to land on the ground, thereby avoiding the crash of the drone. The electromagnetic lock is not limited to a specific structure. In addition to the electromagnetic method, other methods such as motors and push rods can also be used. This embodiment does not limit the specific structural type.

[0059] like Figure 1-Figure 2 As shown, the area between the two groups of guide plates 6 is the wire stripping operation area, and an observation camera 3 is provided on the outer side of one group of guide plates 6. The image acquisition end of the observation camera 3 faces the "human" shaped top area of ​​the guide plate 6, which is used to obtain the image of the overhead wire entering the wire stripping operation area.

[0060] In this embodiment, the data of the observation camera 3 is transmitted to the remote control through the WiFi Halow image transmission module, and the real-time image of the observation camera can be displayed on the remote control. WiFi Halow is a long-distance, high-speed data transmission protocol with a working frequency band of 900MHz. Its advantages are long transmission distance and small data delay, which is conducive to the observation of the operation process of the tool.

[0061] like Figure 1-Figure 2As shown, the two sets of guide plates 6 are both provided with a position detection sensor 3 on the side close to each other. When the wire approaches the position detection sensor, a high-level signal is output to detect whether the wire has reliably entered the tool. When the two sets of position detection sensors 3 send out stable signals at the same time, it is considered that the wire is in place and the wire skin stripping operation can be started; if only one of the position detection sensors 3 sends out a signal, the tool may tilt along the direction of the wire, and the drone needs to lift the tool again and place it again until the position detection sensors 3 on both sides send out signals at the same time.

[0062] like Figure 1-Figure 2 As shown, a knife adjustment assembly 10 and a centering assembly 11 connected together are provided on the outer side of one group of guide plates 6, a rotating assembly 5 is provided on the inner side of the guide plate 6, a clamping assembly 7 is provided on the inner side of another group of guide plates 6, and a traveling assembly 8 and a control assembly 9 for driving the clamping assembly 7 to realize linear motion are provided between the two groups of guide plates 6.

[0063] The holding assembly 7 holds the wire tightly by a split holding method. After holding tightly, the holding assembly 7 is stationary relative to the wire.

[0064] The traveling assembly 8 drives the clamping assembly 7 to move linearly along the conductor axis through the lead screw slider structure.

[0065] The rotating assembly 5 is used to drive the knife adjusting assembly 10 and the centering assembly 11 to perform rotational motion around the conductor axis.

[0066] The centering assembly 11 squeezes the wire into the V-shaped groove by opening and clamping, so that the relative position of the wire axis and the cutter of the wires of different wire types is fixed after being clamped, thereby ensuring the stability of the stripping quality of the wires of different wire types.

[0067] The knife adjustment assembly 10 is used to adjust the depth of the knife feed according to different wire types and different insulation layer thicknesses to achieve wire-free operation.

[0068] The control component 9 is used to control the action process of the clamping component 7, the traveling component 8, the knife adjusting component 10 and the centering component 11.

[0069] like Figure 3 As shown, the rotating assembly 5 includes a connecting frame 52 connected to the inner side of the guide plate 6, and the rotating drive module 51 drives the gear set to rotate, and transmits the rotational motion to the knife adjusting assembly 10 and the centering assembly 11 through the output gear, which is used to drive the knife adjusting assembly 10 and the centering assembly 11 to rotate around the conductor axis.

[0070] The rotating component 5 has an interface for accommodating the entry of the wire, and a high-voltage electrical detection detector 4 is arranged within a set range from the interface. In this embodiment, the high-voltage electrical detection detector 4 is fixed on the outer casing of the rotating component 5, and the electrical information is fed back to the operator operating the tool by real-time sensing of the electrical condition of the wire.

[0071] In this embodiment, the rotation driving module 51 is a device that provides rotational power, and the specific structure type is not limited, for example, it can be a motor.

[0072] In this embodiment, the gear arrangement and specific structural type of the rotating component 5 are not limited. Mature existing technologies can be used to output controllable rotational motion and drive the knife adjustment component 10 and the centering component 11 to rotate around the conductor axis. This embodiment will not be described in detail.

[0073] like Figure 4 As shown, the centering assembly 11 includes a centering screw 113 driven by a centering drive module 111, and the centering screw 113 is movably connected with the centering clamp 112 to form a screw slider structure, and the centering screw 113 is arranged in parallel with the centering guide shaft 114. The centering clamp 112 has two groups, and the centering screw 113 driven by the centering drive module 111 rotates, so that the two groups of centering clamps 112 are close to each other or away from each other under the guidance of the centering guide shaft 114, thereby forming a split clamping mode, and a V-shaped groove is provided on the side where the two groups of centering clamps 112 are close to each other. When the wire is clamped, the wire is squeezed into the V-shaped groove of the centering clamp 112, so that the relative position of the wire axis and the tool of the wires of different wire types is fixed after being clamped, so that the feeding depth of the tool is reliably controlled, and the stability of the stripping quality of different wire types is guaranteed.

[0074] There is also a self-aligning drive unlocking ring 115 for locking / unlocking the self-aligning clamping block 112.

[0075] In this embodiment, the self-aligning screw 113 is a forward and reverse bidirectional screw, which can drive the two sets of self-aligning clamping blocks 112 to move closer to each other or move away from each other synchronously through its own rotation.

[0076] In this embodiment, the self-aligning clamps 112 are in two groups and move synchronously, and the inner surfaces are smooth. After the two groups of clamps are closed, the smooth surface can ensure that the wires are reliably squeezed into the V-grooves of the two clamps without damaging the cable surface.

[0077] like Figure 5 As shown, the tool adjustment assembly 10 is connected to one of the centering clamps 112, including a tool adjustment screw 120 driven to rotate by a tool adjustment power module, the tool adjustment screw 120 is movably connected to a tool adjustment nut to form a screw slider structure, the tool adjustment nut is connected to a tool holder 103, and the tool holder 103 is movably connected to the tool. The tool adjustment screw 120 is driven to rotate by the tool adjustment power module, and the tool holder 103 is driven to move linearly along the axis of the tool adjustment screw 120 by the tool adjustment nut, thereby changing the feed depth of the tool on the wire.

[0078] The tool support 103 is provided with a tool adjustment sensor for detecting the wire core and helping the tool to adjust the feeding depth. The sensor type is not limited and can be contact or inductive, such as a sensor based on optical detection principle or electromagnetic induction principle.

[0079] The knife adjusting assembly 10 is also provided with a knife adjusting scale 101 for displaying the feeding depth position of the knife.

[0080] In this embodiment, the knife adjustment assembly 10 is used to adjust the depth of the knife feed according to different wire types and different insulation layer thicknesses to achieve wire-free operation.

[0081] like Figure 6 As shown, the traveling component 8 is located in the area between the two groups of guide plates 6, and includes a traveling screw 802 connected to the traveling drive module 801. The traveling screw 802 and the traveling guide shaft 803 are arranged in parallel. The traveling screw 802 and the traveling guide shaft 803 are movably connected to the first connecting frame 804 through a slider to form a screw slider structure. The first connecting frame 804 is connected to the clamping component 7. The traveling component 8 also has a second connecting frame 805, and the second connecting frame 805 is used to connect to the rotating component 5.

[0082] In this embodiment, the traveling assembly 8 is fixed on the main body bracket. The screw slider structure drives the clamping assembly 7 together with the tool body to move linearly along the wire axis direction to adjust the wire stripping position.

[0083] like Figure 7 As shown, the clamping assembly 7 includes a clamping lead screw 702 driven by a clamping drive module, the clamping lead screw 702 is movably connected with a clamping clamp block 701 to form a lead screw slider structure, and the clamping lead screw 702 is arranged in parallel with a clamping guide shaft 703. The clamping clamp block 701 has two groups, and the clamping lead screw 702 is driven to rotate by the clamping drive module, so that the two groups of clamping clamp blocks 701 are close to or away from each other under the guidance of the direction of the clamping guide shaft 703, so as to clamp and fix the wire in a split clamping manner.

[0084] In this embodiment, the clamping screw 702 is a forward and reverse bidirectional screw, which can drive the two groups of clamping clamps 701 to move closer to each other or move away from each other synchronously through its own rotation.

[0085] In this embodiment, the surfaces of the two sets of clamping blocks 701 that are close to each other are rough surfaces, which are used to reliably contact with the wires to achieve clamping.

[0086] It also has a clamping drive unlocking ring 704 for locking / unlocking the clamping block 701.

[0087] In this embodiment, the clamping component 7 and the centering component 11 are the same in principle, and both use a split clamping method to clamp the wire. The difference is that the surface of the clamping clamp of the clamping component 7 is a rough surface, and the two clamping clamps have the same structure, which is used to apply a relatively balanced clamping force to the wire to ensure that the wire can be reliably clamped and fixed; while the surfaces of the two centering clamps of the centering component 11 are smooth surfaces with V-shaped grooves on the surface, and the overall clamping force is smaller than that of the clamping component 7. The purpose is to squeeze the wire into the V-shaped groove formed by the two centering clamps through the split clamping method, so as to determine the axial position of the wire; during the squeezing, the smooth surface ensures that the surface of the wire will not be damaged and can slide to the axial position (the axial position here refers to the clamping center formed by the two centering clamps).

[0088] In practical applications, the specific value of the clamping force can be monitored by setting pressure sensors on the clamping clamp and the aligning clamp. For example, a compression force sensor based on the piezoelectric effect or a six-dimensional force sensor based on the strain effect can be used.

[0089] Since the wire has a certain elasticity, when the wire stripping tool is mounted on the wire, its own gravity will cause the wire to fall a certain distance and thus deform. The tool is likely to damage the wire core when stripping the deformed wire. In order to prevent the wire stripping tool from damaging the wire core, the position of the wire core needs to be used as the reference position for subsequent tool feeding. In this embodiment, two aligning clamps are brought close to each other to squeeze the wire into the V-groove, and the clamping center formed by the two aligning clamps is used as the position of the wire axis.

[0090] At the same time, the knife adjusting assembly is installed on one of the centering clamps of the centering assembly, so that the relative position of the knife adjusting assembly and the centering clamp is fixed. To cope with cables of different diameters, after the centering assembly determines the position of the conductor axis, the knife adjusting assembly uses the position of the conductor axis as the reference position of the knife adjusting assembly, determines the feed depth of the tool, and realizes the subsequent wire stripping action.

[0091] In this structure, the knife adjustment assembly and the centering assembly are connected together and driven by the rotating assembly. The centering assembly can be used to determine the axial position of the conductor before performing the wire stripping operation, reducing the risk of wire core damage caused by conductor deformation; and the knife can also make a circular motion around the axial position of the conductor to strip off the insulation layer of the conductor.

[0092] The traveling assembly is arranged in the main bracket, and uses its own movement to drive the rotating assembly and the entire tool to translate along the axis of the wire. The translational motion is coupled with the circular motion of the tool to form a spiral motion trajectory of the tool; the tool uses its own gravity to initially straighten the wires between the two sets of guide plates, reducing the risk of wire core damage caused by wire deformation, and each translation can ensure that this part of the initially straightened wire is in a "centered" state before entering the knife adjustment assembly, that is, the axial position of the wire is determined before stripping, and the knife adjustment assembly that performs wire stripping is located at the very end of the translational motion, and the sensor on the knife adjustment assembly is further used to determine the position of the wire core, further avoiding damage to the wire core by the tool during stripping.

[0093] Embodiment 2:

[0094] like Figure 8 As shown, the working method of the live wire stripping tool based on drone includes the following steps:

[0095] The operator pre-assembles the drone and the wire stripping tool on the ground, turns it on, and resets the wire stripping tool;

[0096] The remote-controlled drone drives the stripping tool to fly to the space above the overhead wire to be stripped, and slowly descends. The guide plate on the stripping tool is used to gradually guide the wire into the stripping tool. During the guiding period, when the two sets of in-place detection sensors send signals at the same time, it means that the wire has successfully entered between the clamping blocks of the aligning component or the clamping component;

[0097] Stripping operation: the centering component moves, squeezes the wire, and determines the position of the wire axis; the holding component moves, holds the wire tightly to fix the wire and the tool, and the drone hovers above the wire according to the operation requirements; the knife adjustment component moves, and the tool feeds a certain depth into the wire; the rotating component drives the knife adjustment component to rotate, and at the same time, the knife adjustment component continues to move so that the tool continues to advance and start stripping the wire. When the wire core is stripped, the high-voltage electrical detector senses a signal, and the knife adjustment component stops advancing; the rotating component continues to work, and at the same time, the traveling component moves. The traveling component uses the holding component fixed on the wire as a fixed point, and drives the tool body to move along the wire axis through its own movement, causing the tool to move in a spiral forward manner until the stripping operation is completed;

[0098] The wire stripping operation is completed, the centering assembly and the clamping assembly are activated, the wire is released, the drone rises and lifts the tool off the wire, and the wire stripping operation is completed.

[0099] Use a drone to carry a wire stripping tool and fly it above the set position of the overhead wire. The wire is dropped into the tool. After the tool clamps and fixes the wire, the live wire stripping operation is carried out. On the one hand, it reduces the risk of workers directly facing live equipment, and on the other hand, it can deal with areas that cannot be reached by insulated boom trucks.

[0100] Since the wire has a certain elasticity, when the wire stripping tool is mounted on the wire, its own gravity will cause the wire to fall a certain distance and thus deform. When the tool strips the deformed wire, it is difficult to determine the position of the wire core, which can easily damage the wire core. This tool uses its own gravity to initially straighten the wire between the two guide plates, reducing the risk of damaging the wire core when stripping the deformed wire; and the travel component uses its own movement to drive the entire tool to move horizontally along the wire axis. Each translation can ensure that this part of the initially straightened wire is in a "centering" state before entering the knife adjustment component, that is, the axial position of the wire is determined before stripping, which can avoid damage to the wire core caused by the stripping operation.

[0101] The traveling assembly drives the entire tool to form a translational motion, and the rotating assembly drives the knife adjusting assembly and the centering assembly to make the tool rotate around the axis of the wire. The translational motion and the orbital motion of the tool are coupled to form a spiral motion trajectory of the tool. During this period, the knife adjusting assembly that performs wire stripping is located at the very end of the translational motion, and cooperates with the sensor on the knife adjusting assembly to further determine the position of the wire core to prevent the tool from damaging the wire core during stripping.

[0102] During wire stripping, the drone hovers above the wire and is stationary relative to the wire. Driven by the travel assembly, the tool moves in a small range along the wire axis. At this time, the electromagnetic lock releases the lock with the guide rail, allowing horizontal relative movement between the tool and the drone.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A live wire stripping tool based on drone, characterized by: The main frame includes two sets of guide plates arranged in parallel, and a suspension assembly is provided on the top; the suspension assembly includes a guide rail arranged in parallel between the two sets of guide plates, and an electromagnetic lock is provided on the guide rail, and the electromagnetic lock is connected to the drone through an insulating rope; A knife adjusting assembly and a centering assembly connected together are arranged on the outer side of one set of guide plates, and a rotating assembly is arranged on the inner side of the guide plate, and the rotating assembly drives the knife adjusting assembly and the centering assembly to realize rotational motion; the centering assembly squeezes the conductor into the V-shaped groove of the centering clamp block through two sets of centering clamp blocks close to each other to determine the axis position of the conductor; A clamping assembly is provided on the inner side of the other set of guide plates, and a traveling assembly is provided between the two sets of guide plates to drive the clamping assembly to realize linear motion; the clamping assembly clamps and fixes the wire through two sets of clamping clamps close to each other; the traveling assembly drives the clamping assembly together with the main support to make linear motion along the wire axis direction through the screw slider structure.

2. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: There are in-place detection sensors on the sides where the two sets of guide plates are close to each other. When the wire is in the detection range of the in-place detection sensor, a high-level signal is output; if only one of the in-place detection sensors sends a signal, the tool is tilted, and the drone needs to lift the tool again and place it again until the in-place detection sensors on both sides send signals at the same time.

3. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: The rotating assembly includes a rotating drive module that drives the gear set to rotate, and transmits the rotational motion to the knife adjusting assembly and the centering assembly through the output gear in the gear set, so as to drive the knife adjusting assembly and the centering assembly to rotate around the conductor axis.

4. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: The self-aligning component includes a self-aligning screw driven by a self-aligning drive module. The self-aligning screw and the self-aligning clamping block are movably connected to form a screw slider structure. The self-aligning clamping block has two groups. The self-aligning screw is driven to rotate by the self-aligning drive module, so that the two groups of self-aligning clamping blocks are guided by the direction of the self-aligning guide shaft to move closer to or away from each other, forming a split and clamping movement mode.

5. The live wire stripping tool based on drone as claimed in claim 4, characterized in that: The two sets of aligning clamps are provided with V-shaped grooves on the sides close to each other. When the conductor is clamped, the conductor is squeezed into the space formed by the V-shaped grooves of the aligning clamps to determine the axis position of conductors of different linear shapes.

6. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: The knife adjusting assembly is connected to one of the centering clamps of the centering assembly, and includes a knife adjusting screw driven to rotate by a knife adjusting power module. The knife adjusting screw and the knife adjusting nut are movably connected to form a screw slider structure. The knife adjusting nut is connected to the tool bracket, and the tool bracket is respectively connected to the tool and the knife adjusting sensor. The knife adjusting sensor is used to detect the wire core of the conductor.

7. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: The traveling assembly is located between two guide plates, and includes a traveling screw connected to a traveling drive module. The traveling screw and the traveling guide shaft are arranged in parallel. The traveling screw and the traveling guide shaft are movably connected to a first connecting frame through a slider to form a screw slider structure. The first connecting frame is connected to the clamping assembly.

8. The live wire stripping tool based on drone as claimed in claim 7, characterized in that: The traveling component also has a second connecting frame, and the second connecting frame is used to be connected with the rotating component. A high-voltage electrical detection detector is arranged on the outer shell of the rotating component.

9. The live wire stripping tool based on drone as claimed in claim 1, characterized in that: The clamping assembly includes a clamping screw driven by a clamping drive module. The clamping screw is movably connected to a clamping clamp block to form a screw slider structure. The clamping clamp block has two groups. The clamping screw is driven to rotate by the clamping drive module, so that the two groups of clamping clamp blocks are moved closer to or farther away from each other under the guidance of the clamping guide shaft, so as to clamp and fix the wire in an open clamping manner.

10. A working method of a live wire stripping tool based on a drone as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Assemble the drone and the wire stripping tool in advance, and use the drone to drive the wire stripping tool to fly to the space above the working position; The drone descends, and uses the guide plate on the wire stripping tool to guide the wire into the wire stripping tool. When the two sets of in-place detection sensors send signals at the same time, the wire smoothly enters between the clamping blocks of the centering component or the clamping component. The centering assembly moves to determine the position of the conductor axis; The action of holding the assembly fixes the wire and the tool, and the drone hovers in the space above the wire; The knife adjustment assembly moves to feed the knife into the conductor to a set depth; The rotating assembly drives the knife adjusting assembly and the centering assembly to rotate. At the same time, the knife adjusting assembly keeps moving to make the cutter keep moving forward and start stripping the wire. When the wire is stripped to the wire core position, the high-voltage electrical detector senses a signal and the knife adjusting assembly stops moving forward. The rotating component continues to work, while the traveling component uses the clamping component fixed on the wire as a fixed point, and drives the tool to move along the wire axis through its own action, so that the tool moves in a spiral forward manner until the wire stripping operation is completed; The wire stripping operation is completed, the self-aligning assembly and the clamping assembly release the wire, the drone rises to lift the tool off the wire, and the wire stripping operation is completed.

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