Compact type distribution network hot-line work laser wire stripping tool and working method

Abstract

The invention relates to the technical field of wire stripping tools, in particular to a compact type distribution network hot-line work laser wire stripping tool and a working method, and an advancing unit carries a tool body to move along the axis direction of a cable; the rotating unit in the tool body drives the wire stripping unit and the air supply unit to rotate around the cable; the gas supply unit generates gas required by the laser module; a positioning module in the wire stripping unit clamps and positions a cable through a lead screw driven by a positioning motor and at least two groups of clamping blocks movably connected to the lead screw. Each group of clamping blocks is provided with two clamping teeth which are arranged in parallel, and the laser module is located between the two clamping teeth and is driven by the corresponding clamping blocks to be close to or away from the cable; the side, facing the guide plate, of the laser module is provided with a shifting knife driven by the push rod. A non-contact cutting mode for an insulating layer is formed by laser, the probability of conductor damage is reduced, meanwhile, the weights of the two sides of the rotating unit are balanced, the overall structure is more compact, and hidden dangers during field operation are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of wire stripping tools, in particular to a compact distribution network live working laser wire stripping tool and a working method. 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 wire stripping refers to stripping the insulation layer on the cable surface without power outage. It is usually combined with subsequent operations such as splicing drain wires, and the insulation layer is usually made of high-strength polyethylene material with high thickness and hardness.

[0004] When using robots to carry working tools for live wire stripping, metal cutters are used for contact cutting (such as the wire stripping tool disclosed in CN215733188U) during the cutting and stripping of the insulation layer. This method makes it difficult to control the depth of the cutter embedding. If the cutter is embedded too deeply, it will cause damage to the metal wire core and affect the life of the wire. If the cutter is embedded too shallowly, the wire skin will not be completely cut, which will not meet the needs of subsequent operations (such as drainage line overlap), and will have a negative impact on on-site construction and line operation and maintenance.

[0005] In addition, when using a robot to carry work tools for live wire stripping operations, the structure of the work tools is complex, resulting in a large size and weight. It is difficult to control during on-site operations, posing a safety hazard. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a compact distribution network live operation laser wire stripping tool and a working method, which utilizes the thermal effect of laser to form a non-contact cutting method for the insulation layer. While the cable is clamped and positioned, the laser head is driven to feed and abut against the surface of the cable insulation layer, and through the coordination of circumferential rotation motion and linear motion, a cutting seam is processed in the insulation layer of the cable, and then a stripping knife is embedded in the cutting seam to separate the stripped insulation layer from the wire core. The stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

[0007] In order to achieve the above object, the present invention adopts the following technical embodiments: The first aspect of the present invention provides a compact distribution network live working laser wire stripping tool, comprising: The traveling unit is used to carry the tool body to the wire stripping operation area and drive the tool body to move along the cable axis direction; The tool body comprises two sets of guide plates arranged in parallel, a rotating unit is arranged between the two sets of guide plates, a wire stripping unit and an air supply unit are arranged on both sides of the rotating unit respectively, the rotating unit drives the wire stripping unit and the air supply unit to rotate around the cable; the air supply unit is used to generate the gas required by the laser module; in the wire stripping unit, the positioning module realizes the clamping and positioning of the cable through a lead screw driven by a positioning motor and at least two sets of clamping blocks movably connected on the lead screw; each set of clamping blocks has two clamping teeth arranged in parallel, the laser module is located between the two clamping teeth, and is driven to approach or move away from the cable by the corresponding clamping block; a shifting knife is provided on the side of the laser module facing the guide plate, which is driven to approach or move away from the cable by a push rod.

[0008] As a further implementation method, the rotating unit includes a support frame connected to the traveling unit, and the support frame rotates relatively in an annular groove formed by the rotating frame A and the rotating frame B; the rotating frame A is connected to the air supply unit, and the rotating frame B is connected to the wire stripping unit; the supporting part of the support frame is connected to the traveling unit, and the transmission part has an inner ring gear meshing with the driving gear, and the driving gear is connected to the output shaft of the rotating motor.

[0009] As a further implementation method, the laser module has two groups arranged relatively to each other, each group of laser modules includes a laser emitter located in a sealed space, the gas generated by the gas supply unit is sent into the sealed space, passes through the laser emitter and is blown out from the hole at the front end of the front seal; the laser generated by the laser emitter passes through the hole on the front seal and irradiates the cable surface.

[0010] As a further implementation method, the sealed space includes a mounting seat, the front end of the mounting seat is connected to the front seal, and the rear end is connected to the rear seal; the laser transmitter is connected to the mounting seat, and the rear seal is provided with a trachea quick connector; the front seal is connected to the clamping block through a spring; the sealed space is slidably connected to the bracket of the positioning module.

[0011] As a further implementation method, the sealing space is slidably connected to the bracket of the positioning module, specifically: the lower support plate is connected to the bracket of the positioning module, the upper guide plate is connected to the lower support plate, a slide groove is formed between the upper guide plate and the lower support plate, the mounting seat together with the front seal and the rear seal are located in the slide groove, and can slide linearly in the slide groove.

[0012] As a further implementation method, the spring is located between the front seal and the clamping block. The clamping block moves linearly driven by the lead screw. The clamping block pushes the front seal and the laser emitter to follow the movement through the spring. Under the action of the spring elastic force, the front end of the front seal is always close to the cable surface.

[0013] As a further implementation method, one side of the laser module faces the rotating unit, and the other side faces one of the guide plates, and the other guide plate is connected to the air supply unit; a push rod is provided on the side of the laser module mounting base facing the guide plate, the front end of the push rod is connected to the push rod driving module, and the end of the push rod is connected to the knife.

[0014] As a further implementation method, two groups of laser modules are arranged relative to each other at 180 degrees, and each group of laser modules has a corresponding push rod and a knife, and the movement axis of the knife coincides with the laser emitted by the corresponding laser module in the axial direction.

[0015] As a further implementation, the air supply unit includes a protective cover connected to the side of the guide plate, the protective cover is connected to the protective shell, and the space formed inside is used to accommodate the air pump.

[0016] A second aspect of the present invention provides a working method of a compact distribution network live working laser wire stripping tool, comprising the following steps: The travel unit drives the tool body to the space below the cable stripping area, and the cable enters the tool body through the upward movement; The positioning module moves to clamp the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks in the positioning module; When the positioning module moves, the front sealing member in the laser module is driven to contact the surface of the cable insulation layer; The laser module emits laser and sprays air, and the rotating unit drives the stripping unit and the air supply unit to reciprocate around the cable at a set angle. After reaching the preset number of times, a circumferential cutting seam is cut on the insulation layer at the starting point of the stripping area on the cable surface, and the rotating unit stops; The traveling unit drives the tool body to reciprocate along the cable axis direction, and after cutting the cutting seam arranged along the axial direction, the traveling unit stops moving; The rotating unit moves again, and uses reciprocating motion to cut a circumferential cut in the insulation layer at the target point of the stripping area on the cable surface, and the rotating unit stops; The push rod drives the knife to insert into the cutting seam, and the rotating unit moves again, driving the knife to separate the insulation layer fragment at the target point of the stripping area from the wire core; The rotating unit stops, and the traveling unit drives the tool body to move in the opposite direction along the cable axis, so that the stripping knife separates the insulation layer fragment between the target point and the starting point of the stripping area from the wire core; After separation, the insulation layer fragments are all peeled off due to their own weight, and the traveling unit drives the tool body to move to the next stripping area.

[0017] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects: 1. Use the thermal effect of laser to form a non-contact cutting and stripping method for the insulation layer to avoid direct contact with the core conductor. During cutting, the laser energy can be controlled, which can reduce the probability of damage to the conductor in the cable.

[0018] 2. During wire stripping, when the two sets of clamping blocks move synchronously to clamp the cable, the corresponding laser module follows the clamping block of the positioning module and feeds toward the cable synchronously, so that the clamping center of the cable coincides with the laser cutting center, which is easier to control and indirectly makes the structure of the tool more compact.

[0019] 3. The laser module is arranged between the two clamping teeth of the corresponding clamping block to ensure that the cable is cut by laser during the clamping and alignment period, which improves the accuracy of the wire stripping operation, makes it easier to control, and further makes the structure of the tool more compact.

[0020] 4. The stripping unit and the air supply unit are arranged on both sides of the rotating unit, so that the weight on both sides of the rotating unit is balanced. When the rotating unit drives the stripping unit and the air supply unit to rotate synchronously, the load on both sides of the rotating unit is more balanced, which further makes the structure of the tool more compact and reduces accidents during on-site control.

[0021] 5. The movement axis of the knife is coincident with the laser emitted by the corresponding laser module in the axial direction, so that after the knife is extended along a straight line for a set distance, it can be directly inserted into the cutting seam without adjusting the angle, reducing the control parameters of the knife, reducing the complexity of the tool structure, making the tool structure more compact, and improving the stability of the tool during operation.

[0022] 6. When the clamping block moves linearly driven by the lead screw, the clamping block pushes the front seal together with the laser emitter through the spring. During this period, under the elastic force of the spring, the front seal used to emit the laser is always close to the cable insulation layer, which can ensure the relative position between the laser focal length and the insulation layer is stable, and can be better suitable for insulation stripping work of different line types.

[0023] 7. After the annular cutting seam and the axial cutting seam are obtained, the insulation layer fragments have been stripped off. However, because the insulation layer is heated during cutting, it will adhere to the cable surface. At this time, the puller driven by the push rod is embedded in the cutting seam. Through rotational motion and linear motion along the cable axis, the insulation layer fragments are separated from the wire core. Since the puller is only used to separate the insulation layer fragments, it can be replaced with a non-metallic material with lower hardness to further avoid damage to the conductor part of the cable.

[0024] 8. The laser emitter is arranged inside the sealed space. During operation, the airflow from the air supply unit blows away the molten material while flowing through the laser emitter from inside the sealed space to form an airflow cooling effect, thereby reducing the possibility of laser head ablation.

[0025] 9. Since the cable is not completely straight in the axial direction, the clamping action of the positioning module generates a certain clamping force on the incoming cable. On the one hand, it determines the outer diameter of the cable, and on the other hand, it has a certain degree of alignment effect on the cable. At the same time, it also stabilizes the relative position of the cable and the tool, reducing the decrease in wire stripping accuracy caused by cable vibration and robot arm operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 A schematic diagram of the tool body structure of a compact live-line laser stripping tool for distribution network provided by one or more embodiments of the present invention; Figure 2 A schematic diagram of the structure of a wire stripping unit in a tool body provided by one or more embodiments of the present invention; Figure 3 A schematic cross-sectional view of a wire stripping unit in a tool body provided in one or more embodiments of the present invention; Figure 4 A schematic diagram of the structure of a rotating unit in a tool body provided for one or more embodiments of the present invention; Figure 5 A schematic diagram of the structure of an air supply unit in a tool body provided for one or more embodiments of the present invention; Figure 6 A schematic diagram of the architecture of a control unit in a tool body provided for one or more embodiments of the present invention.

[0028] Figure 1 Middle: 1 guide plate; 2 positioning module; 3 rotation unit; 4 observation camera; 5 air supply unit; 6 laser module; Figure 2-Figure 3 Middle: 21 clamping block; 22 positioning motor; 23 lead screw; 61 front seal; 62 upper guide plate; 63 mounting seat; 64 rear seal; 65 lower support plate; 66 push rod; 67 knife puller; 671 spring; 68 laser transmitter; Figure 4 Middle: 31 support frame; 32 rotating bracket; 33 zero position sensor; 34 rotating motor; 35 driving gear; 36 induction port; Figure 5 Middle: 51 protective shell; 52 air inlet; 53 first shock-absorbing and sound-insulating layer; 54 air pump; 55 second shock-absorbing and sound-insulating layer; 56 protective cover; 57 air outlet pipe; 58 air inlet pipe; 59 air outlet. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed descriptions are exemplary and are 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.

[0031] As introduced in the background technology, when using a robot to carry a working tool to perform live wire stripping operations, due to the large hardness and thickness of the cable insulation layer, it is difficult to control the embedding depth of the tool when using a metal tool to cut and strip the insulation layer, which can easily cause the conductor part of the cable to be accidentally cut by the tool, affecting the life of the wire and having a negative impact on subsequent live operations and long-term line maintenance. At the same time, the size and weight of the working tool need to be as small as possible to avoid uncontrollable accidents during on-site operations.

[0032] Therefore, the following embodiments provide a compact live-line laser wire stripping tool and working method for distribution network operations, which utilizes the thermal effect of the laser to form a non-contact cutting method for the insulation layer. While the cable is clamped and positioned, the laser head is driven to feed and abut against the surface of the cable insulation layer, and through the coordination of circumferential rotation and linear motion, a cutting seam is processed in the insulation layer of the cable, and then a stripping knife is embedded in the cutting seam to separate the stripped insulation layer from the wire core. The stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

[0033] Embodiment 1: The compact distribution network live operation laser wire stripping tool includes a travel unit and a tool body. The travel unit is used to carry the tool body to the wire stripping operation area and drive the tool body to move along the cable axis. In the tool body, the positioning module determines the outer diameter of the cable through clamping action, and drives the laser module to abut against the outer surface of the cable, and the rotating unit drives the entire tool body to rotate around the cable. The laser module laser cuts the cable insulation layer during the rotational and axial movement of the tool body to obtain longitudinal and circumferential cutting seams, and finally uses the stripping knife equipped on the laser module to strip the insulation layer.

[0034] As a further implementation manner, the traveling unit is not limited to a specific structure, and may be, for example, a robotic arm.

[0035] like Figure 1As shown, the tool body includes two sets of guide plates 1 arranged in parallel, a rotating unit 3 is arranged between the two sets of guide plates 1, an air supply unit 5 is arranged on one side of the rotating unit 3, and a wire stripping unit is arranged on the other side, the wire stripping unit includes a positioning module 2 and a laser module 6, and the bottom of the rotating unit 3 is connected to the traveling unit. Under this arrangement, the weight on both sides of the rotating unit 3 is balanced, which is conducive to the rotating unit 3 driving the entire tool body to rotate around the cable.

[0036] The wire stripping unit includes a positioning module 2 and a laser module 6. The positioning module 2 generates a certain clamping force on the cable to stabilize the relative position of the cable and the laser beam without hindering the relative movement between the tool and the cable. At the same time, after clamping the cable, the outer diameter of the cable can be determined, and the cable can be aligned to a certain extent to achieve the positioning of the cable. The laser module 6 is used to laser cut the insulation layer of the cable, and use the equipped stripping knife to strip the cut insulation sheet from the wire core.

[0037] like Figure 2-Figure 3 As shown, the positioning module 2 includes a lead screw 23 driven by a positioning motor 22, at least two groups of clamping blocks 21 are movably connected to the lead screw 23, the surface of the lead screw 23 has a bidirectional thread, at least one group of guide shafts are arranged in parallel with the lead screw 23, when the positioning motor 22 rotates, the two groups of clamping blocks 21 are guided by the guide shafts and driven by the lead screw 23, and move closer to or farther from each other. The approaching action of the clamping blocks 21 is used to clamp the cable, and when the clamping force exceeds the set value, the two groups of clamping blocks 21 stop moving, and the spacing between the two groups of clamping blocks 21 is determined according to the initial position of the clamping blocks and the position when the action stops, and then the outer diameter of the cable is obtained to achieve positioning.

[0038] As a further implementation, the positioning motor 22 is fixed on a bracket of the positioning module 2 , and the bracket of the positioning module 2 is connected to one of the guide plates 1 .

[0039] In this embodiment, the surface of the clamping block contacting the cable has a smooth surface or a rolling surface. After the clamping block clamps the cable, the tool body is allowed to move along the axial direction of the cable, ensuring that the cable is laser cut while being clamped. While the clamping action of the clamping block is used to determine the outer diameter of the cable, a certain degree of collimation is exerted on the cable to ensure cutting accuracy.

[0040] As a further implementation, the specific structure of the clamping block 21 is not limited. For example, each group of clamping blocks 21 can have two parallel clamping teeth, and the laser module 6 can be located between the two clamping teeth, which is beneficial to ensure the stability of the laser in the cable operating position, so that the laser module 6 can perform laser cutting in the area where the cable is aligned.

[0041] The laser modules 6 have two groups arranged opposite to each other. The two groups of laser modules 6 are respectively connected to corresponding clamping blocks 21 and follow the clamping blocks 21 to synchronously approach or move away from the cable.

[0042] like Figure 2-Figure 3 As shown, the laser modules 6 are arranged at 180 degrees relative to each other, and the laser module 6 includes a laser emitter 68 fixed in a mounting seat 63 by bolts, and the front seal 61 and the rear seal 64 are both fixed on the mounting seat 63 by bolts. The mounting seat 63, the front seal 61 and the rear seal 64 form a sealed space, and the laser emitter 68 is fixed in the sealed space.

[0043] The front end of the front seal 61 is provided with a hole, and the laser beam generated by the laser emitter 68 passes through the hole; the rear seal 64 is provided with a trachea quick connector, and the high-pressure gas generated by the gas supply unit 5 enters the sealed space from the trachea quick connector through the pipeline, passes through the laser emitter 68, and then sprays out from the hole; the gas flows through the laser emitter 68, which has a cooling effect on the laser emitter 68. When the laser produces ablation on the insulation layer on the surface of the cable, the high-pressure gas blows away the ablated melt, thereby improving the wire stripping efficiency.

[0044] The lower support plate 65 is fixed to the bracket of the positioning module 2 by screws, and the upper guide plate 62 is fixed to the lower support plate 65 by screws. A slide groove is formed between the upper guide plate 62 and the lower support plate 65, and the mounting seat 63, the front seal 61 and the rear seal 64 are located in the slide groove and can slide linearly in the slide groove.

[0045] A spring 671 is provided between the front seal 61 and the clamping block 21. When the clamping block 21 moves linearly driven by the lead screw 23, the front seal 61 is pushed to move linearly by the spring 671, so that the laser emitter 68 moves linearly following the clamping block 21, and under the action of the spring 671, the front end of the front seal 61 is always in close contact with the cable surface.

[0046] As a further embodiment, the side of the front seal 61 with the hole contacts the cable surface, and the contact area is provided with an arc surface, and a V-shaped groove is provided on the arc surface, and the hole is located at the bottom of the V-shaped groove. The arc surface is used to better fit the cable surface, and the V-shaped groove is used to separate the hole for ejecting gas (and also emitting laser) from the cable surface by a set distance to prevent the hole from being blocked by the melt on the cable surface, and at the same time, the V-shaped structure is used to guide the melt to be blown away by the airflow.

[0047] A push rod 66 is provided on the side of the mounting seat 63 facing the guide plate 1. The front end of the push rod 66 is connected to the push rod driving module, and the rear end of the push rod 66 is connected to the shifting knife 67. The guide plate 1 is fixed to the bracket of the positioning module 2 by screws. The side where the guide plate 1 and the mounting seat 63 are close to each other forms a support guide structure through a protrusion or a groove, and the shifting knife 67 moves linearly in the support guide structure. Since laser cutting will partially melt the insulation layer of the cable, adhesion will occur between the insulation fragments and between the insulation fragments and the wires after the cutting is completed. Therefore, after the laser cutting is completed, the push rod 66 pushes the shifting knife 67 forward, so that the shifting knife 67 is inserted into the gap where the insulation layer is melted. Through the rotation of the rotating unit 3, the shifting knife 67 drives the insulation fragment to move, thereby separating the insulation fragment from the cable.

[0048] As a further implementation, the push rod driving module may be a motor.

[0049] As a further embodiment, a cavity is left between the mounting seat 63 and the lower support plate 65, and a cavity is left between the mounting seat 63 and the push rod 66. Both cavities are wiring grooves, which fix the wiring harness and reduce the exposed wiring harness, further making the tool body structure compact.

[0050] The rotating unit 3 adopts an internal gear meshing mode to make the air supply unit 5 rotate synchronously with the wire stripping unit, which is beneficial to reduce the amount of air pipes and wire harnesses. Since there are two groups of laser modules 6 in the wire stripping unit, the rotating unit 3 only needs to swing back and forth 180°, and does not need to rotate 360°.

[0051] like Figure 4 As shown, the rotating unit 3 includes a support frame 31 connected to the traveling unit. The support frame 31 rotates in an annular slide groove formed by a rotating bracket A and a rotating bracket B. The rotating bracket A and the rotating bracket B are fixed together by screws.

[0052] The rotating bracket A is used to connect with the air supply unit 5, and the rotating bracket B is used to connect with the wire stripping unit. In order to show the internal structure of the rotating unit 3, Figure 4 The rotating bracket 32 ​​shown in FIG. 3 is a rotating bracket B.

[0053] like Figure 4 As shown, the support frame 31 includes a support part and a gear ring part, and the transmission part is provided with an inner gear ring, an induction port 36 and a limit structure. The rotating motor 34 is fixed to the rotating support B by screws, and the driving gear 35 is sleeved on the output shaft of the rotating motor 34 and moves synchronously with the output shaft, and the driving gear 35 is meshed with the inner gear of the support frame 31. The rotating motor 34 drives the driving gear to rotate. Since the support frame 31 is connected to the traveling unit and is relatively fixed, the rotating support A, the rotating support B, the rotating motor 34 and the driving gear 35 rotate around the center position of the rotating support B.

[0054] like Figure 4 As shown, the zero position sensor 33 is installed on the rotating bracket B by screws. The zero position sensor 33 determines the relative position of the sensing port 36 by detecting the voltage difference generated by the sensing port 36, and further determines the zero position of the rotating unit 3.

[0055] The rotating bracket is provided with limit blocks, and the limit structure on the support frame 31 can only rotate between the limit blocks, thereby determining the rotation limit position of the rotating unit 3 to prevent the internal gear from being separated from the driving gear 35 and affecting the operation of the tool.

[0056] In this embodiment, since the tool is provided with only two groups of laser modules 6 and the two groups of laser modules 6 are arranged at 180°, the rotation range of the limiting structure is greater than 180°.

[0057] like Figure 5 As shown, the air supply unit 5 includes a protection cover 56 connected to the side of the guide plate 1 , the protection cover 56 is connected to the protection shell 51 , and the space formed inside is used to accommodate the air pump 54 .

[0058] In this embodiment, Figure 5 As shown, two air pump compartments and one control compartment are provided in the protective shell 51. The air pump compartment is used to accommodate the air pump 54, and the control compartment is used to accommodate the control module. The air pump 54 is completely surrounded by the first shock-absorbing and sound-insulating layer 53 and then fixed on the protective cover 56. A second shock-absorbing and sound-insulating layer 55 is provided between the protective cover 56 and the air pump 54. The protective cover 56 is fixed on the protective shell 51 by screws to seal and fix the air pump 54. Each air pump compartment is provided with an air inlet 52 and an air outlet 59. The air inlet of the air pump 54 is equipped with an air inlet pipe 58, and the air inlet pipe 58 passes through the air inlet 52; the air outlet of the air pump is equipped with an air outlet pipe 57, and the air outlet pipe 57 passes through the air outlet 59. Each air pump 54 provides high-pressure airflow for the corresponding laser module 6.

[0059] In this embodiment, Figure 1 As shown, the cross section of the air supply unit 5 is U-shaped, the U-shaped opening is used to accommodate the wire to be stripped, the two side feet of the U-shaped serve as the air pump compartment corresponding to each laser module 6 of the stripping unit, and the bottom of the U-shaped serves as the control compartment to accommodate the control module, and also serves as the accommodation space for the rotating motor 34 in the rotating unit 3. At the same time, the two side feet of the U-shaped correspond to the positions of the two laser modules 6 in the stripping unit, making the overall structure of the tool body more compact.

[0060] At the same time, the tool body uses the area between the two guide plates 1 as the area for one action cycle of the wire stripping operation, and arranges the wire stripping unit and the air supply unit 5 on both sides of the rotating unit 3, so that the weight of the tool body is as balanced as possible, thereby improving the stability and reliability of the tool during operation.

[0061] like Figure 6 As shown, the control module includes a power module, a main control module, an observation camera, a depth camera, a zero position sensor, an initial position sensor, a motor, a push rod, a laser module, an air pump module, a robotic arm, a remote controller and a detection sensor.

[0062] Power module: provides power for each module in the tool, and also has functions such as reverse connection protection, short circuit protection, voltage monitoring, and low voltage protection.

[0063] Main control module: The core control module of the laser wire stripping tool is used to detect the status of sensors and encoders, and coordinate the control of the laser transmitter, air pump, and motor according to the status of sensors and encoders to complete the wire stripping operation. It communicates with the remote control and robotic arm through the WiFi Halow communication module to achieve remote control of the tool, feedback and display of the tool status, and information interaction and action collaboration with the robotic arm.

[0064] Observation camera 4: Installed on the tool body, it is used to observe the position of the overhead cable when the robot arm lifts the tool, so that the staff can accurately place the tool on the overhead cable. The data of the observation camera 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 an operating frequency band of 900MHz. Its advantages are long transmission distance and low data delay, which is conducive to the observation of the operation process of the system.

[0065] Zero position sensor, initial position sensor: When the monitoring point is close to the sensor, the sensor outputs a high-level signal to determine the position of the rotating gear or the traveling slider, providing a zero point mark for the tool reset.

[0066] Positioning motor, travel motor, rotary motor: each contains an independent motor, encoder and drive circuit, which respectively control the speed and position of the corresponding module. The encoder can realize closed-loop control of the motor, making the motor speed more stable and the position more precise, which is convenient for more refined operation of the tool and conducive to more complex operation of the tool.

[0067] In the tool of the above structure, the thermal effect of the laser is used to form a non-contact cutting method for the insulation layer. While the cable is clamped and positioned, the laser head is driven to feed and contact the surface of the cable insulation layer, and through the coordination of circumferential rotation and linear motion, a cutting seam is processed in the insulation layer of the cable. Then, a stripping knife is embedded in the cutting seam to separate the stripped insulation layer from the wire core. The stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

[0068] Working principle: After the traveling unit drives the tool body to the space below the cable stripping area, the cable enters the tool through an ascending action.

[0069] The positioning module 2 is actuated to clamp the cable, and the outer diameter of the cable is determined according to the spacing between the two sets of clamping blocks. The positioning module 2 does not need to completely clamp and fix the cable. Since the cable is not completely straight in the axial direction, a certain clamping force is exerted on the cable before it enters the cutting area. On the one hand, the outer diameter of the cable is obtained, and on the other hand, a collimation effect is exerted to a certain extent. Moreover, during the operation, the positioning module 2 always clamps the cable, so that the relative position of the cable and the tool is stable, reducing the decrease in wire stripping accuracy caused by cable vibration and robot arm operation errors.

[0070] When the positioning module 2 is in motion, it drives the laser emitter 68 to abut against the surface of the cable insulation layer, and utilizes the elasticity of the spring 671 to ensure that the laser emitter 68 is always in close contact with the cable insulation layer.

[0071] The laser module 6 emits laser and sprays air flow, and the rotating unit 3 drives the wire stripping unit together with the air supply unit 5 to perform ±90° reciprocating motion, and cuts a circumferential cutting seam at the starting point of the wire stripping area.

[0072] After the annular cutting seam is obtained, the rotating unit 3 stops moving, and the traveling unit drives the tool to move along the cable axis (it can also be a reciprocating linear motion), cutting two sets of axial cutting seams, and finally reaching the target point of the stripping area.

[0073] The rotating unit 3 moves again to cut a circumferential cutting seam on the insulation layer at the target point of the stripping area. The rotating unit 3 stops. At this time, the insulation layer fragments have been separated from the wire core, but because the insulation layer is heated during cutting, it will adhere to the surface of the wire core.

[0074] The push rod 66 moves to insert the knife 67 into the cut gap, and the rotating unit 3 moves again to drive the knife 67 to separate the insulation layer fragment at the target point of the stripping area from the conductor; the rotating unit 3 stops, and the traveling unit drives the tool to move in the opposite direction of the cable axis, so that the knife 67 separates the insulation layer fragment between the target point and the starting point of the stripping area from the conductor.

[0075] At this time, the insulation layer fragments will be completely peeled off due to their own weight, and the traveling unit drives the tool to move to the next wire stripping area; the stripped insulation layer fragments are rectangular fragments, and there is no wire skin entanglement or collision, which improves the stability of the system.

[0076] Embodiment 2: The working method of the compact distribution network live working laser stripping tool includes the following steps: Step 1: Install the tool on the travel unit in advance, turn on the tool, and reset each unit.

[0077] Step 2: The travel unit drives the tool to the space below the cable stripping area, and the cable enters the tool through the upward movement.

[0078] Step 3: The positioning module 2 is activated to clamp the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks.

[0079] Step 4: When the positioning module 2 is in motion, the front sealing member 61 in the laser module 6 is driven to abut against the surface of the cable insulation layer.

[0080] Step 5: The air pump and the laser transmitter are started, the laser module 6 emits laser and sprays air, and the rotating unit 3 drives the wire stripping unit and the air supply unit 5 to reciprocate at a certain angle (±90° in this embodiment).

[0081] Step 6: After the reciprocating motion reaches a predetermined number of times, the rotating unit stops, and a circumferential cutting seam is cut on the insulation layer at the starting point of the stripping area on the cable surface.

[0082] Step 7: The traveling unit drives the tool to reciprocate along the cable axis. After cutting the axial cutting seam, the traveling unit stops moving.

[0083] Step 8: The rotating unit 3 moves again, also using reciprocating motion (±90° in this embodiment) to cut a circumferential cutting seam on the insulation layer at the target point of the cable stripping area. The rotating unit 3 stops after reciprocating for a set number of times.

[0084] Step 9: The push rod 66 moves to insert the blade 67 into the cut gap, and the rotating unit 3 moves again to drive the blade 67 to separate the insulation layer fragment at the target point of the stripping area from the wire core.

[0085] Step 10: The rotating unit 3 stops, and the traveling unit drives the tool to move in the opposite direction along the cable axis, so that the stripping knife 67 separates the insulation layer fragment between the target point and the starting point of the stripping area from the conductor.

[0086] Step 11: After separation, the insulation layer fragments will be completely peeled off due to their own weight, and the travel unit drives the tool to move to the next stripping area.

[0087] The thermal effect of the laser is used to form a non-contact cutting method for the insulation layer. While the cable is clamped and positioned, the laser head is driven to feed and contact the surface of the cable insulation layer, and through the coordination of circumferential rotation and linear motion, a cutting seam is processed in the insulation layer of the cable. Then a stripping knife is embedded in the cutting seam to separate the stripped insulation layer from the wire core. The stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

[0088] 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. Compact distribution network live working laser wire stripping tool, characterized by: include: The traveling unit is used to carry the tool body to the wire stripping operation area and drive the tool body to move along the cable axis direction; The tool body comprises two sets of guide plates arranged in parallel, a rotating unit is arranged between the two sets of guide plates, a wire stripping unit and an air supply unit are arranged on both sides of the rotating unit respectively, the rotating unit drives the wire stripping unit and the air supply unit to rotate around the cable; the air supply unit is used to generate the gas required by the laser module; in the wire stripping unit, the positioning module realizes the clamping and positioning of the cable through a lead screw driven by a positioning motor and at least two sets of clamping blocks movably connected on the lead screw; each set of clamping blocks has two clamping teeth arranged in parallel, the laser module is located between the two clamping teeth, and is driven to approach or move away from the cable by the corresponding clamping block; a shifting knife is provided on the side of the laser module facing the guide plate, which is driven to approach or move away from the cable by a push rod.

2. The compact live-line laser stripping tool for distribution network according to claim 1, characterized in that: The rotating unit includes a support frame connected to the traveling unit, and the support frame rotates relatively in an annular slide groove formed by the rotating frame A and the rotating frame B; The rotating bracket A is connected to the air supply unit, and the rotating bracket B is connected to the wire stripping unit; the supporting part of the supporting bracket is connected to the traveling unit, and the transmission part has an inner gear ring meshing with the driving gear, and the driving gear is connected to the output shaft of the rotating motor.

3. The compact live-line laser stripping tool for distribution network according to claim 1, characterized in that: The laser modules have two groups arranged relatively to each other, each group of laser modules includes a laser emitter located in a sealed space, the gas generated by the gas supply unit is sent into the sealed space, passes through the laser emitter and is blown out from the hole at the front end of the front seal; the laser generated by the laser emitter passes through the hole on the front seal and irradiates the cable surface.

4. The compact live-line laser stripping tool for distribution network according to claim 3, characterized in that: The two groups of laser modules are arranged relative to each other at 180 degrees. Each group of laser modules has a corresponding push rod and a knife. The movement axis of the knife coincides with the laser emitted by the corresponding laser module in the axial direction.

5. The compact live-line laser stripping tool for distribution network according to claim 3, characterized in that: The sealed space includes a mounting seat, the front end of the mounting seat is connected to a front seal, and the rear end is connected to a rear seal; the laser transmitter is connected to the mounting seat, and a trachea quick connector is provided on the rear seal; the front seal is connected to the clamping block through a spring; the sealed space is slidably connected to the bracket of the positioning module.

6. The compact live-line laser stripping tool for distribution network according to claim 5, characterized in that: The spring is located between the front seal and the clamping block. The clamping block moves linearly under the drive of the lead screw. The clamping block pushes the front seal and the laser transmitter to follow the movement through the spring. Under the action of the spring elastic force, the front end of the front seal is always in close contact with the cable surface.

7. The compact live-line laser stripping tool for distribution network according to claim 5, characterized in that: The sealed space is slidably connected to the bracket of the positioning module, specifically: the lower support plate is connected to the bracket of the positioning module, the upper guide plate is connected to the lower support plate, a slide groove is formed between the upper guide plate and the lower support plate, the mounting seat together with the front seal and the rear seal are located in the slide groove, and can slide linearly in the slide groove.

8. The compact live-line laser stripping tool for distribution network according to claim 1, characterized in that: One side of the laser module faces the rotating unit, and the other side faces one of the guide plates, and the other guide plate is connected to the air supply unit; a push rod is provided on the side of the laser module mounting base facing the guide plate, the front end of the push rod is connected to the push rod driving module, and the rear end of the push rod is connected to the shifting knife.

9. The compact live-line laser stripping tool for distribution network according to claim 1, characterized in that: The air supply unit comprises a protection cover connected to the side of the guide plate, the protection cover is connected to the protection shell, and the space formed inside is used to accommodate the air pump.

10. A working method of the compact live-line laser stripping tool for distribution network according to any one of claims 1 to 9, characterized in that: The following steps are involved: The travel unit drives the tool body to the space below the cable stripping area, and the cable enters the tool body through the upward movement; The positioning module moves to clamp the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks in the positioning module; When the positioning module moves, the front sealing member in the laser module is driven to contact the surface of the cable insulation layer; The laser transmitter emits laser and sprays air, and the rotating unit drives the stripping unit and the air supply unit to reciprocate around the cable at a set angle. After reaching the predetermined number of times, a circumferential cutting seam is cut on the insulation layer at the starting point of the stripping area on the cable surface, and the rotating unit stops; The traveling unit drives the tool body to reciprocate along the cable axis direction, and after cutting the cutting seam arranged along the axial direction, the traveling unit stops moving; The rotating unit moves again, and uses reciprocating motion to cut a circumferential cut in the insulation layer at the target point of the stripping area on the cable surface, and the rotating unit stops; The push rod drives the knife to insert into the cutting seam, and the rotating unit moves again, driving the knife to separate the insulation layer fragment at the target point of the stripping area from the wire core; The rotating unit stops, and the traveling unit drives the tool body to move in the opposite direction along the cable axis, so that the stripping knife separates the insulation layer fragment between the target point and the starting point of the stripping area from the wire core; After separation, the insulation layer fragments are all peeled off due to their own weight, and the traveling unit drives the tool body to move to the next stripping area.

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