Compact live working laser wire stripping tool for distribution network and working method

Abstract

The present invention relates to the technical field of wire stripping tools, specifically a compact live working laser wire stripping tool for distribution networks and its working method. Among them, the traveling unit drives the tool body to move along the axis direction of the cable; the rotating unit in the tool body drives the wire stripping unit and the gas supply unit to rotate around the cable; the gas supply unit generates the gas required by the laser module; the positioning module in the wire stripping unit realizes the clamping and positioning of the 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 has two clamping teeth arranged side by side, the laser module is located between the two clamping teeth, and is driven by the corresponding clamping block to approach or move away from the cable; a cutting knife driven by a push rod is arranged on one side of the laser module facing the guide plate. A non-contact cutting method for the insulating layer is formed by using laser, reducing the probability of damage to the conductor. At the same time, the weight on both sides of the rotating unit is balanced, the overall structure is more compact, and the hidden dangers during on-site operation are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wire stripping tools, and in particular to a compact laser wire stripping tool for live working on a distribution network and a working method thereof. Background Technique

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] Live wire stripping operation on a line refers to removing the insulating layer on the surface of a cable without power outage. Generally, it is coordinated with subsequent operations such as connecting a bypass wire, and the insulating layer usually uses high-strength polyethylene material with a relatively high thickness and hardness.

[0004] When using a robot to carry a working tool for live wire stripping operation, a metal tool is used for contact cutting during both the cutting and stripping processes of the insulating layer (for example, the wire stripping tool disclosed in CN215733188U). This method makes it difficult to control the depth of the tool embedding. If the embedding is too deep, the tool will damage the metal wire core, affecting the service life of the wire. And if the tool embeds too shallowly, the wire skin will not be completely cut, unable to meet the requirements of subsequent operations (such as bypass wire connection), which will have a negative impact on on-site construction and line operation and maintenance.

[0005] In addition, when using a robot to carry a working tool for live wire stripping operation, the structure of the working tool is complex, resulting in a relatively large volume and weight, which is not easy to control during on-site operation and poses a safety hazard. Summary of the Invention

[0006] In order to solve the technical problems existing in the above background technique, the present invention provides a compact laser wire stripping tool for live working on a distribution network and a working method thereof. By using the thermal effect of the laser to form a non-contact cutting method for the insulating layer, while the cable is clamped and positioned, the laser head is driven to advance and abut against the surface of the cable insulating layer, and through the cooperation of circumferential rotation movement and linear movement, a cutting slot is processed in the insulating layer of the cable. Then, a separating tool is inserted into the cutting slot to separate the stripped insulating layer from the wire core. The separating tool can be replaced with a non-metallic material with a lower hardness, thus avoiding damage to the conductor part of the cable.

[0007] In order to achieve the above object, the present invention adopts the following technical embodiments:

[0008] The first aspect of the present invention provides a compact laser wire stripping tool for live working on a distribution network, including:

[0009] A traveling unit for carrying the tool body to the wire stripping operation area and driving the tool body to move along the axis direction of the cable;

[0010] The tool body includes two sets of guide plates arranged side by side. A rotating unit is provided between the two sets of guide plates. A wire stripping unit and a gas supply unit are respectively provided on both sides of the rotating unit. The rotating unit drives the wire stripping unit and the gas supply unit to rotate around the cable. The gas 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 to the lead screw. Each set of clamping blocks has two clamping teeth arranged side by side. The laser module is located between the two clamping teeth and is driven by the corresponding clamping block to approach or move away from the cable. On the side of the laser module facing the guide plate, there is a pick knife driven by a push rod to approach or move away from the cable.

[0011] As a further implementation method, the rotating unit includes a support frame connected to the traveling unit. The support frame rotates relatively in an annular sliding groove formed by a rotating bracket A and a rotating bracket B. The rotating bracket A is connected to the gas supply unit, and the rotating bracket 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 internal gear ring meshing with the driving gear. The driving gear is connected to the output shaft of the rotating motor.

[0012] As a further implementation method, there are two sets of laser modules arranged oppositely. Each set 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 blows 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 surface of the cable.

[0013] 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 emitter is connected to the mounting seat. A quick trachea joint 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.

[0014] As a further implementation method, 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 sliding groove is formed between the upper guide plate and the lower support plate, and the mounting seat together with the front seal and the rear seal is located in the sliding groove and can slide linearly in the sliding groove.

[0015] As a further implementation method, 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 together with the laser emitter to move through the spring. Under the action of the spring force, the front end of the front seal always closely adheres to the surface of the cable.

[0016] As a further implementation, one side of the laser module faces the rotating unit, the other side faces one of the guiding plates, and the other guiding plate is connected to the air supply unit; a push rod is provided on the side of the mounting seat of the laser module facing the guiding plate, the head end of the push rod is connected to the push rod driving module, and the tail end of the push rod is connected to the stripping knife.

[0017] As a further implementation, two groups of laser modules are arranged opposite to each other at 180°, each group of laser modules has a corresponding push rod and stripping knife, and the movement axis of the stripping knife coincides with the laser emitted by the corresponding laser module in the axial direction.

[0018] As a further implementation, the air supply unit includes a protective cover connected to the side of the guiding plate, the protective cover is connected to the protective shell, and the space formed inside is used to accommodate the air pump.

[0019] The second aspect of the present invention provides a working method for a compact live working laser wire stripping tool for distribution networks, including the following steps:

[0020] The traveling unit drives the tool body to reach the space below the wire stripping area of the cable, and the cable enters the tool body through the rising action;

[0021] The positioning module acts 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;

[0022] While the positioning module acts, it drives the front seal in the laser module to abut against the surface of the cable insulation layer;

[0023] The laser module emits laser and blows air, the rotating unit drives the wire stripping unit and the air supply unit to reciprocate around the cable at a set angle, and after reaching the predetermined number of times, at the starting point of the wire stripping area on the cable surface, a circumferential cutting seam is cut on the insulation layer, and the rotating unit stops;

[0024] The traveling unit drives the tool body to reciprocate along the axial direction of the cable. After cutting an axially arranged cutting seam, the traveling unit stops acting;

[0025] The rotating unit acts again, and using the reciprocating motion, at the target point of the wire stripping area on the cable surface, a circumferential cutting seam is cut on the insulation layer, and the rotating unit stops;

[0026] The push rod drives the stripping knife to insert into the cutting seam, the rotating unit acts again, and drives the stripping knife to separate the insulation layer segment at the target point of the wire stripping area from the wire core;

[0027] The rotating unit stops, and the traveling unit drives the tool body to move in the reverse direction along the axial direction of the cable, so that the stripping knife separates the insulation layer segment between the target point and the starting point of the wire stripping area from the wire core;

[0028] After separation, all the insulating layer segments fall off under the influence of their own weight, and the traveling unit drives the tool body to move to the next wire stripping area.

[0029] Compared with the prior art, the above one or more technical embodiments have the following beneficial effects:

[0030] 1. Utilize the thermal effect of the laser to form a non-contact wire stripping method for the insulating layer, avoiding direct contact with the core conductor. During cutting, since the laser energy is controllable, the probability of damage to the conductor in the cable can be reduced.

[0031] 2. During wire stripping, when the two clamping blocks move synchronously to clamp the cable, the corresponding laser module follows the clamping block of the positioning module and advances towards the cable synchronously, making the clamping center of the cable coincide with the laser cutting center, which is easier to control and indirectly makes the structure of the tool more compact.

[0032] 3. The laser module is arranged between the two clamping teeth of the corresponding clamping block to ensure that the cable is laser cut during clamping and collimation, improving the accuracy of the wire stripping operation. While being easier to control, it further makes the structure of the tool more compact.

[0033] 4. The wire stripping unit and the air supply unit are arranged on both sides of the rotating unit, balancing the weights on both sides of the rotating unit. Also, when the rotating unit drives the wire stripping unit and the air supply unit to rotate synchronously, the loads on both sides of the rotating unit are more balanced, further making the structure of the tool more compact and reducing accidents during on-site control.

[0034] 5. The movement axis of the pick knife coincides with the laser emitted by the respective laser module in the axial direction. After the pick knife extends a set distance along a straight line, it can be directly inserted into the cutting seam without adjusting the angle, reducing the control parameters of the pick knife, lowering the complexity of the tool structure, making the tool structure more compact, and enhancing the stability of the tool during operation.

[0035] 6. When the clamping block moves linearly driven by the lead screw, the clamping block pushes the front seal together with the laser emitter to move through the spring. During this period, under the elastic force of the spring, the front seal used to emit the laser always closely adheres to the cable insulating layer, ensuring the relative position stability between the laser focal length and the insulating layer, and being better applicable to the stripping work of insulating layers of different wire types.

[0036] 7. After obtaining the circumferential cutting seam and the axial cutting seam, the insulating layer segments have been stripped. However, because the insulating layer is heated during cutting, it will adhere to the cable surface. At this time, use the pick knife driven by the push rod to embed into the cutting seam, and through rotational movement and linear movement along the cable axis, separate the insulating layer segments from the core. Since the pick knife is only used to separate the insulating layer segments, it can be replaced with a non-metallic material with a lower hardness to further avoid damage to the cable conductor part.

[0037] 8. The laser emitter is arranged inside the sealed space. During operation, while the airflow from the air supply unit blows away the molten material, it can also flow through the laser emitter inside the sealed space to form an airflow cooling effect, reducing the possibility of laser head ablation.

[0038] 9. Since the cable is not completely straight in the axial direction, through the clamping action of the positioning module, a certain clamping force is generated on the incoming cable. On the one hand, it determines the outer diameter of the cable, on the other hand, it has a collimation effect on the cable to a certain extent, and at the same time, it also stabilizes the relative position of the cable and the tool, reducing the decline in wire stripping accuracy caused by cable vibration and manipulator operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The schematic diagrams in the specification forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0040] Figure 1 Schematic diagram of the tool body structure of the compact live working laser wire stripping tool provided for one or more embodiments of the present invention;

[0041] Figure 2 Schematic diagram of the wire stripping unit in the tool body provided for one or more embodiments of the present invention;

[0042] Figure 3 Schematic cross-sectional view of the wire stripping unit in the tool body provided for one or more embodiments of the present invention;

[0043] Figure 4 Schematic diagram of the rotating unit in the tool body provided for one or more embodiments of the present invention;

[0044] Figure 5 Schematic diagram of the air supply unit in the tool body provided for one or more embodiments of the present invention;

[0045] Figure 6 Schematic diagram of the architecture of the control unit in the tool body provided for one or more embodiments of the present invention.

[0046] Figure 1 In the figures: 1 guide plate; 2 positioning module; 3 rotating unit; 4 observation camera; 5 air supply unit; 6 laser module;

[0047] Figures 2 - 3 In the figures: 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 stripping knife; 671 spring; 68 laser emitter;

[0048] Figure 4 Among them: 31 support frame; 32 rotating bracket; 33 zero position sensor; 34 rotating motor; 35 driving gear; 36 induction port;

[0049] Figure 5 Among them: 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. Specific embodiments

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0052] As introduced in the background art, when using a robot to carry a working tool for live wire stripping operation, 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. It is easy to accidentally cut the conductor part of the cable with the tool, affecting the service life of the wire, and having a negative impact on subsequent live working and long-term line maintenance. At the same time, the volume and weight of the working tool need to be as small as possible to avoid uncontrollable accidents during on-site operation.

[0053] Therefore, the following embodiments provide a compact laser wire stripping tool and working method for live distribution network operation. By using 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 approach and abut against the surface of the cable insulation layer, and through the cooperation of circumferential rotation movement and linear movement, a cutting seam is processed in the insulation layer of the cable. Then, a stripping knife is used to embed into 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, thus avoiding damage to the conductor part of the cable.

[0054] Embodiment 1:

[0055] A compact laser wire stripping tool for live distribution network operation includes a traveling unit and a tool body. 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; in the tool body, the positioning module determines the outer diameter of the cable through a 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 performs laser cutting on the cable insulation layer during the rotational movement 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.

[0056] As a further implementation, the traveling unit does not limit the specific structure and can be, for example, a robotic arm.

[0057] As Figure 1 shown, the tool body includes two sets of guide plates 1 arranged in parallel. A rotating unit 3 is provided between the two sets of guide plates 1. A gas supply unit 5 is provided on one side of the rotating unit 3, and a wire stripping unit is provided on the other side. The wire stripping unit includes a positioning module 2 and a laser module 6. The bottom of the rotating unit 3 is connected to the traveling unit. In this arrangement, the weights on both sides of the rotating unit 3 are balanced, which is beneficial for the rotating unit 3 to drive the entire tool body to rotate around the cable.

[0058] 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 between the cable and the laser beam, and does not hinder the relative movement between the tool and the cable. At the same time, after clamping the cable, it can determine the outer diameter of the cable and can also produce a certain degree of collimation effect on the cable to achieve the positioning of the cable. The laser module 6 is used to perform laser cutting on the cable insulation layer and uses the equipped peeling knife to peel the cut insulation piece from the surface of the wire core.

[0059] As Figures 2 - 3 shown, the positioning module 2 includes a lead screw 23 driven by a positioning motor 22. At least two sets of clamping blocks 21 are movably connected to the lead screw 23. The surface of the lead screw 23 has a double-thread. At least one set of guide shafts is arranged in parallel with the lead screw 23. When the positioning motor 22 rotates, the two sets of clamping blocks 21 approach or move away from each other under the guiding action of the guide shafts and the driving of the lead screw 23. The mutual approaching action of the clamping blocks 21 generates a clamping effect on the cable. When the clamping force exceeds the set value, the two sets of clamping blocks 21 stop moving. According to the initial position of the clamping blocks and the position when the movement stops, the distance between the two sets of clamping blocks 21 is determined, and then the outer diameter of the cable is obtained to achieve positioning.

[0060] As a further implementation, the positioning motor 22 is fixed on the bracket of the positioning module 2, and the bracket of the positioning module 2 is connected to one of the guide plates 1.

[0061] In this embodiment, the surface of the clamping block in contact with the cable has a smooth surface or a rolling surface. After the clamping block clamps the cable, it allows the tool body to move along the axial direction of the cable to ensure that the laser cutting is performed while the cable is in a clamped state. While using the clamping effect of the clamping block to determine the outer diameter of the cable, a certain degree of collimation effect is produced on the cable to ensure the cutting accuracy.

[0062] As a further implementation, the specific structure of the clamping block 21 is not limited. For example, each set of clamping blocks 21 can have two juxtaposed clamping teeth, and the laser module 6 can be located between the two clamping teeth, which is conducive to ensuring the stability of the laser at the cable operation position, enabling the laser module 6 to perform laser cutting in the area where the cable is collimated.

[0063] There are two sets of laser modules 6 arranged oppositely, and the two sets of laser modules 6 are respectively connected to the corresponding clamping blocks 21, and move closer to or away from the cable synchronously with the clamping blocks 21.

[0064] As Figures 2 - 3 As shown, the laser modules 6 are arranged oppositely at 180°. The laser module 6 includes a laser emitter 68 fixed in the mounting seat 63 by bolts, and both the front seal 61 and the rear seal 64 are 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.

[0065] A hole is provided at the front end of the front seal 61, and the laser beam generated by the laser emitter 68 passes through the hole; an air pipe quick connector is provided on the rear seal 64, and the high-pressure gas generated by the air supply unit 5 enters the sealed space through the pipeline from the air pipe quick connector, passes through the laser emitter 68, and then sprays out from the hole; the gas flows through the laser emitter 68 to cool the laser emitter 68. When the laser ablates the surface insulation layer of the cable, the high-pressure gas blows away the ablation melt to improve the wire stripping efficiency.

[0066] 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 chute is formed between the upper guide plate 62 and the lower support plate 65, and the mounting seat 63 together with the front seal 61 and the rear seal 64 is located in the chute and can slide linearly in the chute.

[0067] 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 through 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 always closely adheres to the cable surface.

[0068] As a further implementation, the surface of the front seal 61 with the hole contacts the cable surface, and an arc surface is provided in the contact area. 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 melt on the cable surface from blocking the hole. At the same time, the V-shaped structure is used to guide the melt to be blown away by the air flow.

[0069] On one side of the mounting base 63 facing the guide plate 1, there is a push rod 66. The head end of the push rod 66 is connected to the push rod drive module, and the tail end of the push rod 66 is connected to the stripping knife 67. The guide plate 1 is fixed to the bracket of the positioning module 2 by screws. On the sides of the guide plate 1 and the mounting base 63 close to each other, a support and guiding structure is formed by protrusions or grooves, and the stripping knife 67 moves linearly within the support and guiding structure. Since laser cutting will locally melt the insulating layer of the cable, after cutting, there will be adhesion between the insulating segments and between the insulating segments and the conductors. Therefore, after laser cutting is completed, the push rod 66 pushes the stripping knife 67 forward to insert the stripping knife 67 into the melted gap of the insulating layer. By the rotation of the rotation unit 3, the stripping knife 67 drives the insulating segments to move, thereby separating the insulating segments from the cable.

[0070] As a further embodiment, the push rod drive module can be a motor.

[0071] As a further embodiment, there is a cavity between the mounting base 63 and the lower support plate 65, and there is a cavity between the mounting base 63 and the push rod 66. Both cavities are wire grooves, which play a role in fixing the wire harness and at the same time reduce the exposed wire harness, further making the structure of the tool body compact.

[0072] The rotation unit 3 adopts an internal gear meshing method to synchronously rotate the air supply unit 5 and the wire stripping unit, which is beneficial to reducing the usage of air pipes and wire harnesses. Since there are two groups of laser modules 6 in the wire stripping unit, the rotation unit 3 only needs to perform a reciprocating swing of 180°, and does not need to rotate 360°.

[0073] As Figure 4 shown, the rotation unit 3 includes a support frame 31 connected to the traveling unit. The support frame 31 rotates within the annular chute formed by the rotating bracket A and the rotating bracket B, and the rotating bracket A and the rotating bracket B are fixed together by screws.

[0074] The rotating bracket A is used to connect to the air supply unit 5, and the rotating bracket B is used to connect to the wire stripping unit. In this embodiment, in order to show the internal structure of the rotation unit 3, Figure 4 the rotating bracket 32 shown is the rotating bracket B.

[0075] As Figure 4 shown, the support frame 31 includes a support part and a gear ring part. The transmission part is provided with an internal gear ring, an induction port 36 and a limiting structure. The rotating motor 34 is fixed to the rotating bracket B by screws. The driving gear 35 is sleeved on the output shaft of the rotating motor 34 and moves synchronously with the output shaft. At the same time, the driving gear 35 meshes with the internal 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 bracket A, the rotating bracket B, the rotating motor 34 and the driving gear 35 rotate around the center position of the rotating bracket B.

[0076] As Figure 4 shown, the zero - position sensor 33 is mounted 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 then determines the zero - position of the rotating unit 3.

[0077] The rotating bracket is provided with limit blocks, and the limiting structure on the support frame 31 can only rotate between the limit blocks, thereby determining the rotation limit position of the rotating unit 3, preventing the internal gear from disengaging from the driving gear 35 and affecting the operation of the tool.

[0078] In this embodiment, since the tool is only provided with two laser modules 6, and the two laser modules 6 are arranged at 180°, the rotation range of the limiting structure is greater than 180°.

[0079] As Figure 5 shown, the air - supply unit 5 includes a protective cover 56 connected to the side of the guide plate 1. The protective cover 56 is connected to the protective shell 51, and the formed space inside is used to accommodate the air pump 54.

[0080] In this embodiment, as Figure 5 shown, there are two air - pump compartments and a control compartment 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. After the air pump 54 is completely surrounded by the first shock - absorbing and sound - insulating layer 53, it is 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, which plays a role of sealing and fixing the air pump 54. Each air - pump compartment is provided with an air inlet 52 and an air outlet 59. The air inlet hole of the air pump 54 is installed with an air inlet pipe 58, and the air inlet pipe 58 passes through the air inlet 52; the air outlet hole of the air pump is installed 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 air flow for the corresponding laser module 6.

[0081] In this embodiment, as Figure 1 shown, the cross - section of the air - supply unit 5 is U - shaped. The opening of the U - shape is used to accommodate the cable to be stripped. The two side feet of the U - shape serve as the air - pump compartments corresponding to each laser module 6 of the wire - stripping unit, and the bottom of the U - shape serves as the control compartment to accommodate the control module, and at the same time 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 - shape correspond to the positions of the two laser modules 6 in the wire - stripping unit, making the overall structure of the tool body more compact.

[0082] Meanwhile, the tool body takes the area between the two guide plates 1 as the area of 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 respectively, so that the weight of the tool body is as balanced as possible, improving the stability and reliability of the tool during operation.

[0083] AsFigure 6 As shown in the figure, 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.

[0084] Power module: It provides power for each module in the tool and has functions such as reverse connection protection, short circuit protection, voltage monitoring, and low voltage protection.

[0085] Main control module: The core control module of the laser wire stripping tool, which is used to detect the status of sensors and encoders, and coordinate and control the actions of the laser emitter, air pump, and motor according to the status of sensors and encoders, so as to complete the wire skin stripping operation. It communicates with the remote controller and the robotic arm through the WiFi Halow communication module, so as to realize remote control of the tool, feedback and display of the tool status, and information interaction and action cooperation with the robotic arm.

[0086] Observation camera 4: It is installed on the tool body and is used to observe the position of the overhead cable when the robotic arm lifts the tool, which is convenient for the staff to accurately place the tool on the overhead cable. The data of the observation camera is transmitted to the remote controller through the WiFi Halow video transmission module, and the real-time picture of the observation camera can be displayed on the remote controller. WiFi Halow is a long-distance and high-rate data transmission protocol with a working frequency band of 900 MHz. Its advantages are long transmission distance and small data delay, which are conducive to the observation of the operation process of this system.

[0087] Zero-position sensor and initial position sensor: When the monitoring point approaches the sensor, the sensor outputs a high-level signal, which is used to determine the position of the rotating gear or the moving slider, and provides a zero-point identifier for the reset of the tool.

[0088] Positioning motor, moving motor, and rotating motor: They all include independent motors, encoders, and drive circuits, which respectively control the speed and position of the corresponding module operation. The motor is closed-loop controlled through the encoder, the motor speed is more stable, and the position is more accurate, which is convenient for more refined operation of the tool and is conducive to the tool to achieve more complex operations.

[0089] In the tool with the above structure, a non-contact cutting method for the insulating layer is formed by using the thermal effect of the laser. While the cable is clamped and positioned, the laser head is driven to approach and abut against the surface of the cable insulating layer, and through the cooperation of circumferential rotation movement and linear movement, a cutting seam is processed in the insulating layer of the cable. Then, a separating knife is inserted into the cutting seam to separate the stripped insulating layer from the wire core. The separating knife can be replaced with a non-metallic material with lower hardness, so as to avoid damage to the conductor part of the cable.

[0090] Working principle:

[0091] After the traveling unit drives the tool body to the space below the cable stripping area, the cable is introduced into the tool through a rising action.

[0092] The positioning module 2 operates to clamp the cable, and determines the outer diameter of the cable according to the distance 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, by applying a certain clamping force to 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 produced to a certain extent; and during the operation, the positioning module 2 always clamps the cable, making the relative position between the cable and the tool stable, reducing the decline in stripping accuracy caused by cable vibration and manipulator operation errors.

[0093] While the positioning module 2 operates, it drives the laser emitter 68 to abut against the surface of the cable insulation layer, and uses the elasticity of the spring 671 to ensure that the laser emitter 68 always closely adheres to the cable insulation layer.

[0094] The laser module 6 emits laser and blows air flow. The rotating unit 3 drives the stripping unit together with the air supply unit 5 to make a reciprocating movement of ±90°, and at the starting point of the stripping area, a circumferential cutting seam is cut.

[0095] After obtaining the circumferential cutting seam, the rotating unit 3 stops operating, and the traveling unit drives the tool to move along the axial direction of the cable (it can also be a reciprocating linear motion), cuts out two axial cutting seams, and finally reaches the target point of the stripping area.

[0096] The rotating unit 3 operates again to cut out a circumferential cutting seam for the insulation layer at the target point of the stripping area. The rotating unit 3 stops. At this time, the insulation layer segment has 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.

[0097] The push rod 66 operates to insert the stripping knife 67 into the cut gap. The rotating unit 3 operates again to drive the stripping knife 67 to separate the insulation layer segment 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 reverse direction along the axial direction of the cable, so that the stripping knife 67 separates the insulation layer segment between the target point and the starting point of the stripping area from the conductor.

[0098] At this time, the insulation layer segments will all fall off due to their own weight, and the traveling unit drives the tool to run to the next stripping area; the stripped insulation layer segments are rectangular segments, and there is no situation of wire skin entanglement and collision, improving the stability of the system.

[0099] Embodiment 2:

[0100] The working method of the compact live working laser stripping tool for distribution network includes the following steps:

[0101] Step 1: Pre-install the tool on the traveling unit, power on the tool, and reset each unit.

[0102] Step 2: The traveling unit drives the tool to reach the space below the cable stripping area, and the cable enters the tool through the ascending action.

[0103] Step 3: The positioning module 2 acts to clamp the cable, and determines the outer diameter of the cable according to the distance between the two clamping blocks.

[0104] Step 4: While the positioning module 2 is acting, drive the front seal 61 in the laser module 6 to abut against the surface of the cable insulation layer.

[0105] Step 5: Start the air pump and the laser emitter. The laser module 6 emits laser and blows air flow. The rotating unit 3 drives the stripping unit and the air supply unit 5 to make a reciprocating motion at a certain angle (±90° in this embodiment).

[0106] Step 6: After the reciprocating motion reaches the predetermined number of times, the rotating unit stops, and at the starting point of the stripping area on the cable surface, a circumferential cutting seam is cut on the insulation layer.

[0107] Step 7: The traveling unit drives the tool to reciprocate along the cable axis direction. After cutting an axial cutting seam, the traveling unit stops acting.

[0108] Step 8: The rotating unit 3 acts again, and also uses the reciprocating motion (±90° in this embodiment) to cut a circumferential cutting seam on the insulation layer at the target point of the stripping area on the cable surface. After the reciprocating motion reaches the set number of times, the rotating unit 3 stops.

[0109] Step 9: The push rod 66 acts to insert the stripping knife 67 into the cut seam. The rotating unit 3 acts again to drive the stripping knife 67 to separate the insulation layer segment at the target point of the stripping area from the wire core.

[0110] Step 10: The rotating unit 3 stops, and the traveling unit drives the tool to move in the reverse direction along the cable axis direction, so that the stripping knife 67 separates the insulation layer segment between the target point and the starting point of the stripping area from the conductor.

[0111] Step 11: After separation, the insulation layer segments will all fall off under the influence of their own weight, and the traveling unit drives the tool to run to the next stripping area.

[0112] A non-contact cutting method for the insulating layer is formed by using the thermal effect of the laser. While the cable is clamped and positioned, the laser head is driven to advance and abut against the surface of the cable insulating layer. Through the cooperation of circumferential rotational motion and linear motion, a cutting slit is processed in the insulating layer of the cable. Then, a separating knife is inserted into the cutting slit to separate the stripped insulating layer from the wire core. The separating knife can be replaced with a non-metallic material with lower hardness, thereby avoiding damage to the conductor part of the cable.

[0113] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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, and 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 to the lead screw; each set of clamping blocks has two clamping teeth arranged in parallel, and 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 driven by a push rod to approach or move away from the cable is arranged on the side of the laser module facing the guide plate; The laser modules have two groups arranged opposite 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; 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.

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 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.

4. The compact live-line laser stripping tool for distribution network according to claim 1, 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.

5. The compact live-line laser stripping tool for distribution network according to claim 1, 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.

6. 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.

7. 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.

8. A working method of the compact live-line laser stripping tool for distribution network according to any one of claims 1 to 7, 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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