Live-line work robot lead lap joint device and method

Abstract

The invention belongs to the technical field of hot-line work, and provides a hot-line work robot lead lap joint device and method, and the device comprises a device body, a wire clamp fixing mechanism disposed on the device body, and branch line threading mechanisms located at the two sides of the wire clamp fixing mechanism. The branch line threading mechanism comprises a branch line guide rod and a ram rotationally arranged on the branch line guide rod; and a torsional spring is arranged between the ram and the branch line guide rod. Before a branch line is put into the branch line groove, the limiting rib of the movable block can be supported through the ram, the situation that the branch line groove becomes small due to the fact that the movable block turns over under the action of gravity is avoided, it can be guaranteed that the branch line enters the branch line groove smoothly, and operation difficulty is lowered.

Description

Technical Field

[0001] The invention belongs to the technical field of live working, and in particular relates to a lead splicing device and method for a live working robot. Background Art

[0002] In order to improve the automation level and safety of live-line work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, it is very necessary to use live-line working robots with higher safety and adaptability to replace manual work, which is in line with the development needs and current situation of power companies. When the lead wire is connected, the use of live-line working robots to assist the operation is conducive to reducing the work intensity of the staff, and it is easier to operate and control than manual wiring.

[0003] When the lead-in splicing device equipped with the existing live working robot is working, after the parallel groove wire clamp is installed in the device, the bolts and the fixing blocks are fixed, but the movable block can be flipped up and down, resulting in changes in the size of the main line trough and the branch line trough, which is not conducive to the installation of the main line and the branch line. Specifically, when the parallel groove wire clamp is used, the main line trough is on the upper side and the branch line trough is on the lower side. The movable block flips downward due to the influence of gravity, resulting in the branch line trough becoming smaller, which is not conducive to the branch line entering the branch line trough smoothly, increasing the difficulty of operation. Summary of the invention

[0004] In order to solve the above-mentioned problem, the present invention proposes a lead-in splicing device and method for a live working robot, wherein the branch line threading mechanism comprises a branch line guide rod and a lifting rod which is vertically rotatable and arranged on the branch line guide rod, and a torsion spring is arranged between the lifting rod and the branch line guide rod; before the branch line is placed in the branch line groove, the lifting rod can be used to support the limiting ribs of the movable block to prevent the movable block from flipping over under the action of gravity and causing the branch line groove to become smaller, thereby ensuring that the branch line can enter the branch line groove smoothly and reducing the difficulty of operation.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present invention provides a lead splicing device for a live working robot, which adopts the following technical solution: A lead wire splicing device for a live working robot, comprising the device body, a wire clamp fixing mechanism arranged on the device body, and branch wire threading mechanisms located on both sides of the wire clamp fixing mechanism; The branch line threading mechanism comprises a branch line guide rod and a lifting rod rotatably arranged on the branch line guide rod; a torsion spring is arranged between the lifting rod and the branch line guide rod.

[0006] Furthermore, a wire clamp tightening mechanism is provided on the device body, and the wire clamp tightening mechanism includes a tightening motor, a reducer connected to the tightening motor, a gear set connected to the reducer, and a first sleeve set and a second sleeve set arranged on the gear set.

[0007] Furthermore, the gear group includes a first gear connected to the reducer, and a second gear, a third gear, a fourth gear, a fifth gear and a sixth gear arranged on both sides of the first gear; on each side, the first gear is meshed with the second gear, the second gear is connected to the third gear, the third gear is meshed with the fourth gear, the fourth gear is meshed with the fifth gear, and the fifth gear is meshed with the sixth gear; the sleeves in the first sleeve group and the second sleeve group are respectively fixed to the fourth gear and the sixth gear in the corresponding side.

[0008] Furthermore, a nut head fixing mechanism is provided on the device body, and the nut head fixing mechanism includes a mounting base, a first spring arranged at one end of the mounting base through a first guide column, a first baffle arranged on the first spring, a second spring arranged at the other end of the mounting base through a second guide column, and a second baffle arranged on the second spring.

[0009] Furthermore, a wire clamp fixing mechanism is also provided on the device body, and the wire clamp fixing mechanism includes a clamping bracket, a plurality of clamping blocks slidably arranged on the clamping bracket, a connecting rod connecting the plurality of clamping blocks, a push rod arranged on the connecting rod, and a roller arranged on the connecting rod; the roller is slidably arranged in a slide groove structure opened on the clamping block, and the slide groove structure is an inclined groove; a linear guide rail and an optical axis are provided on the device body, and the connecting rod is slidably arranged on the linear guide rail and the optical axis.

[0010] Furthermore, an unlocking bracket is slidably provided on the device body, and a lifting eye bolt is threadedly provided on the unlocking bracket; the lifting eye bolt is installed on the device body by a plug screw, and the unlocking bracket is connected to the push rod; a touch switch is provided under the baffle; when the baffle is pressed, the touch switch is touched to control the corresponding clamping block to extend, and the touch switch is touched again to control the clamping block to retract.

[0011] Furthermore, a guide plate is provided on the clamping bracket, and a conductive plate is provided on the guide plate via a rotating shaft and a torsion spring.

[0012] Furthermore, the branch line threading mechanism also includes a lifting motor, a screw arranged on the lifting motor, and a slider that cooperates with the screw through a thread; a clamping bracket is arranged on the slider, a telescopic rod is arranged on the clamping bracket, and a clamping block is arranged on the telescopic rod.

[0013] Furthermore, the branch line guide rod is rotatably arranged on the clamping bracket through a rotating rod; the clamping bracket is provided with a first limit block and a second limit block on both sides of the rotating rod respectively; and the clamping block is provided with a pushing rod.

[0014] In order to achieve the above-mentioned purpose, in a second aspect, the present invention also provides a live working robot lead bonding method, which adopts the following technical solution: A method for connecting wires of a live working robot uses the live working robot wire connecting device as described in the first aspect.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a branch line threading mechanism, which includes a branch line guide rod and a lifting rod vertically rotatable on the branch line guide rod, wherein a torsion spring is provided between the lifting rod and the branch line guide rod; before the branch line is placed in the branch line groove, the lifting rod can be used to support the limiting ribs of the movable block to prevent the movable block from flipping over under the action of gravity and causing the branch line groove to become smaller, thereby ensuring that the branch line can smoothly enter the branch line groove and reducing the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0017] Figure 1 This is a schematic diagram of the parallel groove clamp structure of Example 1 of the present invention; Figure 2 This is a schematic diagram of the distribution of the main line duct and the branch line duct in Example 1 of the present invention; Figure 3 This is a schematic structural diagram of a lead bonding device according to Embodiment 1 of the present invention; Figure 4 Schematic diagram of the wire clamp tightening mechanism of embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the gear set structure of Example 1 of the present invention; Figure 6 It is a schematic diagram of the positional relationship between the nut head fixing mechanism and the wire clamp tightening mechanism of Example 1 of the present invention; Figure 7 This is a schematic diagram of a nut head fixing mechanism according to Embodiment 1 of the present invention; Figure 8 Schematic diagram of a wire clamp fixing mechanism according to Embodiment 1 of the present invention; Fig. 9 This is a schematic diagram of the push rod structure of Example 1 of the present invention; Fig.10 This is a schematic diagram of an unlocking bracket according to Embodiment 1 of the present invention; Fig.11 This is a schematic diagram of the eyebolt structure of Example 1 of the present invention; Fig.12 Schematic diagram of a branch line limit detection mechanism according to Embodiment 1 of the present invention; Fig.13It is a side schematic diagram of the branch line limit detection mechanism of Example 1 of the present invention; Fig.14 This is a structural schematic diagram of a branch line threading mechanism according to Embodiment 1 of the present invention; Fig.15 This is a schematic diagram of a clamping block according to Embodiment 1 of the present invention; Fig.16 It is a side view of the branch line threading mechanism of Example 1 of the present invention; Fig.17 This is a schematic diagram of a lifting rod according to Embodiment 1 of the present invention; Fig.18 This is a schematic diagram of the lifting rod operation of Example 1 of the present invention; Fig.19 This is a schematic diagram of the branch line after installation according to Embodiment 1 of the present invention; Among them, 1. parallel groove clamp; 101. fixed block; 1011. first card slot; 1012. second card slot; 102. movable block; 1021. first limiting rib; 1022. second limiting rib; 103. main line slot; 104. branch line slot; 105. bolt; 1051. gasket; 1052. break nut; 1053. break slot; 1054. nut head; 2. device body; 201. depth camera; 202. communication mechanism; 203. clamp tightening mechanism; 2031. tightening motor; 2032. reducer; 2033. gear set; 203 31. First gear; 20332. Second gear; 20333. Third gear; 20334. Fourth gear; 20335. Fifth gear; 20336. Sixth gear; 2034. First sleeve group; 2035. Second sleeve group; 204. Nut head fixing mechanism; 2041. Mounting base; 2042. First spring; 2043. First guide column; 2044. First baffle; 2045. First pressure rod; 2046. Second spring; 2047. Second guide column; 2048. Second baffle; 2049. Second pressure rod; 205. Wire clamp fixing mechanism Fixed mechanism; 2051, clamping bracket; 2052, clamping block; 2053, connecting rod; 2054, touch switch; 2055, roller; 2056, push rod; 2057, linear guide; 2058, optical axis; 2059, unlocking bracket; 20510, eyebolt; 20511, plug screw; 206, branch line limit detection mechanism; 2061, guide plate; 2062, torsion spring; 2063, conductive plate; 2064, first isolation plate; 2065, second isolation plate; 207, branch line threading mechanism; 2071, motor mounting plate; 2072 , lifting motor; 2073, lead screw; 2074, cylinder; 2075, slider; 2076, lead screw support frame; 2077, steel ball pin; 2078, telescopic rod; 2079, holding bracket; 20710, guide rail; 20711, holding block; 20712, branch line guide rod; 20713, lifting rod; 20714, first limit block; 20715, rotating rod; 20716, pushing rod; 20717, second limit block; 20718, waiting area for holding; 208, observation camera; 209, power supply; 210, main line guide rod; 3, branch line; DETAILED DESCRIPTION The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. 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 application belongs.

[0019] Embodiment 1: like Figure 1As shown, the parallel groove clamp 1 is an existing device, which may include a fixed block 101 and a movable block 102 connected by a bolt 105; a main line slot 103 and a branch line slot 104 for fixing the main line and the branch line are provided between the fixed block 101 and the movable block 102. The two ends of the fixed block 101 are respectively provided with a first clamping groove 1011 and a second clamping groove 1012, and the two ends of the movable block 102 are respectively provided with a first limiting rib 1021 and a second limiting rib 1022; the bolt 105 may be provided with a gasket 1051, a screw-off nut 1052, a breaking groove 1053, a nut head 1054, etc.

[0020] The fixed block 101 cannot rotate relative to the bolt 105, while the movable block 102 can rotate relative to the bolt 105; as described in the background technology, during operation, after the parallel groove clamp 1 is installed in the lead-in wire splicing device, the bolt 105 and the fixed block 101 are both fixed, but the movable block 102 can be flipped up and down, resulting in changes in the size of the main line trough 103 and the branch line trough 104, especially the movable block 102 is flipped downward due to the influence of gravity, resulting in the branch line trough 104 becoming smaller, which is not conducive to the smooth entry of the branch line into the branch line trough 104, and increases the difficulty of operation.

[0021] In order to solve at least one problem in the lead bonding device configured for the existing live working robot, such as Figure 3 As shown, this embodiment provides a lead-wire bonding device for a live working robot, including a device body 2, a depth camera 201, a communication mechanism 202, a wire clamp tightening mechanism 203, a nut head fixing mechanism 204, a wire clamp fixing mechanism 205, a branch line limit detection mechanism 206, a branch line threading mechanism 207, an observation camera 208, a power supply 209, and a main line guide rod 210. The device body 2 can be a frame, a shell or other structures, and different mechanisms can be connected or arranged on the device body 2 by bolts, plug-in, clamping, welding and / or other connection methods.

[0022] The device body 2 as a whole can be installed on a robot, for example, on the robot's robotic arm; the depth camera 201 can be installed on the upper part of the device body 2 or other mechanism to observe the working position of the main line, and cooperate with relevant technologies to determine the relative distance between the device body 2 or other mechanism and the main line, etc., to provide data support for the control operations of the robot's robotic arm, etc.

[0023] The communication mechanism 202 can connect various mechanisms, and connect each mechanism with a preset controller, remote controller, and remote terminal, etc., to achieve data communication between all mechanisms and devices, which can be wired and / or wireless communication.

[0024] like Figure 4 and Figure 5As shown, the wire clamp tightening mechanism 203 includes a tightening motor 2031, a reducer 2032, a gear set 2033, a first sleeve set 2034 and a second sleeve set 2035. The gear set 2033 includes a first gear 20331, a second gear 20332, a third gear 20333, a fourth gear 20334, a fifth gear 20335 and a sixth gear 20336. The gears in the gear set 2033 can be arranged in a corresponding gear box through structures such as an output shaft and a rotating shaft.

[0025] Optionally, the output shaft of the tightening motor 2031 is connected to the input shaft of the reducer 2032 , the output shaft of the reducer 2032 is connected to the gear set 2033 , and the first sleeve set 2034 and the second sleeve set 2035 are provided on the gear set 2033 .

[0026] Optionally, the first gear 20331 is arranged on the output shaft of the reducer 2032, and the third gear 20333, the fourth gear 20334, the fifth gear 20335 and the sixth gear 20336 are arranged on both sides of the first gear 20331. On each side, the first gear 20331 is meshed with the second gear 20332, the second gear 20332 and the third gear 20333 are connected to the same rotating shaft, the third gear 20333 is meshed with the fourth gear 20334, the fourth gear 20334 is meshed with the fifth gear 20335, and the fifth gear 20335 is meshed with the sixth gear 20336. Two sleeves are arranged in the first sleeve group 2034 and the second sleeve group 2035, respectively, and the two sleeves in the first sleeve group 2034 and the second sleeve group 2035 are fixed to the fourth gear 20334 and the sixth gear 20336 in the corresponding side, respectively. The arrangement of the first sleeve group 2034 and the second sleeve group 2035 can meet the requirements of simultaneously completing the tightening of two parallel groove clamps 1, and through the cooperation of the same tightening motor 2031 and the gear group 2033, the first sleeve group 2034 and the second sleeve group 2035 can be driven simultaneously, with a simple structure and stable driving.

[0027] Multiple parallel groove clamps 1 are driven and tightened by the same tightening motor 2031, reducer 2032 and gear set 2033. The different speed ratios of the gear set 2033 can achieve the purpose of different speeds of different groups of sleeves and the same speed of the same group of sleeves. The direction of all sleeves is the same, which effectively reduces the maximum output torque of the device, thereby reducing the volume and weight of the tool. The gear set 2033 includes 11 gears; the number of teeth Z1=Z4=Z5=Z6=Z8=Z9=Z10=Z11, Z2=Z3=Z7, wherein Z1 is the number of teeth of the first gear 20331; Z2 and Z7 are the numbers of teeth of the two second gears 20332; Z3 and Z8 are the numbers of teeth of the two third gears 20333 respectively; Z4 and Z9 are the numbers of teeth of the two fourth gears 20334 respectively; Z5 and Z10 are the numbers of teeth of the two fifth gears 20335 respectively; Z6 and Z11 are the numbers of teeth of the two sixth gears 20336 respectively.

[0028] Optionally, the first gear 20331 is sleeved on the input shaft of the gearbox and is the driving gear of the gearbox; the first gear 20331 and the second gear 20332 are meshed for transmission, the second gear 20332 and the third gear 20333 are sleeved on the same shaft and the second gear 20332 and the third gear 20333 rotate synchronously; the third gear 20333 and the fourth gear 20334 are meshed for transmission, the fourth gear 20334 and the fifth gear 20335 are meshed for transmission, and the fifth gear 20335 and the sixth gear 20336 are meshed for transmission; the fourth gear 20334 and the sixth gear 20336 rotate synchronously with a group of output shafts respectively, thereby realizing the synchronous rotation of a group of sleeves. In some embodiments, the number of teeth of the two third gears 20333 is different, and the other number of teeth is one-to-one corresponding, then the speeds of the two groups of driven gears are different, and the speed ratio is the ratio of the number of teeth of the two third gears 20333.

[0029] like Figure 6 and Figure 7 As shown, the nut head fixing mechanism 204 is arranged near the wire clamp tightening mechanism 203; the nut head fixing mechanism 204 includes a mounting base 2041, a first spring 2042, a first guide column 2043, a first baffle 2044, a first pressure rod 2045, a second spring 2046, a second guide column 2047, a second baffle 2048 and a second pressure rod 2049, etc.

[0030] The mounting base 2041 can be set as a whole with the device body 2, or connected by bolts or other means; the first spring 2042 is set at one end of the mounting base 2041 through the first guide column 2043, the first spring 2042 is sleeved on the first guide column 2043, and the two ends of the first spring 2042 are respectively connected to the mounting base 2041 and the first baffle 2044. Optionally, a first spring 2042 is set at each end of the first baffle 2044; the first pressure rod 2045 is set on the first baffle 2044. Under the action of the first spring 2042, the first baffle 2044 is moved to the front of the first sleeve group 2034. When the nut head 1054 on the bolt 105 needs to be inserted into the first sleeve group 2034, the first pressure rod 2045 is pressed to remove the first baffle 2044, and the nut head 1054 on the bolt 105 is inserted into the first sleeve group 2034. Similarly, the other end of the mounting base 2041 is provided with the second spring 2046 through the second guide column 2047, and the second spring 2046 is sleeved on the second guide column 2047. The two ends of the second spring 2046 are respectively connected to the mounting base 2041 and the second baffle 2048. Optionally, a second spring 2046 is respectively provided at the two ends of the second baffle 2048; the second pressure rod 2049 is provided on the second baffle 2048. Under the action of the second spring 2046, the second baffle 2048 is moved to the front of the second sleeve group 2035. When the nut head 1054 on the bolt 105 needs to be inserted into the second sleeve group 2035, the second pressure rod 2049 is pressed to remove the second baffle 2048, and the nut head 1054 on the bolt 105 is inserted into the second sleeve group 2035.

[0031] The first baffle plate 2044 and the second baffle plate 2048 may be provided with arc-shaped openings corresponding to the sleeve.

[0032] Optionally, the guide column is arranged on the mounting base 2041 by means of shaft hole matching and screw fixing, the spring and baffle are both sleeved on the guide column and the spring is located between the baffle and the mounting base 2041, and the spring provides the baffle with a real-time upward movement trend. The pressure rod can be fixed to the baffle by threaded matching. When installing the parallel groove wire clamp 1, the operator presses the pressure rod to lower the baffle, and then releases the baffle after the nut head 1054 of the parallel groove wire clamp 1 is stuck in the sleeve. After the parallel groove wire clamp 1 is installed, when the parallel groove wire clamp 1 is evacuated from the device, the baffle moves upward under the action of the spring, and the nut head 1054 is enclosed in the sleeve to prevent the nut head 1054 from falling from a high altitude and causing a safety hazard.

[0033] like Fig. 9 , Fig.10 and Fig.11As shown, the wire clamp fixing mechanism 205 includes a clamping bracket 2051, a clamping block 2052, a connecting rod 2053, a touch switch 2054, a roller 2055, a push rod 2056, a linear guide rail 2057, an optical axis 2058, an unlocking bracket 2059, an eye bolt 20510 and a plug screw 20511, etc.

[0034] Optionally, the clamping bracket 2051 is fixed to the mounting base 2041 by means of bolts or the like, and the clamping block 2052 is slidably mounted in the clamping bracket 2051 by means of a special-shaped shaft hole or the like, and the clamping block 2052 can slide linearly in the clamping bracket 2051. The linear guide rail 2057 and the optical axis 2058 are fixed to the mounting base 2041 by means of bolts or the like, and the connecting rod 2053 is slidably connected to the linear guide rail 2057 and the optical axis 2058 by means of a sliding groove and a shaft hole or the like, so that the connecting rod 2053 can slide linearly along the linear guide rail 2057 and / or the optical axis 2058.

[0035] The roller 2055 is fixed at both ends of the connecting rod 2053 by bolts, and the roller 2055 extends into the slide groove structure of the clamping block 2052, which is an inclined groove. When the connecting rod 2053 moves downward, the roller 2055 moves the clamping block 2052 to extend out of the clamping bracket 2051, and the clamping block 2052 is clamped into the clamping groove of the parallel groove clamp 1, thereby achieving the fixation of the parallel groove clamp 1; when the connecting rod 2053 moves upward, the roller 2055 moves the clamping block 2052 to retract the clamping bracket 2051, and the clamping block 2052 is withdrawn from the clamping groove of the parallel groove clamp 1, thereby achieving the separation of the parallel groove clamp 1.

[0036] One end of the push rod 2056 is fixed to the connecting rod 2053, and the other end is fixed to the unlocking bracket 2059. The unlocking bracket 2059 is installed in the preset slide groove of the mounting base 2041 by means of a special-shaped shaft hole or the like, and the unlocking bracket 2059 can slide linearly in the slide groove of the mounting base 2041. The eye bolt 20510 is connected to the unlocking bracket 2059 by a thread, and the eye bolt 20510 is installed on the mounting base 2041 by a plug screw 20511, and the eye bolt 20510 can rotate around the plug screw 20511. When the plug screw 20511 rotates, the unlocking bracket 2059 is linearly moved on the mounting base 2041 by the action of the thread, thereby pushing the push rod 2056 to perform linear motion. In the initial state, the unlocking bracket 2059 is at the lowest part of the mounting base 2041. At this time, the push rod 2056 pushes the connecting rod 2053 to move up and down, so that the roller 2055 slides in the clamping block 2052, thereby realizing the telescopic movement of the clamping block 2052 in the clamping bracket 2051. When the tool is abnormal, the operator rotates the eye bolt 20510, so that the unlocking bracket 2059 drives the push rod 2056 to move upward, thereby realizing the retraction of the clamping block 2052, which is convenient for the separation of the wire clamp in the device.

[0037] The touch switch 2054 is fixed on the mounting base 2041 by means of screws or the like, and the touch switch 2054 is arranged directly below the baffle. When the baffle is pressed, the touch switch 2054 is triggered to control the corresponding clamping block 2052 to extend, and the touch switch 2054 is triggered again to control the clamping block 2052 to retract, so that the operator can fix the parallel groove wire clamp 1 into the device. Each set of wire clamp fixing mechanism 205 corresponds to each set of sleeve and each set of nut head fixing module.

[0038] like Fig.12 and Fig.13 As shown, the branch line limit detection mechanism 206 includes a guide plate 2061, a torsion spring 2062, a conductive plate 2063, a first isolation plate 2064, and a second isolation plate 2065. The branch line limit detection mechanism 206 has a group on each side of the device and is symmetrically distributed. The guide plate 2061, the first isolation plate 2064, and the second isolation plate 2065 can be fixed to the clamping bracket 2051 by screws or the like; the guide plate 2061 and the torsion spring 2062 are fixed between the first isolation plate 2064 and the second isolation plate 2065 by a pin shaft, and the guide plate 2061 can rotate around the pin shaft, and the torsion spring 2062 always provides the guide plate 2061 with power to flip upward.

[0039] The guide plates 2061 of the two branch line limit detection mechanisms 206 are tangent to the branch line notches of the parallel groove clamp 1, so that the branch line can be easily drawn into the branch line groove 104. The first isolation plate 2064 and the second isolation plate 2065 are both made of insulating materials to isolate the conductive plates 2063. The conductive plates 2063 are made of brass and other materials with high conductivity, and each conductive plate 2063 is connected to the main control board through a wire as an electrode. When the core of the overhead cable contacts each group of the conductive plates 2063 at the same time, the guide plate 2061, the core, the wire and the main control board form a loop, thereby judging whether the branch line is in place. If no loop is formed, it means that the branch line is not in place and needs to be adjusted.

[0040] like Fig.14 , Fig.15 and Fig.16 As shown, the branch line threading mechanism 207 includes a motor mounting plate 2071, a lifting motor 2072, a screw 2073, a cylinder 2074, a slider 2075, a screw support frame 2076, a steel ball pin 2077, a telescopic rod 2078, a clamping bracket 2079, a guide rail 20710, a clamping block 20711, a branch line guide rod 20712, a lifting rod 20713, a first limit block 20714, a rotating rod 20715, a pushing rod 20716, a second limit block 20717 and a to-be-clamped area 20718, etc.

[0041] Specifically, the branch line threading mechanism 207 is provided one on each side of the device and is symmetrically distributed. The lifting motor 2072 is fixed to the upper end of the clamping bracket 2051 through the motor mounting plate 2071, and the lead screw support frame 2076 can be provided at the lower end of the clamping bracket 2051 by screw fixing or the like. The lead screw 2073 and the cylinder 2074 are limited between the motor mounting plate 2071 and the clamping bracket 2051, and the lead screw 2073 is connected to the output shaft of the lifting motor 2072 and rotates with the output shaft. The slider 2075 is sleeved on the cylinder 2074 and can move linearly along the axial direction of the cylinder 2074. At the same time, the slider 2075 cooperates with the lead screw 2073 through a thread, and when the lead screw 2073 rotates, the slider 2075 is driven to move linearly. The clamping bracket 2079 is provided on the slider 2075 by bolt fixing or the like. The guide rail 20710 is provided on the clamping bracket 2079 by bolt fixing or the like. The clamping block 20711 is mounted on the slider of the guide rail 20710 by fixing or other means, and is connected to the telescopic rod 2078 by a plug screw. The other end of the telescopic rod 2078 is connected to the clamping bracket 2079 by a steel ball pin 2077, so that the telescopic rod 2078 pushes the clamping block 20711 to make a linear motion. The rotating rod 20715 is mounted on the clamping bracket 2079 by a pin and can rotate around the pin. At the same time, the clamping bracket 2079 is provided with a first limit block 20714 and a second limit block 20717 to limit the rotation range of the rotating rod 20715. The clamping block 20711 is provided with a push rod 20716. When the clamping block 20711 moves linearly left and right, the push rod 20716 pushes the rotating rod 20715 to make the rotating rod 20715 rotate left and right. The branch line guide rod 20712 is fixed to the rotating rod 20715 by bolts, providing support and guidance for the branch line 3. The lifting rod 20713 is installed on the rotating rod 20715 by a pin and rotates around the pin. A torsion spring is installed between the lifting rod 20713 and the rotating rod 20715 so that the lifting rod 20713 always has a tendency to flip upward.

[0042] like Fig.17 , Fig.18 and Fig.19As shown, when threading the branch line 3, first place the branch line 3 in a horizontal state on the two branch line guide rods 20712, and then slide the branch line 3 along the branch line guide rods 20712 and the clamping block 20711 to the area to be clamped 20718. Because the rotation range of the conductive plate 2063 covers the area to be clamped 20718, the conductive plate 2063 can effectively detect whether the cable in the area to be clamped 20718 is in place. After the cable is in place, the telescopic rod 2078 pushes the clamping block 20711 to contract until the cable stops close to the guide plate 2061, and the clamping condition of the branch line 3 is detected in real time by detecting the current of the telescopic rod 2078. At the same time, the push rod 20716 pushes the rotating rod 20715 to flip until the rotating rod 20715 contacts the limit block structure of the clamping bracket 2079. At this time, the rotating rod 20715 is in a vertical state, and the lifting rod 20713 is directly below the limit rib structure of the parallel groove wire clamp 1.

[0043] Then the lifting motor 2072 drives the lead screw 2073 to move the clamping bracket 2079 upward, and the branch line 3 moves upward along the guide plate. Before the branch line 3 enters the branch line groove 104 of the parallel groove clamp 1, the lifting rod 20713 first contacts the limiting rib structure of the parallel groove clamp 1, and gradually flips the movable block 102 of the parallel groove clamp 1 to make the branch line groove 104 larger and the main line groove 103 smaller, so that the branch line 3 can smoothly enter the branch line groove 104. Because the lifting rod 20713 can be acted upon by the torsion spring, the lifting rod 20713 does not affect the upward movement of the branch line 3 when flipping the branch line groove 104. After the branch line 3 is successfully inserted into the branch line groove 104, the telescopic rod 2078 first pushes the clamping block 20711 to extend to the initial position, and the push rod 20716 on the clamping block 20711 pushes the rotating rod 20715 to flip in the opposite direction until the rotating rod 20715 contacts the limit block structure of the clamping bracket 2079, and the rotating rod 20715 is in the initial state; the telescopic rod 2078 then pushes the clamping block 20711 to contract until the branch line 3 is fully clamped, and the clamping status of the branch line 3 is detected in real time by detecting the push rod current. At the same time, the push rod 20716 pushes the rotating rod 20715 to flip until the rotating rod 20715 contacts the limit block structure of the clamping bracket 2079, and the rotating rod 20715 is in a vertical state, and the lifting rod 20713 is directly above the limit rib structure of the parallel groove clamp 1. In this way, the lifting rod 20713 no longer flips the parallel groove clamp 1. The parallel groove clamp 1 is affected by gravity to make the branch line groove 104 smaller and the main line groove 103 larger, which is convenient for the main line to be threaded. After the branch line 3 is fully clamped, the rotating rod 20715 is in a vertical state. At this time, the main line guide rod 210 and the branch line guide rod 20712 simultaneously guide the main line.

[0044] After the parallel groove clamp 1 is installed, the telescopic rod 2078 returns to the initial position first, and the lifting motor 2072 drives the clamping bracket 2079 to return to the initial position to prevent the lifting rod 20713 from interfering with the bolts of the parallel groove clamp 1 during the resetting process. When the device is abnormal, the operator can pull out the ball pin 2077, and the clamping block 20711 slides freely to release the branch line 3, so that the device can be withdrawn from the working area.

[0045] The observation camera 208 can be installed on modules such as the wire clamp fixing mechanism 205 and the branch line threading mechanism 207 by means of screws, etc., so that operators can detect the threading of the branch line and the main line in real time, thereby improving operation efficiency and quality.

[0046] The power supply 209 provides power for the motor, control board, sensor, push rod and camera.

[0047] The main line guide rod 210 can be fixed on the motor mounting plate 2071 by screws or the like, thereby providing a guide for the main line.

[0048] Embodiment 2: The present embodiment provides a method for connecting leads of a live working robot, using the live working robot lead connecting device as described in Embodiment 1, including: before the branch line 3 is placed in the branch line groove 104, the lifting rod 20713 acts on the limiting ribs of the movable block 102 to prevent the movable block from flipping over under the action of gravity and causing the branch line groove 104 to become smaller.

[0049] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A lead bonding device for a live working robot, characterized in that: It includes the device body, a wire clamp fixing mechanism arranged on the device body, and branch line threading mechanisms located on both sides of the wire clamp fixing mechanism; The branch line threading mechanism comprises a branch line guide rod and a lifting rod rotatably arranged on the branch line guide rod; a torsion spring is arranged between the lifting rod and the branch line guide rod.

2. A live working robot lead bonding device as claimed in claim 1, characterized in that: The device body is provided with a wire clamp tightening mechanism, which includes a tightening motor, a reducer connected to the tightening motor, a gear set connected to the reducer, and a first sleeve set and a second sleeve set arranged on the gear set.

3. A live working robot lead bonding device as claimed in claim 2, characterized in that: The gear set includes a first gear connected to the reducer, and a second gear, a third gear, a fourth gear, a fifth gear and a sixth gear arranged on both sides of the first gear; on each side, the first gear is meshed with the second gear, the second gear is connected to the third gear, the third gear is meshed with the fourth gear, the fourth gear is meshed with the fifth gear, and the fifth gear is meshed with the sixth gear; the sleeves in the first sleeve group and the second sleeve group are respectively fixed to the fourth gear and the sixth gear in the corresponding side.

4. A live working robot lead bonding device as claimed in claim 2, characterized in that: A nut head fixing mechanism is arranged on the device body, and the nut head fixing mechanism includes a mounting base, a first spring arranged at one end of the mounting base through a first guide column, a first baffle plate arranged on the first spring, a second spring arranged at the other end of the mounting base through a second guide column, and a second baffle plate arranged on the second spring.

5. A live working robot lead bonding device as claimed in claim 4, characterized in that: The device body is also provided with a wire clamp fixing mechanism, which includes a clamping bracket, a plurality of clamping blocks slidably arranged on the clamping bracket, a connecting rod connecting the plurality of clamping blocks, a push rod arranged on the connecting rod, and a roller arranged on the connecting rod; the roller is slidably arranged in a slide groove structure opened on the clamping block, and the slide groove structure is an inclined groove; a linear guide rail and an optical axis are provided on the device body, and the connecting rod is slidably arranged on the linear guide rail and the optical axis.

6. A live working robot lead bonding device as claimed in claim 5, characterized in that: An unlocking bracket is slidably provided on the device body, and a lifting eye bolt is threadedly provided on the unlocking bracket; the lifting eye bolt is installed on the device body by a plug screw, and the unlocking bracket is connected to the push rod; a touch switch is provided under the baffle; when the baffle is pressed, the touch switch is touched to control the corresponding clamping block to extend, and the touch switch is touched again to control the clamping block to retract.

7. A live working robot lead bonding device as claimed in claim 5, characterized in that: The clamping bracket is provided with a guide plate, and the guide plate is provided with a conductive plate via a rotating shaft and a torsion spring.

8. The lead bonding device for a live working robot according to claim 1, characterized in that: The branch line threading mechanism also includes a lifting motor, a lead screw arranged on the lifting motor, and a slider that cooperates with the lead screw through a thread; a clamping bracket is arranged on the slider, a telescopic rod is arranged on the clamping bracket, and a clamping block is arranged on the telescopic rod.

9. A live working robot lead bonding device as claimed in claim 8, characterized in that: The branch line guide rod is rotatably arranged on the clamping bracket through a rotating rod; the clamping bracket is provided with a first limit block and a second limit block on both sides of the rotating rod respectively; and the clamping block is provided with a pushing rod.

10. A method for connecting wires of a live working robot, characterized in that: A live working robot lead splicing device as described in any one of claims 1 to 9 is used.

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