A live working robot lead connection device and method

Abstract

The present invention belongs to the technical field of live working, and provides a lead connection device and method for a live working robot, including the device body, a clamp fixing mechanism arranged on the device body, and branch wire threading mechanisms located on both sides of the clamp fixing mechanism; the branch wire threading mechanism includes a branch wire guide rod, and a pick rod rotatably arranged on the branch wire guide rod; a torsion spring is arranged between the pick rod and the branch wire guide rod. Before the branch wire is placed into the branch wire groove, the pick rod can support the limiting rib of the movable block, avoiding the movable block from flipping under the action of gravity and causing the branch wire groove to become smaller, ensuring that the branch wire can smoothly enter the branch wire groove, and reducing the operation difficulty.

Description

Technical Field

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

[0002] In order to improve the automation level and safety of live working, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, it is very necessary to use a live working robot with higher safety and adaptability to replace manual live working, which meets the development needs and current situation of power enterprises. During lead connection operation, using a live working robot to assist the operation is beneficial to reducing the work intensity of staff, and is easier to operate and control compared with manual wiring.

[0003] When the existing lead connection device configured for a live working robot is working, after the parallel groove clamp is installed on the device, the bolts and fixed blocks are both fixed, but the movable block can rotate up and down, resulting in changes in the sizes of the main wire groove and the branch wire groove, which is not conducive to the installation of the main wire and the branch wire. Specifically, when the parallel groove clamp is used, the main wire groove is on the upper side and the branch wire groove is on the lower side. The movable block rotates downward under the influence of gravity, causing the branch wire groove to become smaller, which is not conducive to the branch wire smoothly entering the branch wire groove and increases the operation difficulty. Summary of the Invention

[0004] In order to solve the above problems, the invention provides a lead connection device and method for a live working robot. The branch wire threading mechanism includes a branch wire guide rod and a pick rod vertically rotatably arranged on the branch wire guide rod. A torsion spring is arranged between the pick rod and the branch wire guide rod. Before the branch wire is placed into the branch wire groove, the pick rod can support the limiting rib of the movable block, avoiding the movable block from rotating under the action of gravity and causing the branch wire groove to become smaller, ensuring that the branch wire can smoothly enter the branch wire groove and reducing the operation difficulty.

[0005] To achieve the above object, in the first aspect, the invention provides a lead connection device for a live working robot, adopting the following technical solutions:

[0006] A lead connection device for a live working robot includes 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;

[0007] The branch wire threading mechanism includes a branch wire guide rod and a pick rod rotatably arranged on the branch wire guide rod; a torsion spring is arranged between the pick rod and the branch wire guide rod.

[0008] Furthermore, a wire clamp tightening mechanism is arranged on the device body. 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 group and a second sleeve group arranged on the gear set.

[0009] Further, the gear set includes a first gear connected to the speed reducer, and second, third, fourth, fifth, and sixth gears arranged on both sides of the first gear; on each side, the first gear meshes with the second gear, the second gear is connected to the third gear, the third gear meshes with the fourth gear, the fourth gear meshes with the fifth gear, and the fifth gear meshes with the sixth gear; the sleeves in the first sleeve set and the second sleeve set are respectively fixed to the fourth gear and the sixth gear on the corresponding side.

[0010] Further, a nut head fixing mechanism is provided on the device body, and the nut head fixing mechanism includes a mounting base, a first spring disposed at one end of the mounting base through a first guide post, a first baffle disposed on the first spring, a second spring disposed at the other end of the mounting base through a second guide post, and a second baffle disposed on the second spring.

[0011] Further, 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 disposed on the clamping bracket, a connecting rod connecting the plurality of clamping blocks, a push rod disposed on the connecting rod, and a roller disposed on the connecting rod; the roller is slidably disposed in a chute structure formed in the clamping block, and the chute structure is an inclined chute; a linear guide rail and an optical axis are provided on the device body, and the connecting rod is slidably disposed on the linear guide rail and the optical axis.

[0012] Further, an unlocking bracket is slidably disposed on the device body, and a lifting eye bolt is threadedly engaged with the unlocking bracket; the lifting eye bolt is installed on the device body through a set screw, and the unlocking bracket is connected to the push rod; a touch switch is disposed below the first baffle; when the first baffle is pressed, the touch switch is actuated to control the corresponding clamping block to extend, and when the touch switch is actuated again, the clamping block is controlled to retract.

[0013] Further, a guide plate is provided on the clamping bracket, and a conductive plate is disposed on the guide plate through a rotating shaft and a torsion spring.

[0014] Further, the branch wire threading mechanism further includes a lifting motor, a lead screw disposed on the lifting motor, and a slider threadedly engaged with the lead screw; a clamping bracket is disposed on the slider, a telescopic rod is disposed on the clamping bracket, and a clamping block is disposed on the telescopic rod.

[0015] Further, the branch wire guide rod is rotatably disposed on the clamping bracket through a rotating rod; a first limit block and a second limit block are respectively disposed on both sides of the rotating rod on the clamping bracket; a push rod is provided on the clamping block.

[0016] To achieve the above object, in a second aspect, the present invention also provides a method for connecting leads of a live working robot, adopting the following technical solution:

[0017] A method for connecting leads of a live working robot uses the lead connection device of the live working robot as described in the first aspect.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The present invention is provided with a branch line threading mechanism. The branch line threading mechanism includes a branch line guide rod and a pick rod vertically rotatably arranged on the branch line guide rod. A torsion spring is arranged between the pick rod and the branch line guide rod. Before the branch line is placed into the branch line groove, the pick rod can support the limiting rib of the movable block, avoiding the movable block from flipping under the action of gravity and causing the branch line groove to become smaller, ensuring that the branch line can smoothly enter the branch line groove and reducing the operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The attached drawings forming a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions thereof of this embodiment are used to explain this embodiment and do not constitute an improper limitation to this embodiment.

[0021] Figure 1 It is a schematic diagram of the parallel groove clamp structure of Embodiment 1 of the present invention;

[0022] Figure 2 It is a schematic diagram of the distribution of the main line groove and the branch line groove of Embodiment 1 of the present invention;

[0023] Figure 3 It is a schematic diagram of the lead connection device structure of Embodiment 1 of the present invention;

[0024] Figure 4 It is a schematic diagram of the clamp tightening mechanism of Embodiment 1 of the present invention;

[0025] Figure 5 It is a schematic diagram of the gear set structure of Embodiment 1 of the present invention;

[0026] Figure 6 It is a schematic diagram of the positional relationship between the nut head fixing mechanism and the clamp tightening mechanism of Embodiment 1 of the present invention;

[0027] Figure 7 It is a schematic diagram of the nut head fixing mechanism of Embodiment 1 of the present invention;

[0028] Figure 8 It is a schematic diagram of the clamp fixing mechanism of Embodiment 1 of the present invention;

[0029] Figure 9 It is a schematic diagram of the push rod structure of Embodiment 1 of the present invention;

[0030] Figure 10 Schematic diagram of the unlocking bracket for Embodiment 1 of the present invention;

[0031] Figure 11 Schematic diagram of the eye bolt structure for Embodiment 1 of the present invention;

[0032] Figure 12 Schematic diagram of the branch line limit detection mechanism for Embodiment 1 of the present invention;

[0033] Figure 13 Side view schematic diagram of the branch line limit detection mechanism for Embodiment 1 of the present invention;

[0034] Figure 14 Schematic diagram of the branch line threading mechanism for Embodiment 1 of the present invention;

[0035] Figure 15 Schematic diagram of the clamping block for Embodiment 1 of the present invention;

[0036] Figure 16 Side view of the branch line threading mechanism for Embodiment 1 of the present invention;

[0037] Figure 17 Schematic diagram of the pick rod for Embodiment 1 of the present invention;

[0038] Figure 18 Working schematic diagram of the pick rod for Embodiment 1 of the present invention;

[0039] Figure 19 Schematic diagram after the branch line is installed for Embodiment 1 of the present invention;

[0040] Among them, 1. parallel groove clamp; 101. fixing block; 1011. first card slot; 1012. second card slot; 102. movable block; 1021. first limiting rib; 1022. second limiting rib; 103. main wire groove; 104. branch wire groove; 105. bolt; 1051. gasket; 1052. break-off nut; 1053. fracture groove; 1054. nut head; 2. device body; 201. depth camera; 202. communication mechanism; 203. wire clamp tightening mechanism; 2031. tightening motor; 2032. reducer; 2033. gear set; 20331. first gear; 20332. second gear; 20333. third gear; 20334. fourth gear; 20335. fifth gear; 20336. sixth gear; 2034. first sleeve set; 2035. second sleeve set; 204. nut head fixing mechanism; 2041. mounting base; 2042. first spring; 2043. first guide post; 2044. first baffle; 2045. first pressing rod; 2046. second spring; 2047. second guide post; 2048. second baffle; 2049. second pressing rod; 205. wire clamp fixing 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. dowel screw; 206. branch wire limit detection mechanism; 2061. guide plate; 2062. torsion spring; 2063. conductive plate; 2064. first insulating plate; 2065. second insulating plate; 207. branch wire 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. clamping bracket; 20710. guide rail; 20711. clamping block; 20712. branch wire guide rod; 20713. pick-up rod; 20714. first limit block; 20715. rotating rod; 20716. push rod; 20717. second limit block; 20718. area to be clamped; 208. observation camera; 209. power supply; 210. main wire guide rod; 3. branch wire Detailed implementation mode

[0041] The present invention will be further described below in conjunction with the drawings and embodiments.

[0042] It should be noted that the following detailed description is exemplary and is intended to provide further description of the present application. 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 application belongs.

[0043] Embodiment 1:

[0044] As Figure 1 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; there are a main wire groove 103 and a branch wire groove 104 for fixing the main wire and the branch wire between the fixed block 101 and the movable block 102. First clamping grooves 1011 and second clamping grooves 1012 are respectively arranged at two ends of the fixed block 101, and first limiting ribs 1021 and second limiting ribs 1022 are respectively arranged at two ends of the movable block 102; a gasket 1051, a break-off nut 1052, a fracture groove 1053, a nut head 1054, etc. may be arranged on the bolt 105.

[0045] The fixed block 101 cannot rotate relative to the bolt 105, while the movable block 102 can rotate relative to the bolt 105; as recorded in the background art, during operation, after the parallel groove clamp 1 is installed on the lead connection device, the bolt 105 and the fixed block 101 are both fixed, but the movable block 102 can be turned up and down, resulting in changes in the sizes of the main wire groove 103 and the branch wire groove 104. Especially, the movable block 102 is turned downwards under the influence of gravity, causing the branch wire groove 104 to become smaller, which is not conducive to the smooth entry of the branch wire into the branch wire groove 104 and increases the operation difficulty.

[0046] To solve at least one problem in the lead connection device configured for the existing live working robot, as Figure 3 shown, the present embodiment provides a lead connection 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 wire limit detection mechanism 206, a branch wire threading mechanism 207, an observation camera 208, a power supply 209, a main wire guiding rod 210, etc. The device body 2 may adopt a frame, a housing or other structures, and different mechanisms may be connected or arranged on the device body 2 through bolts, plugging, clamping, welding and / or other connection methods.

[0047] The whole device body 2 may be installed on the robot, for example, installed on the robotic arm of the robot; the depth camera 201 may be installed on the upper part of the device body 2 or other mechanisms, for observing the working position of the main wire to be worked, and in cooperation with related technologies, determining the relative distance between the device body 2 or other mechanisms and the main wire, etc., to provide data support for the control operation of the robotic arm of the robot.

[0048] The communication mechanism 202 can connect each mechanism and connect each mechanism with a preset controller, remote controller and remote terminal, etc., to realize data communication between all mechanisms and devices, and may be a wired and / or wireless communication method.

[0049] AsFigure 4 and Figure 5 As shown in Figure 5 , the clamp tightening mechanism 203 includes a tightening motor 2031, a speed 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 corresponding gear boxes through structures such as output shafts and rotating shafts.

[0050] Optionally, the output shaft of the tightening motor 2031 is connected to the input shaft of the speed reducer 2032, the output shaft of the speed reducer 2032 is connected to the gear set 2033, and the first sleeve set 2034 and the second sleeve set 2035 are arranged on the gear set 2033.

[0051] Optionally, the first gear 20331 is arranged on the output shaft of the speed reducer 2032, and the third gear 20333, the fourth gear 20334, the fifth gear 20335, and the sixth gear 20336 are respectively arranged on both sides of the first gear 20331. On each side, the first gear 20331 meshes 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 meshes with the fourth gear 20334, the fourth gear 20334 meshes with the fifth gear 20335, and the fifth gear 20335 meshes with the sixth gear 20336. Two sleeves are respectively arranged in the first sleeve set 2034 and the second sleeve set 2035, and the two sleeves in the first sleeve set 2034 and the second sleeve set 2035 are respectively fixed to the fourth gear 20334 and the sixth gear 20336 on the corresponding side. The arrangement of the first sleeve set 2034 and the second sleeve set 2035 can meet the fastening requirements of 2 parallel groove clamps 1 simultaneously, and through the cooperation of the same tightening motor 2031 and the gear set 2033, the first sleeve set 2034 and the second sleeve set 2035 can be driven simultaneously, with a simple structure and stable driving.

[0052] Multiple parallel groove clamps 1 are driven and tightened by the same tightening motor 2031, reducer 2032 and gear set 2033. By different speed ratios of the gear set 2033, different rotational speeds of different groups of sleeves can be achieved, and the rotational speeds of the sleeves in the same group are the same. The rotations of all sleeves are the same, effectively reducing the maximum output torque of the device, and further 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, where 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.

[0053] 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 and driven, and 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 and driven, the fourth gear 20334 and the fifth gear 20335 are meshed and driven, and the fifth gear 20335 and the sixth gear 20336 are meshed and driven; the fourth gear 20334 and the sixth gear 20336 rotate synchronously with a group of output shafts respectively, so as to realize the synchronous rotation of the sleeves in a group. In some embodiments, the numbers of teeth of the two third gears 20333 are different, and the other numbers of teeth correspond one by one, so the rotational speeds of the two groups of driven gears are different, and the speed ratio is the ratio of the numbers of teeth of the two third gears 20333.

[0054] As Figure 6 and Figure 7 shown, the nut head fixing mechanism 204 is arranged near the clamp tightening mechanism 203; the nut head fixing mechanism 204 includes an installation base 2041, a first spring 2042, a first guide post 2043, a first baffle 2044, a first pressing rod 2045, a second spring 2046, a second guide post 2047, a second baffle 2048 and a second pressing rod 2049, etc.

[0055] The mounting base 2041 can be integrated with the device body 2 or connected by bolts or other means; one end of the mounting base 2041 is provided with the first spring 2042 through the first guide post 2043. The first spring 2042 is sleeved on the first guide post 2043, and both 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 provided at both ends of the first baffle 2044 respectively; the first pressure rod 2045 is provided on the first baffle 2044. Under the action of the first spring 2042, the first baffle 2044 is moved in front of the first sleeve group 2034. When it is necessary to insert the nut head 1054 etc. on the bolt 105 into the first sleeve group 2034, the first pressure rod 2045 is pressed to move the first baffle 2044 away, and the nut head 1054 etc. on the bolt 105 are 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 post 2047. The second spring 2046 is sleeved on the second guide post 2047, and both 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 provided at both ends of the second baffle 2048 respectively; 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 in front of the second sleeve group 2035. When it is necessary to insert the nut head 1054 etc. on the bolt 105 into the second sleeve group 2035, the second pressure rod 2049 is pressed to move the second baffle 2048 away, and the nut head 1054 etc. on the bolt 105 are inserted into the second sleeve group 2035.

[0056] Arc-shaped openings corresponding to the sleeves can be provided on the first baffle 2044 and the second baffle 2048.

[0057] Optionally, the guide post is arranged on the mounting base 2041 by means of shaft-hole fit and screw fixation. The spring and the baffle are both sleeved on the guide post, and the spring is located between the baffle and the mounting base 2041. The spring provides a real-time upward movement tendency for the baffle. The pressure rod can be fixed on the baffle by means of thread fit. When installing the parallel groove clamp 1, the operator presses the pressure rod to lower the baffle, and after the nut head 1054 of the parallel groove clamp 1 is clamped into the sleeve, the baffle is released. After the parallel groove clamp 1 is installed, when the parallel groove clamp 1 is withdrawn from the device, the baffle moves upward under the action of the spring, closing the nut head 1054 in the sleeve to prevent the nut head 1054 from falling at high altitude and causing potential safety hazards.

[0058] Such as Figure 9 、 Figure 10 and Figure 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.

[0059] 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.

[0060] 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.

[0061] 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 a preset chute of the mounting base 2041 through a mating method such as an irregular shaft hole, and the unlocking bracket 2059 can slide linearly in the chute of the mounting base 2041. The eyebolt 20510 is connected to the unlocking bracket 2059 by a thread, and at the same time, the eyebolt 20510 is installed on the mounting base 2041 through a set screw 20511. The eyebolt 20510 can rotate around the set screw 20511. When the set screw 20511 rotates, the unlocking bracket 2059 moves linearly on the mounting base 2041 under the action of the thread, thereby pushing the push rod 2056 to move linearly. In the initial state, the unlocking bracket 2059 is at the bottom 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, and further realizes the telescopic movement of the clamping block 2052 in the clamping bracket 2051. When the tool is abnormal, the operator rotates the eyebolt 20510 to drive the push rod 2056 to move upward by the unlocking bracket 2059, thereby realizing the retraction of the clamping block 2052, which is convenient for the separation of the clamp in the device.

[0062] The touch switch 2054 is fixed to the mounting base 2041 by means of screws or the like, and the touch switch 2054 is arranged directly below the first baffle. When the first baffle is pressed, the touch switch 2054 will be touched to control the corresponding clamping block 2052 to extend. When the touch switch 2054 is touched again, the clamping block 2052 is controlled to retract, which is convenient for the operator to fix the parallel groove clamp 1 into the device. Each set of clamp fixing mechanisms 205 corresponds to each set of sleeves and each set of nut head fixing modules one by one.

[0063] As Figure 12 and Figure 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 insulating plate 2064, a second insulating plate 2065, etc. There is a set of branch line limit detection mechanisms 206 on each side of the device and they are symmetrically distributed. The guide plate 2061, the first insulating plate 2064, and the second insulating plate 2065 can be fixed to the clamping bracket 2051 by means of screws or the like; the guide plate 2061 and the torsion spring 2062 are fixed between the first insulating plate 2064 and the second insulating plate 2065 by a pin shaft. The guide plate 2061 can rotate around the pin shaft, and the torsion spring 2062 always provides the guide plate 2061 with the power to flip upward.

[0064] The guide plates 2061 of the two branch line limit detection mechanisms 206 are both tangent to the branch line slots of the parallel groove clamp 1, facilitating the entry of the branch lines into the branch line slots 104. Both the first insulating plate 2064 and the second insulating plate 2065 are made of insulating materials to isolate the conductive plate 2063. The conductive plate 2063 is made of a material with high conductivity such as brass, and each conductive plate 2063 serves as an electrode and is connected to the main control board card through a wire. When the wire cores of the overhead cable contact the conductive plates 2063 of each group simultaneously, a circuit is formed by the guide plate 2061, the wire cores, the wires, and the main control board card, thereby determining that the branch lines are placed in place. If no circuit is formed, it indicates that the branch lines are not placed in place and need to be adjusted.

[0065] As Figure 14 , Figure 15 and Figure 16 shown, the branch line threading mechanism 207 includes a motor mounting plate 2071, a lifting motor 2072, a lead screw 2073, a cylinder 2074, a slider 2075, a lead 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 pick-up rod 20713, a first limit block 20714, a rotating rod 20715, a push rod 20716, a second limit block 20717, and a zone to be clamped 20718, etc.

[0066] Specifically, two branch wire threading mechanisms 207 are provided on both sides of the device and are 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 arranged at the lower end of the clamping bracket 2051 by means of screw fixation or the like. The lead screw 2073 and the cylinder 2074 are limited between the motor mounting plate 2071 and the clamping bracket 2051. 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 is in threaded cooperation with the lead screw 2073. When the lead screw 2073 rotates, it drives the slider 2075 to move linearly. The clamping bracket 2079 is arranged on the slider 2075 by means of bolt fixation or the like. The guide rail 20710 is arranged on the clamping bracket 2079 by means of bolt fixation or the like. The clamping block 20711 is installed on the slider of the guide rail 20710 by means of fixation or the like, and is connected to the telescopic rod 2078 through a set screw. The other end of the telescopic rod 2078 is connected to the clamping bracket 2079 through a steel ball pin 2077, so as to realize the telescopic rod 2078 pushing the clamping block 20711 to move linearly. The rotating rod 20715 is installed on the clamping bracket 2079 through a pin shaft and can rotate around the pin shaft. At the same time, a first limit block 20714 and a second limit block 20717 are provided on the clamping bracket 2079 to limit the rotation range of the rotating rod 20715. A push rod 20716 is provided on the clamping block 20711. During the left-right linear movement of the clamping block 20711, the push rod 20716 pushes the rotating rod 20715 to make the rotating rod 20715 rotate left and right. The branch wire guide rod 20712 is fixed to the rotating rod 20715 through a bolt, providing a supporting and guiding function for the threading of the branch wire 3. The pick-up rod 20713 is installed on the rotating rod 20715 through a pin shaft and rotates around the pin shaft. A torsion spring is installed between the pick-up rod 20713 and the rotating rod 20715, so that the pick-up rod 20713 always has a tendency to turn upwards.

[0067] Such as Figure 17 , Figure 18 and Figure 19As shown in the figure, when threading the branch line 3, first place the branch line 3 horizontally on the two branch line guide rods 20712, and then the branch line 3 slides along the branch line guide rods 20712 and the clamping block 20711 to the waiting clamping area 20718. Since the rotation range of the conductive plate 2063 covers the waiting clamping area 20718, the conductive plate 2063 can effectively detect whether the cable in the waiting clamping area 20718 is in place. After the cable is in place, the telescopic rod 2078 pushes the clamping block 20711 to contract until the cable approaches the guide plate 2061 and stops. 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 touches the limit block structure of the clamping bracket 2079. At this time, the rotating rod 20715 is in a vertical state, and the pick rod 20713 is directly below the limit rib structure of the parallel groove clamp 1.

[0068] 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 pick rod 20713 first touches the limit 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, facilitating the smooth entry of the branch line 3 into the branch line groove 104. Since the pick rod 20713 can be affected by the torsion spring, the pick 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 threaded 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 reverse direction until the rotating rod 20715 touches the limit block structure of the clamping bracket 2079. At this time, the rotating rod 20715 is in the initial state; then the telescopic rod 2078 pushes the clamping block 20711 to contract until the branch line 3 is completely clamped. The clamping condition 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 touches the limit block structure of the clamping bracket 2079. At this time, the rotating rod 20715 is in a vertical state, and the pick rod 20713 is directly above the limit rib structure of the parallel groove clamp 1. In this way, the pick rod 20713 no longer flips the parallel groove clamp 1, and the parallel groove clamp 1 is affected by gravity to make the branch line groove 104 smaller and the main line groove 103 larger, facilitating the threading of the main line. After the branch line 3 is completely 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 play a guiding role in threading the main line.

[0069] After the parallel groove clamp 1 is installed, the telescopic rod 2078 first returns to its initial position, and then the lifting motor 2072 drives the clamping bracket 2079 to return to its initial position to prevent the pick rod 20713 from interfering with the bolt of the parallel groove clamp 1 during the reset process. When an abnormality occurs in the device, the operator can pull out the steel ball pin 2077, and at this time, the clamping block 20711 slides freely to release the branch line 3, facilitating the withdrawal of the device from the operation area.

[0070] The observation camera 208 can be installed on modules such as the clamp fixing mechanism 205 and the branch line threading mechanism 207 by means of screws, etc., facilitating the operator to detect the threading conditions of the branch line and the main line in real time, and improving the operation efficiency and quality.

[0071] The power supply 209 supplies power to motors, control boards, sensors, push rods, cameras, etc.

[0072] The main line guide rod 210 can be fixed on the motor mounting plate 2071 by means of screw fixation, etc., to guide the threading of the main line.

[0073] Embodiment 2:

[0074] This embodiment provides a method for leading wire lapping of a live working robot, using the live working robot leading wire lapping device described in Embodiment 1, including: before the branch line 3 is placed into the branch line groove 104, by the action of the pick rod 20713 on the limiting rib of the movable block 102, to prevent the movable block from flipping under the action of gravity, resulting in the reduction of the branch line groove 104.

[0075] The above are only the preferred embodiments of this embodiment and are not used to limit this embodiment. For those skilled in the art, this embodiment can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this embodiment shall be included within the protection scope of this embodiment.

Claims

1. A lead bonding device for a live working robot, characterized in that: It includes a 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; 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 provided on the gear set; The device body is provided with a nut head fixing mechanism, the nut head fixing mechanism comprising 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; 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 provided 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; 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 first baffle; when the first 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.

2. A live working robot lead bonding device as claimed in claim 1, 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.

3. A live working robot lead bonding device as claimed in claim 1, 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.

4. A live working robot lead bonding device as claimed in 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.

5. A live working robot lead bonding device as claimed in claim 4, 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.

6. 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 5 is used.

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