Distribution network hot-line work laser wire stripping tool and working method

Abstract

The invention relates to the technical field of electric power facility maintenance, in particular to a distribution network hot-line work laser wire stripping tool and a working method.A mechanical arm carries the tool to reach a wire stripping work area and moves in the axis direction of a cable; the tool body comprises at least one set of laser emitting units evenly distributed in the circumferential direction of a cable, all the laser emitting units are driven by a laser head driving unit to synchronously move towards the cable, and the laser head driving unit is driven by a rotating unit to rotate around the axis of the cable. The laser emitting unit comprises a limiting seat connected with the sliding block, the limiting seat is clamped on the outer side of the laser seat and is in sliding connection with the laser seat, the limiting seat is connected with a shifting knife limiting seat, a first spring is arranged between the laser seat and the limiting seat, a shifting knife in sliding connection is arranged in the shifting knife limiting seat, and a second spring is arranged between the shifting knife limiting seat and the shifting knife; and a gas outlet is formed in the other end of the laser seat. And a non-contact cutting mode aiming at the insulating layer is formed by laser, so that the probability of conductor damage is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power facility maintenance, and in particular to a laser wire stripping tool and a working method for live-line operation of a distribution network. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Live working refers to the inspection and maintenance of cables, equipment and components in the power system without power outage. Live working is dangerous, and some tools or robots can gradually replace manual work, thereby reducing the danger of live working.

[0004] Take the live wire stripping operation as an example. The cable needs to be stripped of the surface insulation layer before the drainage line can be connected. The insulation layer is usually made of high-strength polyethylene material, which is very thick and hard. Traditional live wire stripping operations are mainly performed manually, with workers wearing insulating clothing standing in high-altitude insulating buckets to strip and connect wires. In some areas, live distribution network operations have also been carried out using insulating operating rods.

[0005] When a robot carrying a work tool is used for live wire stripping, metal cutters are used for contact cutting during the cutting and stripping of the insulation layer, and the insulation layer is stripped by embedding the cutter into the wire sheath. This method makes it difficult to control the depth of the cutter embedding. If the cutter is embedded too deeply, the cutter will cause an unnecessary cutting effect on the metal wire core, thereby damaging the conductor of the wire core and affecting the life of the wire. On the other hand, if the cutter is embedded too shallowly, the wire sheath will not be completely cut, and the circular cutting and stripping requirements of the wire sheath cannot be achieved, which will affect subsequent operations (such as drainage line overlap) and have a negative impact on on-site construction and line operation and maintenance. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a laser wire stripping tool and a working method for live working in a distribution network, which utilizes the thermal effect of laser to form a non-contact cutting method for the insulation layer, utilizes the feeding motion, circumferential rotation motion and linear motion of the laser head to process a cutting seam in the insulation layer of the cable, and then uses a stripping knife to be embedded in the cutting seam to separate the stripped insulation layer from the wire core, wherein the stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

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

[0008] A first aspect of the present invention provides a laser wire stripping tool for live-line operation of a distribution network, comprising:

[0009] The robot arm is used to carry the tool to the wire stripping operation area and carry the tool body to move along the cable axis direction;

[0010] The tool body includes at least one group of laser emitting units evenly distributed along the circumferential direction of the cable. All the laser emitting units are driven by the laser head driving unit to move synchronously in a direction close to or away from the cable. One side of the laser head driving unit is connected to the rotating unit, and the rotating unit is used to drive the laser head driving unit to rotate around the cable axis.

[0011] Among them, the laser emitting unit includes a limit seat connected to the slider, the limit seat is clamped on the outer side of the laser seat and the two are slidably connected, the limit seat is connected to the knife limit seat, a first spring is provided between the laser seat and the limit seat, a slidingly connected knife is provided in the knife limit seat, and a second spring is provided between the knife limit seat and the knife; a laser head is provided at one end of the laser seat, and a gas outlet is provided at the other end.

[0012] As a further implementation, the rotating unit includes a rotating bracket, on which a first motor is provided, an output shaft of the first motor is connected to a first driving gear, the first driving gear is meshed with a first gear ring, and the first gear ring is connected to the laser head driving unit.

[0013] As a further implementation method, a pre-positioning unit is provided on the other side of the rotating unit. The pre-positioning unit includes a screw driven by a motor, at least two groups of clamping blocks are movably connected to the screw, and at least one group of guide shafts are arranged in parallel on one side of the screw. When the motor rotates, the clamping blocks are driven by the screw to move closer to or farther away from each other.

[0014] As a further implementation method, the laser head driving unit includes a mounting plate connected to the first gear ring of the rotating bracket, and the mounting plate is provided with at least one set of slide rails evenly distributed along the circumferential direction and all pointing to the center of the mounting plate, and the laser emitting unit is slidably connected to the slide rails.

[0015] As a further implementation method, a second motor is provided on the mounting plate, and a second driving gear is connected to the output shaft of the second motor. The second driving gear is meshed with the second ring gear. The second ring gear is provided with at least one group of connecting rods evenly distributed along the circumferential direction. One end of the connecting rod is movably connected to the second ring gear, and the other end is movably connected to a slider of the laser emitting unit. The slider is slidably connected to the slide rail on the mounting plate.

[0016] As a further implementation method, the laser seat has an inner cavity, one end of the inner cavity is connected to the laser head, the other end is provided with a gas outlet, and the side is connected to an air pipe joint; the air pump on the tool body generates gas, which is sent into the inner cavity of the laser seat through the air pipe and the air pipe joint, and is ejected from the gas outlet.

[0017] As a further implementation method, the cross-section of the limit seat is U-shaped, the laser seat is located inside the U-shaped opening area, a first slide groove is provided on one of the inner walls of the opening, a first spring is arranged in the first slide groove, the laser seat is slidably connected in the first slide groove and is pushed by the first spring.

[0018] As a further implementation method, one of the walls outside the opening of the limit seat is connected to the knife limit seat, and a second sliding groove is provided on the wall. A second spring is arranged in the second sliding groove, and the second spring pushes the knife to be moved.

[0019] As a further implementation method, a laser generator is also provided on the tool body, and the laser generator is connected to a laser head in the laser emitting unit via an optical fiber.

[0020] A second aspect of the present invention provides a working method of a live-line laser stripping tool for a distribution network, comprising the following steps:

[0021] The robot arm drives the tool body to the space below the cable stripping area, and the cable enters the tool body through the upward movement;

[0022] The pre-positioning unit clamps the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks in the pre-positioning unit;

[0023] Determine the distance that the laser head driving unit needs to drive the laser emitting unit to run according to the outer diameter of the cable, and obtain the rotation angle of the laser head driving unit. The laser head driving unit moves to make the laser seat in the laser emitting unit contact the surface of the cable insulation layer;

[0024] The laser emitting unit emits laser and sprays air, and the rotating unit drives the laser emitting unit to do reciprocating motion at a set angle. After reaching a 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;

[0025] The robot arm drives the tool body to reciprocate along the cable axis, and after cutting the axial cutting seam, the robot arm stops moving;

[0026] 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;

[0027] The laser head driving unit continues to rotate at a set angle, so that the blade is inserted into the cutting seam. The rotating unit moves again, driving the blade in the laser emitting unit to separate the insulation layer fragment at the target point in the stripping area from the conductor.

[0028] The rotating unit stops, and the robot arm 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 conductor;

[0029] After separation, the insulation layer fragments are all peeled off due to their own weight, and the robot arm drives the tool body to the next stripping area.

[0030] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects:

[0031] 1. Use the thermal effect of laser to form a non-contact cutting and stripping method for the insulation layer to avoid direct contact with the core conductor. During cutting, the laser energy can be controlled, which can reduce the probability of damage to the conductor in the cable.

[0032] 2. During wire stripping, all laser emitting units are driven by the laser head driving unit to synchronously feed toward the cable, so that the laser seat is always close to the cable insulation layer under the action of the first spring, which can ensure the stability of the relative position between the laser focal length and the insulation layer, and can be better suitable for insulation stripping work of different wire types; after abutment, the rotating unit drives the laser head driving unit together with the laser emitting unit to rotate around the cable axis, so that a circumferential cutting seam can be cut in the wire stripping area, and the robotic arm drives the tool to move as a whole to obtain an axial cutting seam. The combination of the circumferential cutting seam and the axial cutting seam makes the stripped insulation layer fragment a rectangular fragment, and there is no wire skin entanglement or collision, which improves the stability of the system.

[0033] 3. After the annular cutting seam and the axial cutting seam are obtained, the insulation layer fragments have been stripped off, but because the insulation layer is heated during cutting, it will adhere to the surface of the wire. At this time, a pick is embedded in the cutting seam, and the insulation layer fragments are separated from the wire core through rotational motion and linear motion along the cable axis. Since the pick is only used to separate the insulation layer fragments, it can be replaced with a non-metallic material with lower hardness to further avoid damage to the conductor part of the cable.

[0034] 4. The laser head is set inside the laser base. During operation, the high-pressure airflow blows away the molten material and also forms an airflow cooling effect, reducing the possibility of laser head ablation.

[0035] 5. Since the cable is not completely straight in the axial direction, the pre-positioning unit generates a certain clamping force on the cable before it enters the cutting area. On the one hand, it determines the outer diameter of the cable, and on the other hand, it has a certain degree of alignment effect on the cable. At the same time, it also stabilizes the relative position of the cable and the tool, reducing the decrease in wire stripping accuracy caused by cable vibration and robot arm operation errors.

[0036] 6. The tool adopts modular design, small size, light weight, low cost, which is conducive to intelligent and automated operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0038] Figure 1 A schematic diagram of the structure of the wire stripping tool and the robotic arm provided in one or more embodiments of the present invention;

[0039] Figure 2 A schematic diagram of the structure of a wire stripping tool provided for one or more embodiments of the present invention;

[0040] Figure 3 A schematic diagram of the structure of a rotating unit in a wire stripping tool provided by one or more embodiments of the present invention;

[0041] Figure 4 A schematic diagram of the main structure of a laser head driving unit in a wire stripping tool provided by one or more embodiments of the present invention;

[0042] Figure 5 A schematic diagram of the axial structure of a laser head drive unit in a wire stripping tool provided by one or more embodiments of the present invention;

[0043] Figure 6 A schematic diagram of the axial structure of a laser emitting unit in a wire stripping tool provided by one or more embodiments of the present invention;

[0044] Figure 7 A schematic cross-sectional structure diagram of a laser emitting unit in a wire stripping tool provided by one or more embodiments of the present invention;

[0045] Figure 8 A schematic diagram of the architecture of a wire stripping tool control unit provided in one or more embodiments of the present invention.

[0046] Figure 1 Middle: 100 tool body; 200 robot arm; 300 quick change mechanism; 400 insulation column;

[0047] Figure 2 Middle: 1 laser head drive unit; 2 laser emission unit; 3 rotation unit; 4 pre-positioning unit; 5 observation camera; 6 control unit; 7 air pump; 8 battery; 9 adapter; 10 laser generator;

[0048] Figure 3-Figure 5 Middle: 31 rotating bracket; 32 first gear ring; 33 zero position sensor; 34 first motor; 35 first driving gear; 11 mounting plate; 12 connecting rod; 13 slide rail; 14 second gear ring; 15 second driving gear; 16 second motor;

[0049] Figure 6-Figure 7Middle: 21 laser head; 22 fixed pressure plate; 23 laser seat; 231 first spring; 232 gas outlet; 24 slider; 25 limit seat; 26 knife shifter; 261 second spring; 27 knife shifter limit seat; 28 air pipe joint; 29 sealing ring. DETAILED DESCRIPTION

[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 descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0052] As introduced in the background technology, when using a robot to carry a working tool to perform live wire stripping operations, due to the large hardness and thickness of the cable insulation layer, it is difficult to control the embedding depth of the tool when using a metal tool to cut and strip the insulation layer, which can easily cause the conductor part of the cable to be accidentally cut by the tool, affecting the life of the wire and having a negative impact on subsequent live operations and long-term line maintenance.

[0053] Therefore, the following embodiment provides a laser wire stripping tool and working method for live operation in a distribution network, which utilizes the thermal effect of the laser to form a non-contact cutting method for the insulation layer, utilizes the feeding motion, circumferential rotation motion and linear motion of the laser head to process a cutting seam in the insulation layer of the cable, and then uses a stripping knife embedded in the cutting seam to separate the stripped insulation layer from the wire core. The stripping knife can be replaced with a non-metallic material with lower hardness to avoid damage to the conductor part of the cable.

[0054] Embodiment 1:

[0055] like Figure 1 As shown, the tool body 100 is connected to one end of the insulating column 400 through a tool adapter, and the other end of the insulating column 400 is connected to the mechanical arm 200. The insulating column 400 is provided with a quick-change mechanism 300, thereby realizing a quick connection or replacement with the mechanical arm 200. The mechanical arm 200 drives the tool body 100 to move along the axial direction of the cable to realize a linear displacement from the starting point to the target point of the stripping area.

[0056] like Figure 2 As shown, the tool body 100 includes a laser generator 10, a battery 8, an air pump 7, a control unit 6, an observation camera 5 and a rotating unit 3 located in the space above the adapter 9. A laser head driving unit 1 and a pre-positioning unit 4 are provided on both sides of the rotating unit 3. The rotating unit 3 is used to drive the laser head driving unit 1 to realize rotational motion, and the laser head driving unit 1 is used to drive the laser emitting unit 2 to realize feeding motion.

[0057] In this embodiment, the laser generator 10 is a device for generating laser. Meanwhile, the housing of the laser generator 10 can be used as a basic device for installing the tool, and other components are directly or indirectly mounted and fixed on the housing of the laser generator 10 .

[0058] As a further implementation, the top plate of the laser generator 10 housing is used as the installation base for various components, and the rotating unit 3, the laser head driving unit 1 and the pre-positioning unit 4 are all located on the upper surface of the top plate.

[0059] As a further embodiment, the laser generator 10 generates three laser beams simultaneously, each laser beam is transmitted to each group of laser emitting units 2 through an optical fiber, and is emitted by a laser head in the laser emitting unit 2 .

[0060] In this embodiment, the air outlet of the air pump 7 is connected to the air pipe joint of each group of laser emitting units 2 through an air pipe. The high-pressure airflow generated by the air pump 7 flows into each group of laser emitting units through the air pipe to blow away the melted insulation layer during wire stripping.

[0061] In this embodiment, the battery 8 provides power for the control unit 6, the air pump 7, the laser generator 10, and various sensors and motors.

[0062] As a further implementation, a guide plate is further provided on the tool body 100, and the opening of the guide plate is upward. When the robot arm 200 drives the tool body 100 to rise to the cable stripping area, the guide plate guides the cable into the tool body 100. During the guiding process, the observation camera 5 is used to determine the position of the cable, and then the pre-positioning unit 4 is used to determine the outer diameter of the cable. The distance that the laser head driving unit 1 needs to drive the laser emitting unit 2 to run is determined according to the obtained outer diameter, so as to achieve pre-positioning.

[0063] In this embodiment, the rotating unit 3 is used to drive the laser head driving unit 1 to rotate, so as to support the laser emitting unit 2 to achieve circumferential cutting.

[0064] In this embodiment, the laser head driving unit 1 is used to drive the laser emitting unit 2 to perform feeding motion to move closer to or farther away from the cable.

[0065] In this embodiment, the laser emitting unit 2 is used to receive signals from the laser generator 10 and emit laser energy with set parameters, and utilizes the heat dispersion effect or molecular chain destruction effect of the laser to melt, vaporize or decompose the cable insulation layer, thereby obtaining a cutting seam.

[0066] The pre-positioning unit 4 is located on one side of the rotating unit 3. The pre-positioning unit 4 includes a lead screw driven by a motor, and at least two groups of clamping blocks are movably connected to the lead screw. The lead screw is a lead screw with a bidirectional thread, and also has at least one group of guide shafts arranged in parallel with the lead screw. When the motor rotates, the two groups of clamping blocks approach or move away from each other under the guidance of the guide shaft and the drive of the lead screw. The clamping action of the clamping blocks approaching each other is used to clamp the cable. When the clamping force exceeds the set value, the two groups of clamping blocks stop moving. According to the initial position of the clamping blocks and the position when the action stops, the spacing between the two groups of clamping blocks is determined, and then the outer diameter of the cable is obtained to achieve pre-positioning.

[0067] In this embodiment, the clamping movement center of the pre-positioning unit 4 coincides with the rotational movement center of the rotating unit 3 , so that after the cable is clamped, its axis position coincides with the rotational movement center of the rotating unit 3 .

[0068] In this embodiment, the surface of the clamping block that contacts the cable has a smooth surface or a rolling surface. After the clamping block clamps the cable, the tool body is allowed to move along the axial direction of the cable, ensuring that the cable is laser cut while being clamped. While the clamping action of the clamping block is used to determine the outer diameter of the cable, a certain degree of collimation is exerted on the cable to ensure cutting accuracy.

[0069] The rotating unit 3 includes a fixedly arranged rotating bracket 31, on which a first motor 34 is provided, the output shaft of the first motor 34 is connected to a first driving gear 35, the first driving gear 35 is meshed with a first gear ring 32, and the first gear ring 32 is connected to the laser head driving unit 1. The first motor 34 drives the driving gear 35 to rotate, and drives the first gear ring 32 to rotate together with the laser head driving unit 1, so that the three groups of laser emitting units 2 can perform a 120° fan-shaped reciprocating motion around the cable, so that the three groups of laser emitting units 2 can achieve circumferential cutting of the cable.

[0070] As a further embodiment, the first gear ring 32 has an opening for allowing the cable to enter the rotating unit 3 when the wire stripping operation starts.

[0071] As a further embodiment, the bottom surface of the rotating bracket 31 is connected to the upper surface of the top plate of the housing of the laser generator 10 to achieve a fixed arrangement.

[0072] As a further embodiment, a zero position sensor 33 is further provided on the rotating bracket 31 for detecting the zero position of the first gear ring 32 during rotation. The zero position here refers to an initial position or a reference position set manually.

[0073] The laser head driving unit 1 is located at the other side of the rotating unit 3 and is fixed on the first gear ring 32 of the rotating unit 3 to rotate along with the first gear ring 32 . The rotation center of the rotating unit 3 coincides with the rotation center of the laser head driving unit 1 .

[0074] like Figure 4-Figure 5 As shown, the laser head driving unit 1 includes a mounting plate 11 connected to the first gear ring 32, the mounting plate 11 is provided with slide rails 13 which are evenly distributed in the circumferential direction and all point to the center of the mounting plate 11, and the laser emitting unit 2 is slidably connected to the slide rails 13; a second motor 16 is provided on the mounting plate 11, and a second driving gear 15 is connected to the output shaft of the second motor 16, and the second driving gear 15 is meshed with the second gear ring 14, and the second gear ring 14 is provided with three groups of connecting rods 12 evenly distributed in the circumferential direction, one end of the connecting rod 12 is movably connected to the second gear ring 14, and the other end is movably connected to the slider 24 of the laser emitting unit 2, and the slider 24 is slidably connected to the slide rail 13 set on the mounting plate 11.

[0075] When the second motor 16 rotates, the second driving gear 15 drives the second gear ring 14 to rotate, and at the same time drives the three groups of connecting rods 12 to produce a twisting motion, so that the other end of the connecting rod 12 drives the corresponding laser emitting unit 2 along the slide rail 13 to approach or move away from the rotation center of the second gear ring 14.

[0076] In this embodiment, the rotational movement center of the second gear ring 14 is the rotational movement center of the laser head drive unit 1, and the rotational movement center of the laser head drive unit 1 is used to coincide with the rotational movement center of the rotating unit 3. After the pre-positioning unit 4 clamps the cable, the cable axis position is made to coincide with the rotational movement center of the rotating unit 3 and the rotational movement center of the laser head drive unit 1.

[0077] As a further embodiment, the three groups of laser head drive units 1 are driven by their respective sliders 24 to synchronously approach or move away from the center of the mounting plate 11 (i.e., the axis position of the cable). The second motor 16 can be a motor with an encoder, and can move toward or away from the center in stages according to the operation requirements to meet the requirements of different positions of the slider 24 in different operation stages. For example, the total stroke of the second gear ring 14 is 120°, and each rotation of 60° is regarded as an operation stage.

[0078] As a further embodiment, the second gear ring 14 and the mounting plate 11 both have openings for allowing cables to enter the laser head driving unit 1 .

[0079] In this embodiment, there are three groups of laser emitting units 2, and the three groups of laser emitting units 2 have the same structure.

[0080] like Figure 6-Figure 7As shown, the laser emitting unit 2 includes a limit seat 25 connected to the slider 24, the limit seat 25 is clamped on the outer side of the laser seat 23, the upper surface of the limit seat 25 is connected to the knife limit seat 27, the laser seat 23 and the limit seat 25 are slidably connected and are provided with a first spring 231, a slidably connected knife 26 is provided in the knife limit seat 27, and a second spring 261 is provided between the knife limit seat 27 and the knife 26; a laser head 21 is provided at one end of the laser seat 23, a gas outlet 232 is provided at the other end, and a gas pipe joint 28 is provided on the side.

[0081] As a further embodiment, the cross-section of the limit seat 25 is a U-shape with an opening arranged horizontally, and the horizontal opening area is used to arrange the trachea joint 28. The lower bottom surface on the inner side of the opening of the limit seat 25 is provided with a first slide groove, and a first spring 231 is arranged in the first slide groove. The laser seat 23 is slidably connected in the first slide groove and is pushed by the first spring 231; the knife limit seat 27 is connected to the upper top surface on the outer side of the opening of the limit seat 25, and the upper top surface is provided with a second slide groove, and a second spring 261 is arranged in the second slide groove. The second spring 261 in the second slide groove pushes the knife 26.

[0082] As a further embodiment, the laser seat 23 has an inner cavity, one end of which is connected to the laser head 21, and the other end is provided with a gas outlet 232, and the side is connected to the air pipe connector 28. The gas generated by the air pump 7 is delivered into the inner cavity of the laser seat 23 through the air pipe and the air pipe connector 28.

[0083] As a further embodiment, the laser head 21 is fixed to one end of the laser base 23 through a sealing ring 29 and a fixed pressure plate 22 .

[0084] The laser head 21 receives the signal from the laser generator 10, generates laser energy with set parameters and emits it from the laser base 23, irradiating the cable surface, and utilizes the heat dispersion effect of the laser or the molecular chain destruction effect to melt, vaporize or decompose the cable insulation layer, thereby obtaining a cutting seam;

[0085] The airflow generated by the air pump 7 is transmitted to the inside of the laser base 23 through the air pipe and the air pipe joint 28, and blown out from the gas outlet 232 to blow away the insulation layer ablation melt. Since laser cutting will partially melt the insulation layer on the surface of the cable, there will be adhesion between the insulation layer fragments and between the insulation layer fragments and the wires, so it is necessary to use airflow to blow away the ablation melt.

[0086] In this embodiment, the laser base 23 is always subject to the elasticity of the first spring 231 and has the power to move toward the center.

[0087] In this embodiment, the knife is always subject to the elasticity of the second spring 261 and has the power to move toward the center.

[0088] When the tool is working, the slider 24 moves a certain distance toward the cable axis, so that the laser seat 23 is close to the cable under the action of the first spring 231, and the knife 26 does not contact the cable. When the laser stripping is completed, the slider 24 moves a certain distance toward the cable axis again, so that the knife 26 is inserted into the cut gap and maintained in the inserted state with the support of the second spring 261, and then the entire tool is driven by the robot arm to move along the cable axis to separate the insulation layer from the conductor after the slit is completed.

[0089] like Figure 8 As shown, the control unit includes a power module, a main control module, an observation camera, a zero position sensor, a drive motor, a clamping motor, a rotation motor, a laser module, an air pump module, a robotic arm and a remote controller.

[0090] Power module: provides power for each module in the tool, and also has functions such as reverse connection protection, short circuit protection, voltage monitoring, and low voltage protection.

[0091] Main control module: The core control module of the laser wire stripping tool is used to detect the status of sensors and encoders, and coordinate the control of the laser generator, air pump, and motor according to the status of sensors and encoders to complete the wire stripping operation. It communicates with the remote control and robotic arm through the WiFi Halow communication module to achieve remote control of the tool, feedback and display of the tool status, and information interaction and action collaboration with the robotic arm.

[0092] Observation camera: Installed in the center above the laser stripping tool, it is used to observe the position of the overhead cable when the robot arm lifts the tool, so that the staff can accurately place the tool on the overhead cable. The data of the observation camera is transmitted to the remote control through the WiFiHalow image transmission module, and the real-time image of the observation camera can be displayed on the remote control. WiFiHalow is a long-distance, high-speed data transmission protocol with an operating frequency band of 900MHz. Its advantages are long transmission distance and low data delay, which is conducive to the observation of the operation process of the system.

[0093] Zero position sensor: There is 1 in total. When the gear ring monitoring point of the rotating unit is close to the sensor, the sensor outputs a high-level signal to determine the rotation angle of the gear ring and provide a zero point mark for the tool reset.

[0094] The motor in each unit includes a motor body, an encoder and a drive circuit, which control the speed and position of the corresponding unit respectively. The encoder can realize closed-loop control of the motor, making the motor speed more stable and the position more precise, which is convenient for more refined operation of the tool and conducive to more complex operation of the tool.

[0095] In the tool of the above structure, non-contact laser energy is used to perform circumferential and axial cutting of the cable insulation layer. When the puller is inserted into the cutting seam, the circumferential movement and axial movement are also used to separate the insulation layer fragments adhering to the conductor surface after cutting. Since the laser energy is controllable during cutting, the internal conductor will not be damaged. At the same time, the puller only needs to pull the cut insulation layer fragments away from the cable. It does not require excessive strength and can be achieved by using a puller made of non-metallic material, further reducing the probability of conductor damage.

[0096] Working principle:

[0097] After the robot arm 200 drives the tool to the space below the cable stripping area, it moves upward to allow the cable to enter the tool, during which the observation camera 5 is used to monitor the relative position of the tool and the cable.

[0098] The pre-positioning unit 4 is actuated to clamp the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks. The pre-positioning unit 4 does not need to completely clamp and fix the cable, because the cable is not completely straight in the axial direction, and a certain clamping force is exerted on the cable before entering the cutting area, so as to obtain the outer diameter of the cable on the one hand, and to produce a certain degree of alignment effect on the other hand. Moreover, during the operation, the pre-positioning unit always clamps the cable, so that the relative position of the cable and the tool is stable, reducing the decrease in wire stripping accuracy caused by cable vibration and robot arm operation errors.

[0099] The laser head driving unit 1 is in motion and rotates a certain angle so that the laser seat 23 in the laser emitting unit 2 is always in close contact with the cable insulation layer under the action of the spring, which can ensure the relative position between the laser focal length and the insulation layer is stable and can be better suitable for stripping work of different line types.

[0100] The laser emitting unit 2 emits a laser and sprays an airflow, and the rotating unit 3 drives the laser emitting unit 2 to make a reciprocating motion at a certain angle, so as to cut a circumferential cutting seam on the insulation layer at the starting point of the stripping area on the cable surface; the laser head 21 is arranged inside the laser seat 23, and the high-pressure airflow during operation can not only blow away the molten material but also form an airflow cooling effect, thereby reducing the possibility of ablation of the laser head 21.

[0101] After the annular cutting seam is obtained, the rotating unit 3 stops moving, and the mechanical arm 200 drives the tool to move along the cable axis to cut an axial cutting seam;

[0102] The rotating unit 3 moves again, and cuts a circumferential cutting seam on the insulation layer at the target point of the stripping area on the cable surface. The rotating unit 3 stops. At this time, the insulation layer fragment has been stripped off, but because the insulation layer is heated during cutting, it will adhere to the surface of the wire;

[0103] The laser head driving unit 1 continues to rotate at a certain angle, so that the blade 26 is inserted into the cut gap, and the rotating unit 3 moves again, driving the blade 26 in the laser emitting unit 2 to separate the insulation layer fragment at the target point of the stripping area from the conductor;

[0104] The rotating unit 3 stops, and the robot arm 200 drives the tool to move in the opposite direction along the cable axis, so that the blade 26 separates the insulation layer fragment between the target point and the starting point of the stripping area from the conductor;

[0105] At this time, the insulation layer fragments will be completely peeled off due to their own weight, and the robot arm 200 drives the tool to move to the next wire stripping area; the stripped insulation layer fragments are rectangular fragments, and there is no wire skin entanglement or collision, which improves the stability of the system.

[0106] The power and air sources during the wire stripping operation are provided by the tool itself. The tool is connected to the robotic arm through insulating columns. The equipotential area is limited to the tool itself. The tool operates automatically and the operator is assisted by remote control, making the entire operation process safer.

[0107] The tool adopts a modular design with small size, light weight and low cost, which is conducive to the intelligent and automated operation.

[0108] Embodiment 2:

[0109] A working method of a laser wire stripping tool for live working on a distribution network, comprising the following steps:

[0110] Step 1: Install the tool on the robot arm in advance, turn on the tool, and reset each unit.

[0111] Step 2: The robot arm 200 drives the tool to the space below the cable stripping area, and allows the cable to enter the tool through an upward movement. During this period, the observation camera 5 is used to monitor the relative position of the tool and the cable.

[0112] Step 3: The pre-positioning unit 4 is activated to clamp the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks.

[0113] Step 4: Determine the distance that the laser head driving unit 1 needs to drive the laser emitting unit 2 to run according to the outer diameter of the cable, and further obtain the rotation angle of the laser head driving unit 1 so that the laser seat 23 in the laser emitting unit 2 abuts against the surface of the cable insulation layer.

[0114] Step 5: The air pump and the laser emitter are started, the laser emitting unit 2 emits a laser and sprays air, and the rotating unit 3 drives the laser emitting unit 2 to perform a reciprocating motion at a certain angle (±60° in this embodiment).

[0115] Step 6: After the reciprocating motion reaches a predetermined number of times, the rotating unit stops, and a circumferential cutting seam is cut on the insulation layer at the starting point of the stripping area on the cable surface.

[0116] Step 7: The robot arm 200 drives the tool to reciprocate along the cable axis. After cutting the axial cutting seam, the robot arm 200 stops moving.

[0117] Step 8: The rotating unit 3 moves again, also using reciprocating motion (±60° in this embodiment) to cut a circumferential cutting seam on the insulation layer at the target point in the stripping area on the cable surface. The rotating unit 3 stops after reciprocating for a set number of times.

[0118] Step 9: The laser head driving unit 1 continues to rotate a certain angle so that the blade 26 is inserted into the cut gap, and the rotating unit 3 moves again, driving the blade 26 in the laser emitting unit 2 to separate the insulation layer fragment at the target point of the stripping area from the conductor.

[0119] Step 10: The rotating unit 3 stops, and the robot arm 200 drives the tool to move in the opposite direction along the cable axis, so that the blade 26 separates the insulation layer fragment between the target point and the starting point of the stripping area from the conductor.

[0120] Step 11: After separation, the insulation layer fragments will be completely peeled off due to their own weight, and the robot arm 200 drives the tool to move to the next stripping area.

[0121] Non-contact laser energy is used to perform circumferential and axial cutting of the cable insulation layer. A puller is inserted into the cutting seam, and circumferential and axial movements are also used to separate the insulation layer fragments adhering to the conductor surface after cutting. Since the laser energy is controllable during cutting, the internal conductor will not be damaged. At the same time, the puller only needs to pull the cut insulation layer fragments away from the cable. It does not require excessive strength and can be achieved by using a puller made of non-metallic material, further reducing the probability of conductor damage.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser wire stripping tool for live network operation, characterized in that: include: The robot arm is used to carry the tool to the wire stripping operation area and carry the tool body to move along the cable axis direction; The tool body includes at least one group of laser emitting units evenly distributed along the circumferential direction of the cable. All the laser emitting units are driven by the laser head driving unit to move synchronously in a direction close to or away from the cable. One side of the laser head driving unit is connected to the rotating unit, and the rotating unit is used to drive the laser head driving unit to rotate around the cable axis. Among them, the laser emitting unit includes a limit seat connected to the slider, the limit seat is clamped on the outer side of the laser seat and the two are slidably connected, the limit seat is connected to the knife limit seat, a first spring is provided between the laser seat and the limit seat, a slidingly connected knife is provided in the knife limit seat, and a second spring is provided between the knife limit seat and the knife; a laser head is provided at one end of the laser seat, and a gas outlet is provided at the other end.

2. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: The rotating unit comprises a rotating bracket, a first motor is arranged on the rotating bracket, an output shaft of the first motor is connected to a first driving gear, the first driving gear is meshed with a first gear ring, and the first gear ring is connected to the laser head driving unit.

3. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: A pre-positioning unit is provided on the other side of the rotating unit. The pre-positioning unit includes a screw driven by a motor, on which at least two groups of clamping blocks are movably connected, and at least one group of guide shafts are arranged in parallel on one side of the screw. When the motor rotates, the clamping blocks are driven by the screw to move closer to or farther from each other.

4. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: The laser head driving unit comprises a mounting plate connected to the first gear ring of the rotating bracket, the mounting plate is provided with at least one set of slide rails evenly distributed along the circumferential direction and pointing to the center of the mounting plate, and the laser emitting unit is slidably connected to the slide rails.

5. A live-line laser stripping tool for distribution network as claimed in claim 4, characterized in that: A second motor is provided on the mounting plate, and a second driving gear is connected to the output shaft of the second motor. The second driving gear is meshed with the second gear ring. The second gear ring is provided with at least one group of connecting rods evenly distributed along the circumferential direction. One end of the connecting rod is movably connected to the second gear ring, and the other end is movably connected to a slider of the laser emitting unit. The slider is slidably connected to the slide rail on the mounting plate.

6. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: The laser seat has an inner cavity, one end of which is connected to the laser head, and the other end is provided with a gas outlet, and the side is connected to an air pipe joint; the air pump on the tool body generates gas, which is sent into the inner cavity of the laser seat through the air pipe and the air pipe joint, and is ejected from the gas outlet.

7. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: The cross-section of the limit seat is U-shaped, the laser seat is located inside the U-shaped opening area, a first slide groove is provided on one of the inner walls of the opening, a first spring is arranged in the first slide groove, the laser seat is slidably connected in the first slide groove and is pushed by the first spring.

8. A live-line laser stripping tool for distribution network according to claim 7, characterized in that: One of the walls outside the opening of the limit seat is connected to the knife shifting limit seat, and a second sliding groove is arranged on the wall surface. A second spring is arranged in the second sliding groove, and the second spring pushes the knife shifting.

9. A live-line laser stripping tool for distribution network according to claim 1, characterized in that: The tool body is also provided with a laser generator, which is connected to a laser head in the laser emitting unit through an optical fiber.

10. A working method of the live-line laser stripping tool for distribution network according to any one of claims 1 to 9, characterized in that: The following steps are involved: The robot arm drives the tool body to the space below the cable stripping area, and the cable enters the tool body through the upward movement; The pre-positioning unit clamps the cable, and the outer diameter of the cable is determined according to the distance between the two clamping blocks in the pre-positioning unit; Determine the distance that the laser head driving unit needs to drive the laser emitting unit to run according to the outer diameter of the cable, and obtain the rotation angle of the laser head driving unit. The laser head driving unit moves to make the laser seat in the laser emitting unit contact the surface of the cable insulation layer; The laser emitting unit emits laser and sprays air, and the rotating unit drives the laser emitting unit to do reciprocating motion at a set angle. After reaching a 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 robot arm drives the tool body to reciprocate along the cable axis, and after cutting the axial cutting seam, the robot arm 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 laser head driving unit continues to rotate at a set angle, so that the blade is inserted into the cutting seam. The rotating unit moves again, driving the blade in the laser emitting unit to separate the insulation layer fragment at the target point in the stripping area from the conductor. The rotating unit stops, and the robot arm 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 conductor; After separation, the insulation layer fragments are all peeled off due to their own weight, and the robot arm drives the tool body to the next stripping area.

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