Electrified strapdown cable apparatus for robots and control method

Abstract

The application discloses a kind of live lap cable device and control method for robot, belong to robot technical field, the live lap cable device for robot includes: high voltage ammeter, two-way hook, guide seat, lifting rope and lifting assembly, guide seat one end and two-way hook are connected, the other end is connected by lifting rope and lifting assembly, robot is connected in main road cable by connecting guide seat two-way hook, two-way hook and high voltage ammeter are connected;Lifting assembly's main frame inside is provided with lifting drive structure and is connected with the lower side and connecting cross plate, the lifting drive structure is connected with the lifting rope, the connecting cross plate is connected with the middle part of bypass cable by limiting structure one and bypass cable end and is connected by limiting structure two.The bypass cable of the application is doubly connected with the connecting cross plate by limiting structure one and limiting structure two, improves installation stability, efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a live lap cable device for robots and a control method. BACKGROUND

[0002] The live lap cable operation is affected by natural environment, geographical location, line structure and the like, most of the live lap cable operations are manually lapped through insulating gloves or shielding clothes, the process is complex, and the lap quality, safety and efficiency are difficult to meet the demand, the labor time cost is high, and there are great safety hazards such as falling electric shock. Part of the live lap operation is lapped by a single-arm robot in cooperation with manual lap, and the insulating hook is hung on the main cable after manual electric verification, and then the bypass cable is lapped by the single-arm robot, the process is complex, and manual electric verification still needs to be performed by wearing insulating gloves or shielding clothes, the efficiency is low, the labor time cost is high, and there are still great safety hazards such as falling electric shock.

[0003] Moreover, most of the live lap cable operations only fix the end part of the bypass cable, which leads to too long length of the suspended bypass cable, so that the bypass cable is easily affected by wind force in the lifting process, causing the bypass cable to shake, wind, even fall off and short circuit, causing great safety threat, low lap efficiency and inconvenient use. Meanwhile, the end part of the bypass cable is easily changed in opening direction due to shaking, and the operator needs to adjust the position according to the cable joint direction, which is low in efficiency and inconvenient to use. SUMMARY

[0004] In order to solve the problems in the prior art, the present application provides a live lap cable device for robots and a control method.

[0005] The present application adopts the following technical solutions.

[0006] The present application discloses a live lap cable device for robots in the first aspect, comprising: a high-voltage ammeter, a bidirectional hook, a guide seat, a lifting rope and a lifting assembly.

[0007] One end of the guide seat is connected with the bidirectional hook, and the other end is connected with the lifting rope and the lifting assembly, the robot connects the bidirectional hook with the main cable through the guide seat, and the bidirectional hook is connected with the high-voltage ammeter.

[0008] The lifting assembly comprises a main frame, a connecting plate, a lifting driving structure, a limiting structure one and a limiting structure two, the lifting driving structure is arranged in the main frame, the lower side of the main frame is connected with the connecting plate, the lifting driving structure is connected with the lifting rope, the connecting plate is connected with the middle part of the bypass cable through the limiting structure one and connected with the end part of the bypass cable through the limiting structure two.

[0009] Preferably, the lifting driving structure comprises a drum, a worm gear connecting shaft and a worm gear structure, the main body frame is provided with bearing holes one on both sides, the drum is arranged in the main body frame, the worm gear connecting shaft passes through the bearing holes one to connect the drum and the worm gear structure, the lifting rope is arranged on the drum through the main body frame, the drum is driven to rotate by the worm gear structure, and the lifting rope is wound or unfolded to drive the lifting assembly to lift.

[0010] Preferably, the worm gear structure comprises a motor, a worm gear, a worm, a reduction box frame and an unlocking ring, the reduction box frame is connected with the main body frame and internally arranged with the worm, one end of the worm is connected with the motor, and the other end is connected with the unlocking ring, the upper side of the reduction box frame is provided with a connecting piece, the connecting piece is provided with bearing holes two corresponding to the positions of the bearing holes one, the worm gear connecting shaft sequentially passes through the bearing holes two, the worm gear, the bearing holes one and the drum, and then the drum and the worm gear are screwed between the main body frame and the connecting piece, and the outer circumferential surface of the worm gear is engaged with the reduction box frame and the worm.

[0011] Preferably, the lifting assembly further comprises a guide base, a sensor fixing support, a displacement sensor and a limit sensor, the upper side of the main body frame is connected with the guide base, the sensor fixing support is arranged on one side of the main body frame, and the limit sensor is arranged on the other side, the displacement sensor is connected with the sensor fixing support, and the displacement sensor is used for detecting the distance between the guide base and the guide seat.

[0012] Preferably, the guide seat is adaptively matched with the guide base towards one end of the lifting assembly, the guide base and the guide seat are clamped and connected, and the limit protection is realized by the limit sensor.

[0013] Preferably, the limit structure one comprises a fixed seat, a movable cover, a disc-type bolt and a connecting pin, the fixed seat is fixedly connected with the connecting horizontal plate, one end of the fixed seat is rotatably connected with the movable cover through the connecting pin, the other end of the fixed seat is connected with the movable cover through the disc-type bolt, the middle part of the bypass cable is arranged between the fixed seat and the movable cover, and the distance between the fixed seat and the movable cover is adjusted by rotating the disc-type bolt until the bypass cable is fixed.

[0014] Preferably, the limit structure two comprises a guide pressing plate, a limit guide column, a lower limit piece, a limit block and an upper limit piece, the end of the connecting horizontal plate is provided with a sliding opening, and the upper side of the connecting horizontal plate is provided with the limit block, one end of the limit guide column passes through the limit block, the connecting horizontal plate and the lower limit piece and is connected, and the other end of the limit guide column passes through the guide pressing plate and the upper limit piece and is connected.

[0015] Preferably, the limit structure two further comprises a compression spring, the compression spring is sleeved on the limit guide column, one end of the compression spring is connected with the lower limit piece, and the other end of the compression spring is connected with the connecting horizontal plate.

[0016] Preferably, the sliding opening is internally provided with a limiting groove two, the bypass cable end is provided with a limiting skirt edge corresponding to the position of the limiting groove two, the limiting skirt edge is clamped into the limiting groove two, the bypass cable end is transversely limited, the bypass cable end is provided with a lap joint part corresponding to the position of the guide pressing plate, the upper end of the lap joint part is connected with the fixed part, the radius of the lap joint part is smaller than that of the fixed part, the lap joint part is provided with a limiting groove one, the guide pressing plate is clamped into the limiting groove one, and the bypass cable end is vertically limited.

[0017] The second aspect of the present application discloses a control method of a live lap joint cable device for a robot, based on the live lap joint cable device for the robot, comprising:

[0018] The robot hangs the double-direction hook on the main cable through the clamping guide seat;

[0019] The lifting assembly is connected with the middle part of the bypass cable through the limiting structure one and connected with the end part of the bypass cable through the limiting structure two;

[0020] The lifting driving structure drives the lifting rope to drive the lifting assembly to rise to a specified position, and the high-voltage ammeter is used for automatic electricity detection;

[0021] The robot installs the bypass cable, and after the work is completed, the robot takes down the live lap joint cable device through the clamping guide seat.

[0022] Compared with the prior art, the present application has the advantages that

[0023] The present application hangs the live lap joint cable device on the main cable through the robot, improves the installation efficiency and safety, more conveniently adjusts the bypass cable opening direction, facilitates operation, installs the high-voltage ammeter on the double-direction hook for automatic electricity detection, reduces the safety risk of manual electricity detection, further improves the installation efficiency and safety, at the same time, the lifting assembly and the lifting rope are used in cooperation to lift, the ground operation of the staff is facilitated to install the bypass cable, the falling risk of the staff climbing operation is reduced, and the bypass cable is double-connected with the connecting transverse plate through the limiting structure one and the limiting structure two, effectively avoids the shaking, winding and falling of the bypass cable due to the too long length of the bypass cable in the lifting process, improves the installation stability, efficiency and safety, is more convenient to use, simplifies the operation process, reduces the staff investment, and realizes the whole process automatic and intelligent lap joint cable.

[0024] The present application drives the lifting assembly to lift the bypass cable through the worm and gear structure, facilitates the robot to install the bypass cable, and through the cooperation of the worm and the gear, on the one hand, a stable and gentle lifting speed is formed, which is more suitable for driving the bypass cable to rise and fall, on the other hand, because of the characteristics of the worm and the gear, the worm will be automatically locked when the motor stops, avoiding the lifting assembly from sliding under its own weight, improving the safety, and the structure is simple and more convenient to use.

[0025] The present application fixes the end of the bypass cable through the limiting structure two, so that the bypass cable joint opening is fixed, avoiding the change of the opening direction during the shaking process, shortening the operation time, and at the same time, the limiting structure two limits the end of the bypass cable through the limiting groove two, and limits the end of the bypass cable vertically through the limiting groove one, through double limiting, improves the connection stability, avoids the installation from being unable to proceed due to the falling of the bypass cable, and the compression spring can also effectively avoid the damage caused by the rigid contact of the bypass cable, and improves the equipment durability. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a structure diagram of a live lap cable device for a robot of the present application;

[0027] Fig. 2 is a first structure diagram of a lifting assembly of the present application;

[0028] Fig. 3 is a second structure diagram of a lifting assembly of the present application;

[0029] In the figure: 1, high-voltage ammeter; 2, adapter plate; 3, bidirectional hook; 4, guide seat; 5, lifting rope; 6, lifting assembly; 6-1, guide base; 6-2, sensor fixing bracket; 6-3, displacement sensor; 6-4, main body frame; 6-5, communication module; 6-6, roller; 6-7, power supply module; 6-8, connecting cross plate; 6-9, guide pressing plate; 6-10, limiting guide column; 6-11, compression spring; 6-12, flange frame; 6-13, motor; 6-14, speed reducer box frame part one; 6-15, speed reducer box frame part two; 6-16, limiting sensor; 6-17, worm connection shaft; 6-18, worm; 6-19, speed reducer box frame part three; 6-20, worm; 6-21, unlocking ring; 6-22, fixing seat; 6-23, movable cover; 6-24, butterfly bolt; 6-25, connecting piece; 6-26, connecting pin; 6-27, lower limiting piece; 6-28, limiting groove one; 6-29, limiting skirt; 6-30, limiting groove two; 6-31, limiting block; 6-32, sliding opening; 6-33, upper limiting piece; 6-34, lap joint part; 6-35, fixed part; 7, bypass cable. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The embodiments described in the present application are only a part of the embodiments of the present application, not all the embodiments. Other embodiments obtained by those skilled in the art without creative labor on the basis of the spirit of the present application all belong to the protection scope of the present application.

[0031] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0032] As shown in Figs. 1-3 Embodiment 1 of the present application discloses a live lap cable device for a robot, which comprises a high-voltage ammeter 1, an adapter plate 2, a bidirectional hook 3, a guide seat 4, a lifting rope 5 and a lifting assembly 6.

[0033] One end of the guide seat 4 is connected with the bidirectional hook 3, and the other end is connected with the lifting rope 5 and the lifting assembly 6; the robot hangs the bidirectional hook 3 on the main cable through the guide seat 4; the bidirectional hook 3 is connected with the high-voltage ammeter 1 through the adapter plate 2; and the lifting assembly 6 is connected with the bypass cable 7.

[0034] The detection port of the high-voltage ammeter 1 is concentric with the hook port of the bidirectional hook 3, so as to ensure the accuracy and safety of detection of the high-voltage ammeter 1.

[0035] The bidirectional hook 3 is provided with hooks at front and back, and all the hooks are hung on the main cable, thereby preventing the lifting assembly 6 from rotating during lifting, and improving the connection stability and operation reliability.

[0036] The lifting assembly 6 comprises a guide base 6-1, a main body frame 6-4, a communication module 6-5, a power supply module 6-7, a connecting cross plate 6-8, a lifting driving structure, a first limiting structure and a second limiting structure.

[0037] The lifting driving structure is arranged inside the main body frame 6-4; the upper side of the main body frame 6-4 is connected with the guide base 6-1, and the lower side is connected with the connecting cross plate 6-8; the side wall of the main body frame 6-4 is connected with the communication module 6-5; the connecting cross plate 6-8 is connected with the middle part of the bypass cable 7 through the first limiting structure and connected with the end part of the bypass cable 7 through the second limiting structure; and the power supply module 6-7 is arranged on the connecting cross plate 6-8, for providing power for the lifting driving structure.

[0038] Preferably but not limitedly, the first limiting structure is connected with the middle part of the bypass cable 7, and the middle part of the bypass cable 7 is any position between the two ends of the bypass cable 7, or is a position two meters away from the end part of the bypass cable 7, for preventing the hanging part of the bypass cable 7 from being too long.

[0039] Preferably but not limitedly, the communication module 6-5 is used for receiving, controlling or transmitting signals.

[0040] The lifting driving structure comprises a roller 6-6, a worm connecting shaft 6-17 and a worm gear structure, the main frame 6-4 is provided with a bearing hole one on both sides, the roller 6-6 is arranged inside the main frame 6-4, the main frame 6-4 is provided with a worm gear structure on one side, the worm connecting shaft 6-17 connects the roller 6-6 and the worm gear structure through the bearing hole one, the lifting rope 5 is sequentially sleeved on the roller 6-6 through the guide base 6-1 and the main frame 6-4, the worm gear structure drives the roller 6-6 to rotate through the worm connecting shaft 6-17, so that the lifting rope 5 is wound and unfolded, and the lifting assembly 6 is driven to lift.

[0041] The worm gear structure comprises a motor 6-13, a worm wheel 6-18, a worm 6-20, a reduction box frame and an unlocking ring 6-21, the reduction box frame is connected with the main frame 6-4 on the side surface and is internally provided with the worm 6-20, one end of the worm 6-20 is connected with the output end of the motor 6-13 through the reduction box frame, and the other end is connected with the unlocking ring 6-21 through the reduction box frame, the reduction box frame is provided with a connecting piece 6-25 on the upper side, the connecting piece 6-25 is provided with a bearing hole two corresponding to the position of the bearing hole one, the worm connecting shaft 6-17 sequentially passes through the bearing hole two, the worm wheel 6-18, the bearing hole one and the roller 6-6, and then the roller 6-6 and the worm wheel 6-18 are screwed between the main frame 6-4 and the connecting piece 6-25, the reduction box frame is provided with an opening corresponding to the position of the worm wheel 6-18 on the upper side, so that the outer surface of the worm wheel 6-18 is engaged with the worm 6-20 through the opening.

[0042] The worm gear structure further comprises a flange frame 6-12, the flange frame 6-12 is sleeved on the outer surface of the motor 6-13 and is connected with the reduction box frame, thereby protecting the motor 6-13 and improving the rigidity and strength of the worm gear structure.

[0043] The reduction gearbox frame comprises: a reduction gearbox frame part one 6-14, a reduction gearbox frame part two 6-15, a reduction gearbox frame part three 6-19 and a connecting piece 6-25, one side of the reduction gearbox frame part two 6-15 is connected with the reduction gearbox frame part one 6-14, the other side is connected with the reduction gearbox frame part three 6-19, the side wall of the reduction gearbox frame part two 6-15 is connected with the main body frame 6-4 and is internally provided with a worm 6-20, one end of the worm 6-20 is connected with the output end of the motor 6-13 through the reduction gearbox frame part one 6-14, the other end is connected with an unlocking ring 6-21 through the reduction gearbox frame part three 6-19, the upper side of the reduction gearbox frame part two 6-15 is provided with an opening, the connecting piece 6-25 is arranged at the end away from the main body frame 6-4, and the worm wheel 6-18 is connected through the opening and the worm 6-20.

[0044] In the embodiment, when the lifting assembly 6 needs to be lifted, the motor 6-13 is started to drive the worm 6-20 to rotate, the worm wheel 6-18 engaged with the worm 6-20 is driven to rotate through the worm 6-20, the roller 6-6 is synchronously rotated, the hoisting rope 5 is stably wound up through the rotation of the roller 6-6, the bypass cable 7 is smoothly lifted, and the lifting assembly 6 is moved to a specified position until the motor 6-13 is turned off. Since the worm 6-20 has a large frictional force due to the helix angle, the worm 6-20 is automatically locked to prevent the lifting assembly 6 from moving downward. When the lifting assembly 6 needs to be lowered, the motor 6-13 is started in reverse to drive the worm 6-20 to rotate in reverse, the worm wheel 6-18 engaged with the worm 6-20 is driven to rotate in reverse through the worm 6-20, the roller 6-6 is synchronously rotated in reverse, the hoisting rope 5 is stably unwound through the rotation of the roller, the bypass cable 7 is smoothly lowered, and the lifting assembly 6 is moved to a specified position until the motor 6-13 is turned off. The worm wheel 6-18 and the worm 6-20 are used together, on the one hand, to form a stable and gentle lifting speed, which is more suitable for lifting and lowering the bypass cable 7, and on the other hand, due to the characteristics of the worm 6-20 and the worm wheel 6-18, the worm 6-20 is automatically locked when the motor 6-13 is stopped, so that the lifting assembly 6 is prevented from sliding under its own weight, the safety is improved, the structure is simple, and the use is more convenient.

[0045] The main body frame 6-4 is provided with a sensor fixing support 6-2 on the side corresponding to the communication module 6-5, the displacement sensor 6-3 is assembled to the main body frame 6-4 through the sensor fixing support 6-2 and the detection port penetrates through the guide base 6-1, which is used to detect the distance between the guide seat 4 and the guide base 6-1, and then identify whether the lifting assembly 6 reaches a specified position according to the distance. The main body frame 6-4 is provided with a limit sensor 6-16 on the side corresponding to the lifting driving structure, the limit sensor 6-16 is triggered when the guide seat 4 is attached to the guide base 6-1, and then the worm and gear structure is controlled to stop running, so that the equipment is prevented from being damaged due to over-limit movement, and the operation reliability and safety are improved.

[0046] The guide base 4 is matched with one end of the lifting assembly 6 and the guide base 6-1, so that the guide base 6-1 can be clamped and connected with the end of the guide base 4, which can improve the detection accuracy of the displacement sensor 6-3 and the limit sensor 6-16, and can effectively avoid damage to the equipment caused by misalignment.

[0047] The limit structure one includes a fixed seat 6-22, a movable cover 6-23, a disc-shaped bolt 6-24, and a connecting pin 6-26. The upper side of the fixed seat 6-22 is fixedly connected with the lower side of the connecting horizontal plate 6-8. The fixed seat 6-22 is provided with a horizontal connecting hole one at one end and a vertical connecting hole one at the other end. The movable cover 6-23 is provided with a horizontal connecting hole two corresponding to the horizontal connecting hole one and a vertical connecting hole two corresponding to the vertical connecting hole one. The connecting pin 6-26 penetrates through the horizontal connecting hole one and the horizontal connecting hole two to rotatably connect one end of the fixed seat 6-22 and the movable cover 6-23. The disc-shaped bolt 6-24 penetrates through the vertical connecting hole one and the vertical connecting hole two to lock and connect the other end of the fixed seat 6-22 and the movable cover 6-23. By setting the middle part of the bypass cable 7 between the fixed seat 6-22 and the movable cover 6-23 and rotating the disc-shaped bolt 6-24 to adjust the distance between the fixed seat 6-22 and the movable cover 6-23 until the bypass cable 7 is fixed, the universality is stronger, and the bypass cable 7 of different sizes can be adapted. It prevents the overlong suspended part of the bypass cable 7 from causing inconvenience or safety accidents during lifting.

[0048] The limit structure two includes a guide pressing plate 6-9, a limit guide column 6-10, a compression spring 6-11, a lower limit sheet 6-27, a limit block 6-31, and an upper limit sheet 6-33. The connecting horizontal plate 6-8 is provided with a sliding opening 6-32 at one end away from the main body frame 6-4. The upper side of the connecting horizontal plate 6-8 is provided with the limit block 6-31 corresponding to one side of the sliding opening 6-32. A plurality of limit guide columns 6-10 are arranged in the limit block 6-31. The lower end of the limit guide column 6-10 penetrates through the connecting horizontal plate 6-8 and the lower limit sheet 6-27 and is connected with the compression spring 6-11 sleeved on the outer surface. The other end penetrates through the guide pressing plate 6-9 and the upper limit sheet 6-33. One end of the compression spring 6-11 is connected with the lower limit sheet 6-27, and the other end is connected with the connecting horizontal plate 6-8, thereby controlling the guide pressing plate 6-9 to return to the initial position under shaking. The guide pressing plate 6-9 and the limit guide column 6-10 are fixedly connected. Through the limitation of the upper and lower limit sheets, on the one hand, the guide pressing plate 6-9 is prevented from being separated from the limit guide column 6-10, and on the other hand, the limit guide column 6-10 and the connecting horizontal plate 6-8 are prevented from being separated, thereby improving the stability and safety of the connection.

[0049] The sliding opening 6-32 is internally provided with a limiting groove two 6-30, and a limiting skirt 6-29 is arranged at the position corresponding to the limiting groove two 6-30 at the end of the bypass cable 7, the limiting skirt 6-29 is clamped into the limiting groove two 6-30, thereby transversely limiting the end of the bypass cable 7, preventing the end of the bypass cable 7 from falling off or shaking transversely, and meanwhile, through the cooperation of the limiting groove two 6-30 and the limiting skirt 6-29, the bypass cable 7 is prevented from being pulled out of the sliding opening 6-32, thereby improving the connection stability.

[0050] The end of the bypass cable 7 is provided with a lap joint 6-34 at the position corresponding to the guide pressing plate 6-9, the lap joint 6-34 is provided with an inclined limiting groove one 6-28 on the side facing the guide pressing plate 6-9, the upper end of the lap joint 6-34 is connected with a fixed part 6-35, the guide pressing plate 6-9 is clamped into the limiting groove one 6-28, and the radius of the lap joint 6-34 is smaller than that of the fixed part 6-35, thereby vertically limiting the end of the bypass cable 7, preventing the end of the bypass cable 7 from falling off or shaking vertically, and meanwhile, the limiting groove one 6-28 cooperates with the guide pressing plate 6-9 to prevent the bypass cable 7 from moving vertically in the sliding opening 6-32, thereby improving the connection stability, and ensuring that the opening direction of the end of the bypass power 7 is always consistent, which is more convenient to use, and under the elastic force of the compression spring 6-11, on the one hand, the bypass cable 7 is in elastic contact with the limiting structure two, avoiding damage to the bypass cable 7 caused by rigid contact during shaking, and on the other hand, the force of the compression spring 6-11 ensures that the end of the bypass cable 7 is always in the initial position, avoiding large displacement during shaking, thereby facilitating the installation of the bypass cable 7 by the robot.

[0051] Preferably but not limitedly, the live lap cable device can be connected with a robot, and the live lap cable device and the main cable are hung by the robot.

[0052] Embodiment 2 of the present application discloses a control method of a live lap cable device for a robot, which is used to operate the live lap cable device for the robot, and comprises the following steps:

[0053] Step 1: The robot hangs the bidirectional hook 3 on the main cable through the clamping guide seat 4;

[0054] Specifically, one end of the robot can be provided with a bypass cable installation tool for clamping the guide seat 4, so that the bidirectional hook 3 can be hung on the main cable, and the other end can be provided with a stripping tool for installing the bypass cable 7.

[0055] Step 2: The lifting assembly 6 is connected with the middle part of the bypass cable 7 through the limiting structure one and connected with the end of the bypass cable 7 through the limiting structure two;

[0056] It can be understood that when the bidirectional hook 3 is hung on the main road cable, the lifting assembly 6 is located in a ground operation position convenient for the staff, and the bypass cable 7 is connected with the lifting assembly 6;

[0057] Step 3: The lifting driving structure drives the lifting rope to drive the lifting assembly 6 to rise to a specified position, and the high-voltage ammeter 1 automatically checks the electricity;

[0058] Specifically, the specified position can be determined by hand-eye calibration of the camera and the mechanical arm of the robot, establishing the external parameter conversion between the camera coordinate system and the mechanical arm coordinate system, then displaying the point cloud generated by the camera and the laser radar in the mechanical arm coordinate system, and determining the specified position by recognizing the cross arm, and then controlling the lifting driving structure to drive the lifting rope to drive the lifting assembly 6 to rise to the specified position, and the high-voltage ammeter 1 automatically checks the electricity;

[0059] It can be understood that the robot can generate an initial path by inputting three-dimensional coordinates into the mechanical arm, presetting the distance between the lapping position and the cross arm, and using the improved RRT* global search capability to make the robot run to the working position, and then installing the stripping tool to install and remove the bypass cable 7, without the need for the worker to insulate and shield the line, and the worker only needs to operate the tablet to complete the work, thereby reducing the safety risk of the work, improving the overall work flow rate, and shortening the work time.

[0060] In addition, when there are multiple bypass cables 7, multiple lifting assemblies 6 are used to rise to the specified position, and then the robot is used to install the bypass cable 7.

[0061] Step 4: The robot installs the bypass cable 7, and after the work is completed, the robot takes down the live lapping cable device through the clamping guide seat 4.

[0062] Specifically, the robot automatically adjusts the bidirectional hook 3 by recognizing the bidirectional hook 3, the robot reaches the working position of removing the bidirectional hook 3, the bypass cable installation tool clamping guide seat 4 takes down the bidirectional hook 3, and the live lapping cable device is taken down.

[0063] It can be understood that the robot can remove the bypass cable 7 by the stripping tool and install it on the live lapping cable device, so that the live lapping cable device can drive the bypass cable 7 to automatically descend to the ground, thereby improving the safety and reliability of the removal of the bypass cable 7.

[0064] The present application has the advantages that,

[0065] The present application improves installation efficiency and safety by hanging the live lap cable device on the main cable through the robot, and more conveniently adjusts the bypass cable opening direction, facilitates operation, and installs the high-voltage ammeter on the two-way hook to automatically check the electricity, reduces the safety risk of manual electricity checking, further improves the installation efficiency and safety, and at the same time, the lifting assembly and the lifting rope are used in cooperation to lift, which facilitates the ground operation of the staff and reduces the falling risk of the staff climbing operation, and the bypass cable is connected with the connecting horizontal plate through the limiting structure one and the limiting structure two, which effectively avoids the shaking, winding and falling of the bypass cable caused by the too long length of the bypass cable in the lifting process, improves the installation stability, efficiency and safety, is more convenient to use, simplifies the operation process and reduces the operation personnel input.

[0066] The present application drives the bypass cable to lift through the worm gear structure driving lifting assembly, which facilitates the robot to install the bypass cable, and through the cooperation of the worm gear and the worm, on the one hand, a stable and gentle lifting speed is formed, which is more suitable for driving the bypass cable to lift and drop, and on the other hand, because of the characteristics of the worm and the worm gear, the worm will be automatically locked when the motor stops, avoiding the lifting assembly 6 from sliding under its own weight, improving the safety, and the structure is simple and convenient to use.

[0067] The present application fixes the end of the bypass cable through the limiting structure two, so that the bypass cable joint opening is fixed, avoiding the change of the opening direction during shaking, which is not convenient for installation and shortens the operation time, and at the same time, the limiting structure two limits the end of the bypass cable horizontally through the limiting groove two, limits the end of the bypass cable vertically through the limiting groove one, improves the connection stability through double limiting, avoids the bypass cable from falling off to cause installation failure, and the compression spring can also effectively avoid the damage caused by the rigid contact of the bypass cable, improving the equipment durability.

[0068] The present disclosure can be a system, a method and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

[0069] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0070] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0071] Computer readable program instructions for carrying out operations of the present disclosure can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0072] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced, and any modification or replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A live-lined cable splicing device for a robot, comprising: The high-voltage ammeter (1), bidirectional hook (3), guide seat (4), lifting rope (5), and lifting assembly (6) are characterized by: One end of the guide seat (4) is connected to the bidirectional hook (3), and the other end is connected to the lifting assembly (6) via the lifting rope (5). The robot attaches the bidirectional hook (3) to the main cable via the guide seat (4). The bidirectional hook (3) is connected to the high voltage ammeter (1). The lifting assembly (6) includes: a main frame (6-4), a connecting horizontal plate (6-8), a lifting drive structure, a limiting structure one, and a limiting structure two; the main frame (6-4) is provided with a lifting drive structure inside and its lower side is connected to the connecting horizontal plate (6-8); the lifting drive structure is connected to the lifting rope (5); the connecting horizontal plate (6-8) is connected to the middle of the bypass cable (7) through the limiting structure one and to the end of the bypass cable (7) through the limiting structure two; The second limiting structure includes: a guide plate (6-9), a limiting guide post (6-10), a lower limiting piece (6-27), a limiting block (6-31), and an upper limiting piece (6-33). The connecting horizontal plate (6-8) has a sliding opening (6-32) at its end and a limiting block (6-31) on its upper side. One end of the limiting guide post (6-10) passes through the limiting block (6-31), the connecting horizontal plate (6-8), and the lower limiting piece (6-27) and is connected. The other end passes through the guide plate (6-9) and the upper limiting piece (6-33). The sliding opening (6-32) is provided with a limiting groove 2 (6-30). The end of the bypass cable (7) is provided with a limiting skirt (6-29) corresponding to the position of the limiting groove 2 (6-30). The limiting skirt (6-29) is inserted into the limiting groove 2 (6-30) to limit the end of the bypass cable (7) laterally. The end of the bypass cable (7) is provided with an overlapping part (6-34) corresponding to the position of the guide pressure plate (6-9). The upper end of the overlapping part (6-34) is connected to the fixing part (6-35). The radius of the overlapping part (6-34) is smaller than that of the fixing part (6-35). The overlapping part (6-34) is provided with a limiting groove 1 (6-28). The guide pressure plate (6-9) is inserted into the limiting groove 1 (6-28) to limit the end of the bypass cable (7) vertically.

2. The live-lined cable splicing device for a robot according to claim 1, characterized in that: The lifting drive structure includes: a roller (6-6), a worm gear connecting shaft (6-17), and a worm gear structure. The main frame (6-4) has bearing holes on both sides. The roller (6-6) is set inside the main frame (6-4). The worm gear connecting shaft (6-17) passes through the bearing holes to connect the roller (6-6) and the worm gear structure. The lifting rope (5) passes through the main frame (6-4) and is sleeved on the roller (6-6). The worm gear structure drives the roller (6-6) to rotate, so that the lifting rope (5) is wound up or unwound to drive the lifting assembly (6) to lift.

3. A live-line splicing cable device for a robot according to claim 2, characterized in that: The worm gear structure includes: a motor (6-13), a worm gear (6-18), a worm (6-20), a gearbox frame, and an unlocking ring (6-21). The gearbox frame is connected to the main frame (6-4) on its side and has a built-in worm (6-20). One end of the worm (6-20) is connected to the motor (6-13), and the other end is connected to the unlocking ring (6-21). A connecting piece (6-25) is provided on the upper side of the gearbox frame. A bearing hole two is provided on the connecting piece (6-25) corresponding to the bearing hole one position. The worm gear connecting shaft (6-17) passes through the bearing hole two, the worm gear (6-18), the bearing hole one, and the roller (6-6) in sequence, thereby screwing the roller (6-6) and the worm gear (6-18) between the main frame (6-4) and the connecting piece (6-25). The outer circumference of the worm gear (6-18) passes through the gearbox frame and meshes with the worm (6-20).

4. A live-line splicing cable device for a robot according to claim 1, characterized in that: The lifting assembly (6) further includes: a guide base (6-1), a sensor fixing bracket (6-2), a displacement sensor (6-3), and a limit sensor (6-16). The upper side of the main frame (6-4) is connected to the guide base (6-1). The sensor fixing bracket (6-2) is provided on one side of the main frame (6-4), and the limit sensor (6-16) is provided on the other side. The displacement sensor (6-3) is connected to the sensor fixing bracket (6-2). The displacement sensor (6-3) is used to detect the distance between the guide seat (4) and the guide base (6-1).

5. A live-line splicing cable device for a robot according to claim 4, characterized in that: The guide seat (4) is adapted to the lifting assembly (6) and the guide base (6-1) so that the guide base (6-1) and the guide seat (4) are engaged and connected, so as to achieve limit protection through the limit sensor (6-16).

6. A live-line splicing cable device for a robot according to claim 1, characterized in that: The limiting structure includes: a fixed seat (6-22), a movable cover (6-23), a disc bolt (6-24), and a connecting pin (6-26). The fixed seat (6-22) and the connecting cross plate (6-8) are fixedly connected. One end of the fixed seat (6-22) is screwed to the movable cover (6-23) through the connecting pin (6-26), and the other end is connected to the movable cover (6-23) through the disc bolt (6-24). The middle part of the bypass cable (7) is placed between the fixed seat (6-22) and the movable cover (6-23), and the distance between the fixed seat (6-22) and the movable cover (6-23) is adjusted by rotating the disc bolt (6-24) until the bypass cable (7) is fixed.

7. The live-lined cable splicing device for a robot according to claim 1, characterized in that: The second limiting structure also includes a compression spring (6-11), which is sleeved on the limiting guide post (6-10). One end of the compression spring (6-11) is connected to the lower limiting piece (6-27), and the other end is connected to the connecting cross plate (6-8).

8. A control method for a live-lined cable splicing device for a robot, based on any one of claims 1-7, characterized in that: The robot attaches the bidirectional hook (3) to the main cable by clamping the guide seat (4); The lifting assembly (6) is connected to the middle of the bypass cable (7) through the limiting structure one and to the end of the bypass cable (7) through the limiting structure two; The lifting drive structure drives the lifting rope (5) to lift the lifting assembly (6) to the designated position, and automatically detects the voltage through the high voltage ammeter (1); The robot installs the bypass cable (7). After the work is completed, the robot removes the live cable splicing device by clamping the guide seat (4).

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