Ground wire automatic crimping equipment based on x-ray detection technology

Abstract

The invention provides a ground wire automatic crimping device based on x-ray detection technology, which comprises a fixed platform and a first crimping device, and is characterized in that the first crimping device is fixedly connected with a first movable platform below the fixed platform, and the first movable platform is movably mounted on the top surface of a base through a movable assembly; a first clamping and conveying assembly and a second clamping and conveying assembly which are fixedly mounted on the top surface of the first movable platform are respectively arranged at the left end and the right end of the first crimping equipment; a first wire clamping assembly is arranged between the first clamping and conveying assembly and the first crimping equipment, and a second wire clamping assembly fixedly mounted on the top surface of the first movable platform is arranged between the second clamping and conveying assembly and the first crimping equipment; a first screwing-in assembly is fixedly mounted on the right side of the first wire clamping assembly; the top surface of the fixed platform is provided with an x-ray detection system located behind the first crimping equipment, and the x-ray detection system is used for detecting the crimping quality. According to the invention, pipe penetrating and crimping operation between the ground wire and the splicing sleeve can be automatically executed, and the crimping efficiency of the ground wire is improved.

Description

Technical Field

[0001] This invention relates to the field of conductor crimping technology, and more specifically to an automatic conductor crimping device based on X-ray detection technology. Background Technology

[0002] Crimping overhead conductors and ground wires (hereinafter referred to as conductors and ground wires) in power transmission and transformation projects is a fundamental operation to ensure the normal operation of the power transmission system. Currently, aluminum-clad steel stranded wire and galvanized steel stranded wire are commonly used for conductors and ground wires. Common crimping operations include threading and crimping the ground wire splice conduit with the conductor and ground wire, and threading and crimping the ground wire tension clamp steel anchor with the conductor and ground wire. To check the crimping quality, X-ray technology is usually used to inspect the crimping of transmission line hardware, and crimping hardware that does not meet requirements or has defects is repaired.

[0003] The crimping of grounding wires is usually done manually, which requires a high level of technical skill. Especially in emergencies and harsh environments, manual operation is often inefficient and cannot guarantee the safety of the operators. Therefore, there is an urgent need for a robot that can perform grounding wire detection and crimping operations to help or replace technicians in quickly completing the relevant tasks. Summary of the Invention

[0004] In view of this, the problem to be solved by the present invention is to provide an automatic ground wire crimping device based on X-ray detection technology, which can automatically perform the pipe threading and crimping operations between the ground wire and the splice tube, thereby improving the crimping efficiency of the ground wire.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automatic crimping device for ground wires based on X-ray detection technology includes a fixed platform fixedly installed on the top surface of a base. A first crimping device is provided above the fixed platform. The first crimping device is fixedly connected to a first movable platform below the fixed platform through a first mounting bracket. The first movable platform is movably installed on the top surface of the base through a movable component, which allows the first movable platform to move left and right and up and down. The first crimping device has a first clamping component and a second clamping component fixedly installed on the top surface of the first movable platform at its left and right ends, respectively. The first clamping component and the second clamping component have the same structure and are both used to clamp the ground wire and transport it towards the first crimping device. A first wire clamping assembly is provided between the first clamping assembly and the first crimping device, and a second wire clamping assembly is provided between the second clamping assembly and the first crimping device and is fixedly installed on the top surface of the first movable platform. The first wire clamping assembly and the second wire clamping assembly have the same structure and are used to clamp the ground wire so that the ground wire can be accurately inserted into the splice tube. A first screw-in assembly is fixedly installed on the right side of the first clamping assembly. The first screw-in assembly is used to clamp the left end of the splice tube and make it rotate along the central axis. The first crimping device is used to crimp conduits with ground wires at both ends. An X-ray detection system is installed on the top surface of the fixed platform behind the first crimping device. The X-ray detection system is used to detect the crimping quality.

[0006] Furthermore, the movable component includes a first movable electric cylinder fixedly installed on the top surface of the base, a first support plate that can slide left and right is installed on the top surface of the base, and the extended end of the first movable electric cylinder is fixedly connected to the first support plate; the first movable platform is installed on the top surface of the first support plate by a vertically arranged second movable electric cylinder.

[0007] Furthermore, the first clamping assembly includes vertically arranged movable wheels and drive wheels, and a first vertical plate and a second vertical plate facing each other, wherein the first vertical plate and the second vertical plate respectively support the two ends of the axle of the movable wheel and the drive wheel; The first and second vertical plates are respectively vertically mounted with a first clamping electric cylinder and a second clamping electric cylinder, and the extended ends of the first and second clamping electric cylinders are respectively movably connected to the two ends of the axle of the movable wheel. A wire feeding motor is fixedly installed on the side of the first or second vertical plate away from the movable wheel, and the output shaft of the wire feeding motor is connected to the shaft of the drive wheel.

[0008] Furthermore, the first screw-in assembly includes a first electric gripper, which includes vertically arranged upper and lower fingers. The upper fingers are fixedly connected to an upper clamping plate with an arc-shaped structure, and the lower fingers are fixedly connected to a lower clamping plate with an arc-shaped structure. The upper and lower clamping plates are used to clamp the connecting tube. The outer wall of the upper clamping plate is fixedly equipped with several screw-in motors, and the inner wall of the upper clamping plate is provided with several drive rods along the length direction that are connected to the output shaft of the corresponding screw-in motors. The lower clamping plate has the same structure as the upper clamping plate.

[0009] Furthermore, the first screw-in assembly is movably connected to the base via a first robotic arm. The first robotic arm includes a first translation component that moves the robotic arm left and right. The first translation component includes a translation member on which a translation motor is fixedly mounted. The base surface is provided with a translation rack and a translation groove. The translation member is provided with a translation slider that engages with the translation groove. The translation member is equipped with a translation gear that meshes with the translation rack. The translation gear is connected to the output end of the translation motor.

[0010] Furthermore, the first robotic arm includes a first connecting arm and a second connecting arm. One end of the first connecting arm is movably connected to a translation component via a first mechanical motor, so that the first connecting arm can rotate left and right with the end closest to the first mechanical motor as the rotation center. The other end of the first connecting arm is movably connected to the lower end of the second connecting arm via a second mechanical motor, so that the second connecting arm can rotate up and down with the lower end as the rotation center; the top end of the second connecting arm is fixedly connected to the first mechanical electric cylinder, and the extended end of the first mechanical electric cylinder is fixedly connected to the first screw-in assembly.

[0011] Furthermore, the first wire clamping assembly is fixedly installed on the top surface of the second support plate, and the second support plate is fixedly connected to the first mechanical electric cylinder; The first wire clamping assembly includes a housing with openings at both the left and right ends. Inside the housing are a first wire clamping roller and a second wire clamping roller arranged in a front-to-back pattern. A wire clamping electric cylinder is fixedly installed on the top surface of the second support plate. The shaft of the first wire clamping roller is perpendicular to the second support plate and connected to the extended end of the wire clamping electric cylinder. The shaft of the second wire clamping roller is perpendicular to the second support plate and connected to the housing.

[0012] Furthermore, a first support component is provided between the first clamping component and the first wire clamping component, and is fixedly installed on the top surface of the first movable platform. The first support component includes a first support platform with an arc structure. The first support platform is installed on the top surface of the first movable platform by a vertically installed first support electric cylinder. A wire sleeve is provided on the top surface of the first support platform.

[0013] Furthermore, a second pressing device is provided above the base, and the second pressing device is fixedly connected to the second movable platform below the fixed platform through a second mounting bracket; The second crimping device has a clamping assembly installed on the top surface of the fixed platform on the right side. The second movable platform has a third clamping assembly with the same structure as the first clamping assembly on the left side. A second rotary insertion assembly is provided between the second crimping device and the third clamping assembly. The second rotary insertion assembly is movably connected to the base through a second robotic arm. The structures of the second rotary insertion assembly and the second robotic arm are the same as those of the first rotary insertion assembly and the first robotic arm.

[0014] Furthermore, the second movable platform is mounted on the top surface of the first support plate via a vertically arranged third movable electric cylinder.

[0015] The advantages and positive effects of this invention are: A first clamping assembly and a second clamping group are respectively set at both ends of the first crimping device. A first wire clamping assembly and a first screw-in assembly are sequentially set between the first clamping assembly and the crimping device, and a second wire clamping assembly is set between the second clamping group and the crimping device.

[0016] During the pipe threading process, the end of the left ground wire passes through the first clamping assembly and is then clamped by the first clamping assembly. The end of the right ground wire passes through the second clamping assembly and is then clamped by the second clamping assembly. The middle section of the splice tube is placed inside the crimping equipment. The first screw-in assembly clamps the left end of the splice tube and rotates it along the central axis of the splice tube. During the rotation of the splice tube, the first and second clamping assemblies continuously feed the ground wires towards the crimping equipment to thread the end of the ground wires to the middle section of the splice tube, thus completing the pipe threading action.

[0017] The first movable platform is movably connected to the base via a movable component. During crimping, the first screw-in component releases the splice tube, and the first crimping device first crimps the middle section of the splice tube to complete the initial connection of the two ground wires. Then, the first movable electric cylinder within the movable component drives the first crimping device to move left and right, continuously crimping different positions of the splice tube to complete the crimping process. The above equipment can automatically perform the tube insertion and crimping operations between the ground wire and the splice tube, improving the crimping efficiency of the ground wire. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a perspective view of an automatic wire crimping device based on X-ray detection technology according to the present invention; Figure 2 This is a front view of an automatic conductor crimping device based on X-ray detection technology according to the present invention; Figure 3 This is a right view of an automatic conductor crimping device based on X-ray detection technology according to the present invention; Figure 4 This is a top view of an automatic conductor crimping device based on X-ray detection technology according to the present invention; Figure 5 This is a partial perspective view of an automatic wire crimping device based on X-ray detection technology according to the present invention, including a first wire clamping assembly; Figure 6 This is a partial perspective view of the first robotic arm and the first screw-in assembly of an automatic conductor crimping device based on X-ray detection technology according to the present invention. Figure 7 This is a top view of an automatic wire crimping device based on X-ray detection technology according to the present invention, including a first screw-in component; Figure 8 yes Figure 7 Enlarged view of point A in the middle; In the diagram: 11. Base; 1301. First movable platform; 1302. Second movable platform; 1311. Fixed platform; 13226. Translation gear; 13227. Translation rack; 133. Movable component; 1331. Second movable electric cylinder; 1332. Third movable electric cylinder; 1333. Second support member; 1334. Third support member; First robotic arm; 1410, translation motor; 1411, translation component; 1412, first mechanical motor; 1413, first connecting arm; 1414, second connecting arm; 1415, second mechanical motor; 1416, second mechanical electric cylinder; 1417, first mechanical electric cylinder; 142, second robotic arm; 21. First crimping device; 211. First clamping assembly; 2111. First vertical plate; 2113. Fixed wheel; 2114. Movable wheel; 2115. Wire feeding motor; 2116. Second vertical plate; 2117. First clamping electric cylinder; 2118. Second clamping electric cylinder; 221. Second clamping assembly; 231. Third clamping assembly; 2121. First support electric cylinder; 2122. First support platform; 2123. Second support electric cylinder; 2124. Second support platform; 2125. Third support electric cylinder; 2126. Third support platform; 213. First screw-in assembly; 2135. First electric gripper; 21361. Upper clamping plate; 21362. Lower clamping plate; 21363. Screw-in motor; 21365. First drive gear; 21366. Second drive gear; 214. Second screw-in assembly; 215. First wire clamping assembly; 2151. Second support plate; 2152. Wire clamping electric cylinder; 2153. Housing; 2154. First wire clamping roller; 2155. Second wire clamping roller; 216. Second wire clamping assembly; 22. Second crimping device; 223. Clamping assembly; 2231. Support frame; 2232. Second electric gripper; 32. X-ray machine; 33. Wireless flat panel detector; 6. First movable electric cylinder. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is described as "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is described as "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed terms.

[0022] This invention provides an automatic wire crimping device based on X-ray inspection technology, such as... Figure 1 and Figure 2 As shown, the device includes a horizontally positioned fixed platform 1311. The top surface of the fixed platform 1311 is sequentially equipped with a first crimping device 21 and an X-ray inspection system from front to back. The first crimping device 21 is used to crimp a splice tube with grounding wires at both ends, thus connecting the two grounding wires. The X-ray inspection system is used to inspect the crimping quality at different locations on the splice tube, effectively improving the connection efficiency of the grounding wires.

[0023] The X-ray inspection system includes an X-ray machine 32 and a wireless flat panel detector 33. The X-ray machine 32 generates X-rays, and the wireless flat panel detector 33 receives them. During inspection, the crimped connector is placed between the X-ray machine 32 and the wireless flat panel detector 33. The wireless flat panel detector 33 communicates with an external PC, converting the received X-rays into digital images and transmitting them to the PC. Operators can judge the crimping quality of the grounding wire based on the image data displayed on the PC. If the PC indicates that the crimping quality is unqualified, operators need to use the first crimping device 21 to perform a re-crimping operation.

[0024] In one embodiment of this application, the X-ray machine 32 has its radiation area located to the right of the first crimping device 21. Furthermore, the X-ray machine is slidably mounted on the top surface of the fixed platform 1311, allowing it to slide back and forth to adjust the distance between the X-ray machine and the wireless flat panel detector 33, thereby improving detection accuracy.

[0025] The first crimping device 21 is fixedly connected to the first movable platform 1301 located below the fixed platform 1311 via the first mounting bracket. The first movable platform 1301 can drive the first crimping device 21 to move left and right and up and down. Moving the first crimping device 21 up and down makes it convenient to support the splice tubes of different sizes to a preset height, and moving the first crimping device 21 left and right makes it convenient to crimp the splice tubes at different positions.

[0026] The first mounting bracket includes a first mounting platform that is horizontally positioned and has a first crimping device 21 mounted on its top surface. The left end of the first mounting platform is fixedly connected to the top end of the first support member, and the bottom end of the first support member is fixedly connected to the first movable platform 1301. Furthermore, the distance between the first mounting platform and the first movable platform 1301 is within the adjustable height range of the first movable platform 1301 (or the first crimping device 21).

[0027] One embodiment of this application is as follows: both the first active platform 1301 and the fixed platform 1311 are horizontally arranged rectangular plate structures.

[0028] like Figure 3 and Figure 4 As shown, the first movable platform 1301 is movably connected to the base 11 via a movable component 133. The movable component 133 is used to control the left-right and up-down movement of the first movable platform 1301. The movable component 133 includes a first movable electric cylinder 6 horizontally mounted on the top surface of the base 11. The extended end of the first movable electric cylinder 6 is fixedly connected to a first support plate that can move horizontally left and right. The left-right movement of the first support plate is adjusted by controlling the extension and retraction length of the first movable electric cylinder 6. The first movable platform 1301 is mounted on the top surface of the first support plate via a vertically arranged second movable electric cylinder 1331. The up-down movement of the first movable platform 1301 is adjusted by controlling the extension and retraction length of the second movable electric cylinder 1331.

[0029] Specifically, to improve the stability of the left and right movement of the first support plate, the top surface of the base 11 and the bottom surface of the first support plate are slidably engaged by a sliding groove and a slider, with the length direction of the sliding groove parallel to the extension and retraction direction of the first movable electric cylinder 6.

[0030] Specifically, to improve the stability of the vertical movement of the first movable platform 1301, a second support member 1333 is vertically installed on the top surface of the first support plate. A first through hole is opened on the first movable platform 1301. The side wall of the first through hole and the side wall of the second support member 1333 are slidably engaged by a sliding groove and a slider. The length direction of the sliding groove is parallel to the extension and retraction direction of the second movable electric cylinder 1331.

[0031] The first crimping device 21 has a first clamping component 211 and a second clamping component 221 fixedly installed on the left and right ends of the first movable platform 1301, respectively. The first clamping component 211 and the second clamping component 221 have the same structure and are both used to clamp and transmit the ground wire.

[0032] like Figure 1 As shown, the first clamping assembly 211 includes a movable wheel 2114, a drive wheel, and a first vertical plate 2111 and a second vertical plate 2116 facing each other. The first vertical plate 2111 and the second vertical plate 2116 respectively support the two ends of the axle of the movable wheel 2114 and the drive wheel, which are arranged vertically. A first clamping electric cylinder 2117 and a second clamping electric cylinder 2118 are respectively installed at the top of the first vertical plate 2111 and the second vertical plate 2116. The extended ends of the first clamping electric cylinder 2117 and the second clamping electric cylinder 2118 are respectively connected to the movable wheel 2114 and the drive wheel. The two ends of the axle of wheel 2114 are connected (by bearings to the axle of fixed wheel 2113) to control the vertical movement of fixed wheel 2113, clamping the ground wire between fixed wheel 2113 and movable wheel 2114; a wire feeding motor 2115 is fixedly installed on the side of the first vertical plate 2111 or the second vertical plate 2116 away from the movable wheel 2114. The output shaft of the wire feeding motor 2115 is connected to the shaft of the drive wheel, and the wire feeding motor 2115 controls the drive wheel to rotate forward or backward to transport the ground wire to the right or left.

[0033] When the movable wheel 2114 inside the second clamping assembly 221 rotates forward, the clamped ground wire is transported to the left to the first crimping device 21 for crimping; when the movable wheel 2114 inside the second clamping assembly 221 rotates in reverse, the clamped ground wire is transported to the right.

[0034] like Figure 5 and Figure 6 As shown. A first screw-in assembly 213 is provided between the first crimping device 21 and the first clamping assembly 211. The first screw-in assembly 213 is movably connected to the base 11 via a first robotic arm 141. The first robotic arm 141 is used to adjust the position of the first screw-in assembly 213 so that the first screw-in assembly 213 just clamps the end of the connector tube, and the central axis of the connector tube overlaps with the central axis of the end of the ground wire. The first screw-in assembly 213 is used to clamp the left end of the connector tube and rotate it along the central axis, so that the ground wire can be screwed in from the left end of the connector tube.

[0035] The first screw-in assembly 213 includes a first electric gripper 2135, which includes vertically arranged upper and lower fingers. The upper finger is fixedly connected to the upper clamping plate 21361 with an arc-shaped structure, and the lower finger is fixedly connected to the lower clamping plate 21362 with an arc-shaped structure. The connecting tube is clamped between the upper clamping plate 21361 and the lower clamping plate 21362. The distance between the upper and lower fingers is adjusted by the first electric gripper 2135 to clamp the connecting tube.

[0036] like Figure 7 and Figure 8 As shown, several screw-in motors 21363 are fixedly installed on the outer wall of the upper clamping plate 21361. Several drive rods connected to the corresponding screw-in motors 21363 are provided along the length of the inner wall of the upper clamping plate 21361. The lower clamping plate 21362 has the same structure as the upper clamping plate 21361 and is mirror-symmetrical. By controlling the operation of the screw-in motors 21363 of the upper clamping plate 21361 and the lower clamping plate 21362, the corresponding drive rods are rotated along their central axes. The friction between the drive rods and the connecting tube causes the connecting tube to rotate along its central axis.

[0037] One embodiment of this application is as follows: the screw-in motor 21363 is connected to the corresponding drive rod via a transmission assembly. The transmission assembly includes a first drive gear 21365 fixedly connected to the output end of the screw-in motor 21363, and a second drive gear 21366 fixedly mounted on the drive rod. The second drive gear 21366 passes through a through hole in the upper clamping plate 21361 (or the lower clamping plate 21362) and meshes with the first drive gear 21365. Further, slots for mounting the two ends of the drive rod are provided at both ends of the upper clamping plate 21361. The second drive gear 21366 is mounted on the right or left end of the drive rod, and meshes with the first drive gear 21365.

[0038] like Figure 6 As shown, the first robotic arm 141 includes a first translation component, which is used to move the first robotic arm 141 left and right as a whole. The first robotic arm 141 is used to adjust the position of the first screw-in component 213 left and right, up and down, and forward and backward so that the central axis of the connecting tube on the first screw-in component 213 overlaps with the central axis of the ground wire.

[0039] like Figure 2 and Figure 6 As shown, the first translation component includes a translation member 1411 on which a translation motor 1410 is fixedly mounted. A translation rack 13227 and a translation groove parallel to the length direction of the first movable platform 1301 are formed on the surface of the base 11. A translation slider that engages with the translation groove is provided on the translation member 1411 for slidingly connecting the first translation unit to the base 11. A translation gear 13226 that meshes with the translation rack 13227 is mounted on the translation member 1411. The translation gear 13226 is connected to the output end of the translation motor 1410 for driving the first translation unit to move left and right along the groove or rack.

[0040] One embodiment of this application is as follows: a cuboid counterweight is provided on the top surface of the base 11, and a plurality of translation grooves are provided on the top surface of the counterweight. A plurality of translation sliders are provided on the translation component 1411 and engage with the corresponding translation grooves. A translation gear 13226 is horizontally mounted on the bottom surface of the translation component 1411. A translation rack 13227 that meshes with the translation gear 13226 is provided on the front side wall of the counterweight. A translation motor 1410 is fixedly mounted on the translation block and is connected to the translation gear 13226 for transmission.

[0041] like Figure 6 As shown, the first robotic arm 141 includes a horizontally arranged first connecting arm 1413 and a vertically arranged second connecting arm 1414. One end of the first connecting arm 1413 is movably connected to the first translation unit via a first mechanical motor 1412, allowing the first connecting arm 1413 to rotate left and right in the horizontal direction with the end closest to the first mechanical motor 1412 as the rotation center. The other end of the first connecting arm 1413 is movably connected to the lower end of the second connecting arm 1414 via a second mechanical motor 1415, allowing the second connecting arm 1414 to rotate up and down in the vertical direction with the lower end as the rotation center. The top end of the second connecting arm 1414 is fixedly connected to a first mechanical electric cylinder 1417, and the extended end of the first mechanical electric cylinder 1417 is fixedly connected to a first screw-in assembly 213. By controlling the movement of the translation motor 1410, the second mechanical motor 1415, and the extension and retraction of the first mechanical electric cylinder 1417, the position of the first screw-in assembly 213 can be adjusted left and right, up and down, and forward and backward.

[0042] One embodiment of this application is as follows: when retrieving the crimping robot, the first mechanical motor 1412 is controlled to move, so that the entire robotic arm moves close to the counterweight, which can reduce the size of the crimping robot and facilitate handling.

[0043] One embodiment of this application is that the length of the second connecting arm 1414 is adjustable, which can further improve the position adjustment capability of the first robotic arm 141. Specifically, a second mechanical electric cylinder 1416 is fixedly installed at the upper end of the second connecting arm 1414 along its length direction, and the extended end of the second mechanical electric cylinder 1416 is fixedly connected to the first mechanical electric cylinder 1417.

[0044] One embodiment of this application is as follows: the first mechanical electric cylinder 1417 is fixedly connected to the second support plate 2151, and the first electric gripper 2135 is slidably engaged with the top surface of the second support plate 2151 through a slider and a slide groove. The length direction of the slide groove is parallel to the extension and retraction direction of the first mechanical electric cylinder 1417, so that the first mechanical electric cylinder 1417 can smoothly push the first rotating component (or the first electric gripper 2135).

[0045] like Figure 5As shown, the left side of the first screw-in assembly 213 is provided with a first wire clamping assembly 215 which is fixedly connected to the second support plate 2151. The first wire clamping assembly 215 is used to clamp the ground wire on the left side of the first screw-in assembly 213, so that the ground wire can be screwed in from the left end of the connector tube. The first wire clamping assembly 215 includes a housing 2153 with openings at both the left and right ends. The housing 2153 is fixedly connected to the second support plate 2151. The housing 2153 contains a first wire clamping roller 2154 and a second wire clamping roller 2155 arranged in a front-to-back pattern. A wire clamping cylinder 2152 is fixedly installed on the top surface of the second support plate 2151. The axis of the first wire clamping roller 2154 is perpendicular to the second support plate 2151 and connected to the extended end of the wire clamping cylinder 2152. The axis of the second wire clamping roller 2155 is perpendicular to the second support plate 2151 and connected to the housing 2153. By manipulating the first wire clamping roller 2154 to move back and forth, the ground wire located between the first wire clamping roller 2154 and the second wire clamping roller 2155 can be clamped.

[0046] The openings at both ends of the outer casing 2153 facilitate the passage of the ground wire and reduce the probability of the ground wire falling off between the first clamping roller and the second clamping roller 2155.

[0047] like Figure 4 As shown, a second wire clamping assembly 216 with the same structure as the first wire clamping structure is provided between the first crimping device 21 and the first wire feeding assembly. The second wire clamping assembly 216 is fixedly installed on the top surface of the fixed platform 1311 by a bracket.

[0048] like Figure 1 As shown, a first support component is fixedly installed on the top surface of the first movable platform 1301 between the first clamping component 211 and the first clamping component 215. The first support component includes a first support platform 2122 with an arc structure. The first support platform 2122 is installed on the top surface of the first movable platform 1301 by a vertically installed first support electric cylinder 2121. The height of the first support platform 2122 is adjusted by controlling the extension and retraction length of the support electric cylinder, so that the ground wire between the first clamping component 211 and the first clamping component is straight.

[0049] One embodiment of this application is as follows: To further reduce the probability of bending of the ground wire between the first clamping assembly 211 and the first wire clamping assembly 215, a sleeve is provided on the top surface of the first support platform 2122. The ground wire extending from the first clamping assembly 211 passes through the sleeve and is clamped by the first wire clamping assembly 215. During the process of screwing the ground wire into the splice tube, the sleeve can effectively reduce the probability of bending of the ground wire on the left side of the first wire clamping assembly 215.

[0050] like Figure 2As shown, a second support assembly and a third support assembly are sequentially provided between the first crimping device 21 and the second wire clamping assembly 216. The second support assembly includes a second support platform 2124, which is mounted on the top surface of the fixed platform 1311 via a vertically arranged second support electric cylinder 2123. The second support platform 2124 is used to stably support the right end of the splice tube. The third support assembly includes a third support platform 2126, which is mounted on the top surface of the first movable platform 1301 via a vertically arranged third support electric cylinder 2125. The third support platform 2126 is used to support the grounding wire.

[0051] A second pressing device 22 is provided above the base 11. The second pressing device 22 is fixedly connected to the second movable platform 1302 below the fixed platform 1311 via a second mounting bracket. The structure of the second mounting bracket is the same as that of the first mounting bracket. The second mounting bracket also includes a second mounting platform on the top surface for mounting the second pressing device 22 and a third support member 1334. The distance between the second mounting platform and the second movable platform 1302 is the adjustable height range of the second movable platform 1302.

[0052] The second movable platform 1302 is mounted on the top surface of the first support plate via a vertically arranged third movable electric cylinder 1332. The third movable electric cylinder 1332 is used to adjust the height of the second movable platform 1302 individually. The second movable platform 1302 can be moved up and down by controlling the extension length of the third movable electric cylinder 1332.

[0053] Specifically: A fourth support member is vertically installed on the top surface of the first support plate, and a second through hole is opened on the second movable platform 1302. The side wall of the second through hole and the side wall of the fourth support member are slidably engaged by a sliding groove and a slider. The length direction of the sliding groove is parallel to the extension and retraction direction of the second movable electric cylinder 1331.

[0054] The tension clamp consists of a steel anchor and an aluminum tube from right to left. The left end of the aluminum tube is the crimping area. During use, one end of the splice is screwed into the crimping area, and the splice is connected to the tension clamp by hydraulic compression of the crimping area.

[0055] The second crimping device 22 has a clamping assembly 223 on its right side, which is used to clamp the right end of the tension clamp. The clamping assembly 223 includes a second electric gripper 2232, which is fixedly installed on the top surface of the fixed platform 1311 via a support frame 2231. In one embodiment of this application, the second electric gripper 2232 includes a first clamping rod and a second clamping rod arranged horizontally and in a front-to-back manner. When the second electric gripper 2232 is running, the distance between the first clamping rod and the second clamping rod is controlled to clamp the right end of the tension clamp.

[0056] The second crimping device 22 has a second rotating insertion component on the left side for clamping the left end of the splice tube (or tension clamp). The second rotating insertion component 214 is slidably connected to the base 11 or counterweight through the second robotic arm 142. The second robotic arm 142 has the same structure as the first robotic arm 141. The second robotic arm 142 is used to adjust the position of the second rotating insertion component 214 left and right, forward and backward, and up and down so that the central axis of the splice tube overlaps with the central axis of the crimping area of ​​the tension clamp, which facilitates the insertion of the inner liner tube into the crimping area of ​​the left end of the aluminum tube.

[0057] The second activity platform 1302 has a third clamping component 231 with the same structure as the first clamping component 211 at its left end. It is used to cooperate with the second robotic arm 142 to move the ground wire to the right and insert the ground wire into the splicing tube or tension clamp.

[0058] A specific embodiment of this application is as follows: Before wiring, remove the pressure block at the top of the first crimping device 21, and place the middle section of the relay tube, which matches the size of the ground wire, on the first crimping device 21. The second movable electric cylinder 1331 adjusts the height of the first crimping device 21 up and down so that the relay tube is at the same height as the wire feeding axis of the first clamping component 211 or the second clamping component 221. Simultaneously adjust the heights of the first support platform 2122, the second support platform 2124, and the third support platform 2126 so that they are at the same height as the central axis of the relay tube.

[0059] The position of the first robotic arm 141 and the first screw-in assembly 213 is adjusted left and right by the translation motor 1410 so that the left end of the relay tube is flush with the left end of the clamping plate of the first screw-in assembly 213. The first robotic arm 141 and the first electric gripper 2135 are controlled to move in coordination so that the first electric gripper 2135 clamps the left end of the relay tube.

[0060] The required length of the ground wire is determined in advance, thereby determining the number of reels required for splicing. When the number of reels is greater than one, the tail end of one reel of ground wire is passed sequentially through the second clamping assembly 221 and the second clamping assembly 216, and the tail end is placed on the third support platform 2126. The second clamping assembly 216 clamps the ground wire. Another reel of ground wire is installed on the unwinding equipment, and the head end of the other reel of ground wire is passed sequentially through the first clamping assembly 211, the sleeve, and the first clamping assembly 215. The first clamping assembly 215 clamps the ground wire, completing the installation of the ground wire.

[0061] Installing the grounding wire: The first clamping component 211 transports the grounding wire toward the corresponding relay tube, and the first screwing component 213 rotates the relay tube along the central axis to screw the end of the grounding wire into the relay tube.

[0062] Crimping the ground wire: Reinstall the pressing block on the first crimping device 21. The first movable electric cylinder 6 controls the first crimping device 21 to move left and right, and simultaneously controls the first crimping device 21 to crimp, completing the connection of the two ground wires. By cooperating with the unwinding device, the ground wire of the set length is released, completing the preparation work before laying the ground wire.

[0063] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of this patent.

Claims

1. An automatic crimping device for conductors and ground wires based on X-ray inspection technology, characterized in that, The system includes a fixed platform (1311) fixedly installed on the top surface of the base (11). A first pressing device (21) is provided above the fixed platform (1311). The first pressing device (21) is fixedly connected to a first movable platform (1301) below the fixed platform (1311) through a first mounting bracket. The first movable platform (1301) is movably installed on the top surface of the base (11) through a movable component (133). The movable component (133) allows the first movable platform (1301) to move left and right and up and down. The first crimping device (21) has a first clamping assembly (211) and a second clamping assembly (221) fixedly installed on the top surface of the first movable platform (1301) at its left and right ends respectively. The first clamping assembly (211) and the second clamping assembly (221) have the same structure and are both used to clamp the ground wire and transport it towards the first crimping device (21). A first wire clamping assembly (215) is provided between the first clamping assembly (211) and the first crimping device (21), and a second wire clamping assembly (216) is provided between the second clamping assembly (221) and the first crimping device (21) and is fixedly installed on the top surface of the first movable platform (1301). The first wire clamping assembly (215) and the second wire clamping assembly (216) have the same structure and are used to clamp the ground wire so that the ground wire can be accurately inserted into the splice tube. A first screw-in assembly (213) is fixedly installed on the right side of the first clamping assembly (215). The first screw-in assembly (213) is used to clamp the left end of the splice tube and make it rotate along the central axis. The first crimping device (21) is used to crimp a connector with ground wires at both ends. The top surface of the fixed platform (1311) is equipped with an X-ray detection system located behind the first crimping device (21). The X-ray detection system is used to detect the crimping quality.

2. The automatic wire crimping device based on X-ray detection technology according to claim 1, characterized in that, The movable component (133) includes a first movable electric cylinder (6) fixedly installed on the top surface of the base (11), and a first support plate that can slide left and right is installed on the top surface of the base (11). The extended end of the first movable electric cylinder (6) is fixedly connected to the first support plate. The first movable platform (1301) is installed on the top surface of the first support plate through a vertically set second movable electric cylinder (1331).

3. The automatic wire crimping device based on X-ray detection technology according to claim 1, characterized in that, The first clamping assembly (211) includes vertically arranged movable wheels (2114) and drive wheels, and a first vertical plate (2111) and a second vertical plate (2116) facing each other. The first vertical plate (2111) and the second vertical plate (2116) respectively support the two ends of the axle of the movable wheel (2114) and the drive wheel. The first clamping electric cylinder (2117) and the second clamping electric cylinder (2118) are vertically installed at the top of the first vertical plate (2111) and the second vertical plate (2116), respectively. The extended ends of the first clamping electric cylinder (2117) and the second clamping electric cylinder (2118) are movably connected to the two ends of the shaft of the movable wheel (2114). A wire feeding motor (2115) is fixedly installed on the side of the first vertical plate (2111) or the second vertical plate (2116) away from the movable wheel (2114), and the output shaft of the wire feeding motor (2115) is connected to the shaft of the drive wheel.

4. The automatic wire crimping device based on X-ray detection technology according to claim 1, characterized in that, The first screw-in assembly (213) includes a first electric gripper (2135), which includes vertically arranged upper and lower fingers. The upper fingers are fixedly connected to an arc-shaped upper clamping plate (21361), and the lower fingers are fixedly connected to an arc-shaped lower clamping plate (21362). The upper clamping plate (21361) and the lower clamping plate (21362) are used to clamp the connecting tube. The outer wall of the upper clamping plate (21361) is fixedly equipped with several screw-in motors (21363), and the inner wall of the upper clamping plate (21361) is provided with several drive rods along the length direction that are connected to the output shaft of the corresponding screw-in motors (21363). The lower clamping plate (21362) has the same structure as the upper clamping plate (21361).

5. The automatic wire crimping device based on X-ray detection technology according to claim 1, characterized in that, The first screw-in assembly (213) is movably connected to the base (11) via the first robotic arm (141). The first robotic arm (141) includes a first translation assembly that moves the robotic arm left and right. The first translation assembly includes a translation component (1411) on which a translation motor (1410) is fixedly mounted. The surface of the base (11) is provided with a translation rack (13227) and a translation groove. The translation component (1411) is provided with a translation slider that engages with the translation groove. The translation component (1411) is provided with a translation gear (13226) that meshes with the translation rack (13227). The translation gear (13226) is connected to the output end of the translation motor (1410) for transmission.

6. The automatic conductor crimping device based on X-ray detection technology according to claim 5, characterized in that, The first robotic arm (141) includes a first connecting arm (1413) and a second connecting arm (1414). One end of the first connecting arm (1413) is movably connected to the translation member (1411) through a first mechanical motor (1412), so that the first connecting arm (1413) can rotate left and right with the end close to the first mechanical motor (1412) as the rotation center. The other end of the first connecting arm (1413) is movably connected to the lower end of the second connecting arm (1414) via the second mechanical motor (1415), so that the second connecting arm (1414) can rotate up and down with the lower end as the rotation center; the top end of the second connecting arm (1414) is fixedly connected to the first mechanical electric cylinder (1417), and the extended end of the first mechanical electric cylinder (1417) is fixedly connected to the first screw-in assembly (213).

7. The automatic conductor crimping device based on X-ray detection technology according to claim 1, characterized in that, The first wire clamping assembly (215) is fixedly installed on the top surface of the second support plate (2151), and the second support plate (2151) is fixedly connected to the first mechanical electric cylinder (1417); The first wire clamping assembly (215) includes a housing (2153) with openings at both the left and right ends. The housing (2153) contains a first wire clamping roller (2154) and a second wire clamping roller (2155) arranged in a front-to-back pattern. A wire clamping electric cylinder (2152) is fixedly installed on the top surface of the second support plate (2151). The shaft of the first wire clamping roller (2154) is perpendicular to the second support plate (2151) and connected to the extended end of the wire clamping electric cylinder (2152). The shaft of the second wire clamping roller (2155) is perpendicular to the second support plate (2151) and connected to the housing (2153).

8. The automatic wire crimping device based on X-ray inspection technology according to claim 1, characterized in that, A first support component is fixedly installed on the top surface of the first movable platform (1301) between the first clamping component (211) and the first wire clamping component (215). The first support component includes a first support platform (2122) with an arc structure. The first support platform (2122) is installed on the top surface of the first movable platform (1301) by a vertically installed first support electric cylinder (2121). A wire sleeve is provided on the top surface of the first support platform (2122).

9. The automatic wire crimping device based on X-ray detection technology according to claim 1, characterized in that, A second pressing device (22) is provided above the base (11), and the second pressing device (22) is fixedly connected to the second movable platform (1302) below the fixed platform (1311) through the second mounting bracket; The second crimping device (22) has a clamping assembly (223) installed on the top surface of the fixed platform (1311) on the right side. The second movable platform (1302) has a third clamping assembly (231) with the same structure as the first clamping assembly (211) on the left end. A second rotating insertion assembly is provided between the second crimping device (22) and the third clamping assembly (231). The second rotating insertion assembly is movably connected to the base (11) through the second robotic arm (142). The structures of the second rotating insertion assembly and the second robotic arm (142) are the same as those of the first rotating insertion assembly and the first robotic arm (141).

10. The automatic wire crimping device based on X-ray detection technology according to claim 9, characterized in that, The second movable platform (1302) is mounted on the top surface of the first support plate via a vertically arranged third movable electric cylinder (1332).

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