Cable flexible clamping device, cable wiring system and cable wiring method

Abstract

The invention relates to a cable flexible clamping device, a cable wiring system and a cable wiring method. The cable flexible clamping device comprises a clamping module and a first moving module connected with the clamping module. The clamping module comprises a first mounting plate, a clamping jaw seat fixed to the first mounting plate, a movable swing jaw rotationally connected with the clamping jaw seat and arranged on one side of the clamping jaw seat, a fixed clamping jaw fixedly connected with the clamping jaw seat and arranged on the other side of the clamping jaw seat, and a pushing assembly arranged on the first mounting plate. The pushing assembly comprises a second rotary driving source, a sleeve piece connected with the output end of the second rotary driving source and a jacking piece connected with the sleeve piece. The first moving module is arranged to move in at least one of the first horizontal direction, the vertical direction and the second horizontal direction. The device is compatible with all-specification cables, provides automatic pre-operation support for butt joint with the parallel groove clamp, and is high in cooperation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power equipment, in particular to a cable flexible clamping device, a cable wiring system and a cable wiring method. BACKGROUND

[0002] In the cable connection of the power system, the pretreatment (bending cable straightening) and accurate transfer of the cable are the key links of the wiring operation, and the mechanical arm as the core executive component of the automatic operation directly affects the overall efficiency. The existing technology has the following defects: 1. Poor coordination between the mechanical arm and the pretreatment: the traditional equipment only takes charge of the transportation, and is not integrated with the cable straightening mechanism, resulting in secondary bending of the bent cable during the transfer process, which needs to be adjusted manually again, and the processing capacity per hour is less than 25; 2. Insufficient positioning accuracy of the mechanical arm: the existing mechanical arm adopts a joint structure, and the horizontal transfer positioning error is more than 0.5mm, which is difficult to accurately send the cable to the specified position 5mm in front of the hole position of the parallel groove clamp, and is easy to cause subsequent insertion jam; 3. Weak clamping adaptability: the mechanical arm end gripper is fixed in size, and cannot adapt to different specifications of 16mm2-240mm2 cables, and the clamping is too tight to damage the surface (damage rate more than 5%), and too loose to cause the cable to fall off during the transfer, which needs manual assistance; 4. Lack of flexible buffer design: the mechanical arm transfers rigidly contacts the cable, and if the cable position deviates, the cable may be bent or the mechanical arm may be overloaded due to impact force, which needs manual emergency stop adjustment, and the automation degree is low. SUMMARY

[0003] In view of the defects of the prior art, the present application discloses a cable flexible clamping device, a cable wiring system and a cable wiring method.

[0004] The technical scheme adopted by the present application is as follows: In a first aspect, a cable flexible clamping device is provided, comprising: A clamping module includes a first mounting plate, a gripper seat fixed to the first mounting plate, a movable swing jaw rotatably connected to the gripper seat and arranged on one side of the gripper seat, a fixed gripper fixedly connected to the gripper seat and arranged on the other side of the gripper seat, and a pushing assembly arranged on the first mounting plate; wherein the pushing assembly includes a second rotary drive source, a sleeve connected to the output end of the second rotary drive source, and a tightening piece connected to the sleeve; the second rotary drive source drives the sleeve to rotate, and the sleeve pushes the tightening piece into the fixed gripper and moves towards the movable swing jaw; A first moving module is connected to the first mounting plate; the first moving module is configured to move along at least one of a first horizontal direction, a vertical direction, and a second horizontal direction.

[0005] In one embodiment of the present invention, the movable swing claw includes a first rotary drive source disposed on one side of the gripper seat, a first connecting shaft connected to the output end of the first rotary drive source, a drive wheel passing through the first connecting shaft, a second connecting shaft disposed parallel to the first connecting shaft, a driven wheel passing through the second connecting shaft and meshing with the drive wheel, and a first clamping plate; the second connecting shaft passes through the first clamping plate along a second horizontal direction.

[0006] In one embodiment of the present invention, both the first rotary drive source and the second rotary drive source are servo motors.

[0007] In one embodiment of the present invention, the fixing claw includes a second clamping plate disposed at a preset angle between itself and the claw seat; the second clamping plate has a through hole for the clamping member to pass through.

[0008] In one embodiment of the present invention, the first moving module includes a first linear module connected to the first mounting plate, a first lifting module connected to the first linear module, and a second linear module connected to the first lifting module; the first linear module is configured to move along a first horizontal direction; the first lifting module is configured to move along a vertical direction; and the second linear module is configured to move along a second horizontal direction.

[0009] Secondly, a cable wiring system is provided, comprising: A feeding device for gripping pre-connected cables; An infeeding device is used to guide and correct the initial degree of bending of the pre-connected cable; A straightening device for straightening the entire length of the pre-connected cable; The cable flexible clamping device described above is used to receive the pre-connected cable discharged from the straightening device; A parallel groove clamp installation device is used to place the parallel groove clamp and install the parallel groove clamp on the pre-connected cable.

[0010] In one embodiment of the present invention, the parallel groove clamp installation device includes a parallel groove clamp placement mechanism, a tightening mechanism disposed on one side of the parallel groove clamp placement mechanism, and a second moving module connected to the parallel groove clamp placement mechanism; the second moving module is configured to move along at least one of a first horizontal direction, a vertical direction, and a second horizontal direction.

[0011] In one embodiment of the present invention, the infeeding device includes a guide seat; the guide seat has a tapered hole along a first horizontal direction.

[0012] In one embodiment of the present application, the straightening device comprises a fixed seat, a compression driving source mounted on the fixed seat, a first connecting rod connected to the action end of the compression driving source and movably arranged at both ends of the fixed seat, and a second connecting rod arranged in parallel with the first connecting rod and fixed at both ends of the fixed seat.

[0013] In a third aspect, a cable wiring method is provided, which is implemented by using the cable wiring system as described above, and comprises the following steps: S1, the feeding device horizontally sends the pre-connected cable into the guiding device, and the guiding device corrects the initial bending degree of the pre-connected cable to obtain a pre-processed cable; S2, the feeding device moves the cable into the straightening device along the axial direction of the cable, and the straightening device straightens the cable in the whole length; S3, the cable flexible clamping device receives the cable processed in step S2, and moves to the parallel groove clamp mounting device through a preset path; after the movable jaw of the cable flexible clamping device rotates by a preset angle to approach the parallel groove clamp mounting device, the pushing assembly pushes the cable into the parallel groove clamp mounting device; S4, the parallel groove clamp mounting device installs the parallel groove clamp on the cable.

[0014] The above technical solution of the present application has the following advantages compared with the prior art: The cable flexible clamping device of the present application can horizontally and accurately transfer the pre-connected cable to the parallel groove clamp mounting device. During the clamping process, the cable can be clamped gently to avoid damage to the outer skin of the cable.

[0015] The automatic clamping and transferring process of the cable flexible clamping device of the present application greatly reduces the time and labor intensity of manual operation, improves the work efficiency, and reduces the errors caused by human factors, improves the accuracy and reliability of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments of the present application and in conjunction with the accompanying drawings.

[0017] Figure 1 is a structural schematic diagram of the cable flexible clamping device in the present application.

[0018] Figure 2 is a structural schematic diagram of the first perspective view of the clamping module in the present application.

[0019] Figure 3 is a structural schematic diagram of the second perspective view of the clamping module in the present application.

[0020] Figure 4 is Figure 3 is an enlarged schematic view of A in FIG. 1.

[0021] Figure 5 is a structural schematic view of the first perspective of the parallel groove clamp mounting device in the present application.

[0022] Figure 6 is a structural schematic view of the second perspective of the parallel groove clamp mounting device in the present application.

[0023] Figure 7 is a structural schematic view of the feeding device in the present application.

[0024] Figure 8 is a structural schematic view of the guiding device in the present application.

[0025] Figure 9 is a structural schematic view of the straightening device in the present application.

[0026] Explanation of the drawing marks in the specification: 10, cable flexible clamp taking device; 11, clamp taking module; 111, first mounting plate; 112, clamp jaw seat; 113, movable swing jaw; 1131, first clamp plate; 1132, first rotary driving source; 1133, driving wheel; 1134, first connecting shaft; 1135, driven wheel; 1136, second connecting shaft; 114, fixed clamp jaw; 1141, second clamp plate; 115, pushing assembly; 1151, jacking piece; 1152, sleeve piece; 1153, second rotary driving source; 1154, second mounting plate; 12, first linear module; 13, first lifting module; 14, second linear module; 20, parallel groove clamp mounting device; 21, parallel groove clamp placing mechanism; 211, buffer seat; 212, parallel groove clamp; 22, tightening mechanism; 23, third linear module; 24, second lifting module; 25, fourth linear module; 30, mechanical arm; 40, pre-connected cable; 50, guiding device; 501, conical hole; 60, straightening device; 601, pressing driving source; 602, connecting block; 603, first connecting rod; 604, second connecting rod; 605, fixed seat. DETAILED DESCRIPTION

[0027] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it. The embodiments are not intended to limit the present application.

[0028] The foregoing and other technical contents, features and effects of the present application will be apparent from the following detailed description of embodiments, with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only the directions of the accompanying drawings. Therefore, the directional terms used are used for illustration and not for limitation of the present application. In addition, the same reference numerals represent the same elements throughout the embodiments.

[0029] In combination Figure 1 , Figure 5 , Figure 7 , Figure 8 and Figure 9 , a cable wiring system includes a feeding device, a leading-in device 50, a straightening device 60, a cable flexible clamping device 10 and a parallel groove clamp mounting device 20. The feeding device is used to grab a pre-connected cable 40. The leading-in device 50 is used to guide and correct the initial bending degree of the pre-connected cable 40. The straightening device 60 is used to straighten the pre-connected cable 40 in full length. The cable flexible clamping device 10 is used to receive the pre-connected cable 40 discharged from the straightening device 60. The parallel groove clamp mounting device 20 is used to place a parallel groove clamp 212 and mount the parallel groove clamp 212 on the pre-connected cable 40.

[0030] As shown in Figure 7 , the feeding device includes a multi-degree-of-freedom mechanical arm 30. In this embodiment, the multi-degree-of-freedom mechanical arm 30 is a six-degree-of-freedom mechanical arm, each joint is equipped with a high-precision servo motor (rated speed 3000 rpm) and a harmonic reducer (reduction ratio 100:1), the repeatability is ±0.02 mm, the working radius covers a range of 1.2 m, and the cable processing posture can be flexibly adjusted. A torque sensor is provided at the joint, which automatically slows down when the load exceeds 20 N to avoid overload damage.

[0031] As shown in Figure 8 , the leading-in device 50 includes a guide seat. The guide seat is provided with a tapered hole 501 in the first horizontal direction. Specifically, the taper of the tapered hole 501 is 1:5, that is, the entrance diameter of the tapered hole 501 is 20 mm and the exit diameter is 10 mm. Further, the hole wall of the tapered hole 501 is pasted with a 0.5 mm thick polytetrafluoroethylene coating to reduce the friction coefficient. The multi-degree-of-freedom mechanical arm 30 grabs one end of the cable and passes through the tapered hole 501, which uses tapered guidance to correct the initial bending degree of the cable to ensure smooth entry into the subsequent mechanism.

[0032] In this embodiment, in order to describe the relationship between each part, the length direction of the guide seat is taken as the X-axis direction, the width direction of the guide seat is taken as the Y-axis direction, and the height direction of the guide seat is taken as the Z-axis direction. Therefore, it can be understood that the X-axis direction is the first horizontal direction, the Y-axis direction is the second horizontal direction, and the Z-axis is the vertical direction.

[0033] AsFigure 9 As shown, the straightening device 60 includes a fixed base 605, a pressure drive source 601 mounted on the fixed base 605, a first connecting rod 603 connected to the working end of the pressure drive source 601 and movably disposed at both ends on the fixed base 605, and a second connecting rod 604 arranged parallel to the first connecting rod 603 and fixed at both ends to the fixed base 605. Specifically, oblong holes are respectively opened on both sides of the fixed base 605, and both ends of the first connecting rod 603 pass through the oblong holes. When the pressure drive source 601 applies a load to the first connecting rod 603, both ends of the first connecting rod 603 can move within the oblong holes.

[0034] Furthermore, the surfaces of both the first link 603 and the second link 604 are coated with a silicone layer with a Shore A hardness of 50A. After the multi-degree-of-freedom robotic arm 30 passes the pre-connected cable 40 through the inlet device 50 and inserts it between the first link 603 and the second link 604, the first link 603 adjusts the pressure on the pre-connected cable 40 (5N-10N) through the pressure drive source 601. This, combined with the translational movement of the multi-degree-of-freedom robotic arm 30 along the axial direction of the pre-connected cable 40 (speed 0.1m / s), achieves full-length straightening of the pre-connected cable 40, with a straightness error ≤0.1mm.

[0035] Furthermore, the straightening device 60 also includes a connecting block 602 connected to the working end of the pressing drive source 601. The connecting block 602 has a U-shaped cross-section and can distribute the single force of the pressing drive source 601 to two points, ensuring that the force at each point is uniform.

[0036] Combination Figures 1 to 4The flexible cable gripping device 10 includes a gripping module 11 and a first moving module. The gripping module 11 includes a first mounting plate 111, a gripper seat 112 fixed to the first mounting plate 111, a movable swing jaw 113 rotatably connected to the gripper seat 112 and disposed on one side of the gripper seat 112, a fixed gripper 114 fixedly connected to the gripper seat 112 and disposed on the other side of the gripper seat 112, and a pushing assembly 115 disposed on the first mounting plate 111. The pushing assembly 115 includes a second rotary drive source 1153, a sleeve 1152 connected to the output end of the second rotary drive source 1153, and a clamping member 1151 connected to the sleeve 1152. The second rotary drive source 1153 drives the sleeve 1152 to rotate, and the sleeve 1152 pushes the clamping member 1151 into the fixed gripper 114 and towards the movable swing jaw 113. Specifically, the movable swing jaw 113 includes a first rotary drive source 1132 disposed on one side of the jaw seat 112, a first connecting shaft 1134 connected to the output end of the first rotary drive source 1132, a drive wheel 1133 passing through the first connecting shaft 1134, a second connecting shaft 1136 arranged parallel to the first connecting shaft 1134, a driven wheel 1135 passing through the second connecting shaft 1136 and meshing with the drive wheel 1133, and a first clamping plate 1131. The second connecting shaft 1136 passes through the first clamping plate 1131 in a second horizontal direction. The fixed jaw 114 includes a second clamping plate 1141 arranged at a preset angle to the jaw seat 112. The second clamping plate 1141 has a through hole for a clamping member 1151 to pass through. The clamping member 1151 is a bolt.

[0037] The second rotary drive source 1153 is mounted on the second mounting plate 1154, and the second mounting plate 1154 is vertically fixed on the first mounting plate 111.

[0038] The first moving module is connected to the first mounting plate 111. The first moving module is configured to move along at least one of a first horizontal direction, a vertical direction, and a second horizontal direction. In this embodiment, the first moving module includes a first linear module 12 connected to the first mounting plate 111, a first lifting module 13 connected to the first linear module 12, and a second linear module 14 connected to the first lifting module 13. The first linear module 12 is configured to move along the first horizontal direction. The first lifting module 13 is configured to move along the vertical direction. The second linear module 14 is configured to move along the second horizontal direction.

[0039] In this embodiment, both the first rotary drive source 1132 and the second rotary drive source 1153 are commercially available servo motors, and the model of the servo motor can be selected and adjusted by those skilled in the art as needed.

[0040] Combination Figure 5 and Figure 6The parallel groove clamp mounting device 20 includes a parallel groove clamp placement mechanism 21, a tightening mechanism 22 disposed on one side of the parallel groove clamp placement mechanism 21, and a second moving module connected to the parallel groove clamp placement mechanism 21. The parallel groove clamp placement mechanism 21 includes a buffer seat 211 for placing parallel groove clamps 212. The second moving module is configured to move in at least one of a first horizontal direction, a vertical direction, and a second horizontal direction. In this embodiment, the second moving module includes a third linear module 23 connected to the parallel groove clamp placement mechanism 21, a second lifting module 24 connected to the third linear module 23, and a fourth linear module 25 connected to the second lifting module 24. The third linear module 23 is configured to move in the first horizontal direction. The second lifting module 24 is configured to move in the vertical direction. The fourth linear module 25 is configured to move in the second horizontal direction.

[0041] It should be noted that the first linear module 12, the first lifting module 13, the second linear module 14, the third linear module 23, the second lifting module 24, and the fourth linear module 25 are all commercially available ball screw linear modules, which can be selected and adjusted by those skilled in the art as needed.

[0042] The working principle of this invention is as follows: S1. The feeding device grabs the pre-connected cable 40 and feeds it horizontally into the inlet device 50. The inlet device guides and corrects the initial bending degree of the pre-connected cable 40 to obtain the pre-treated cable.

[0043] S2. The feeding device moves along the axial direction of the cable to feed the cable into the straightening device 60, and the straightening device 60 straightens the entire length of the cable.

[0044] S3. The flexible cable gripping device 10 receives the cable processed in step S2 and moves towards the parallel groove clamp mounting device 20 via a preset path. After the movable swing claw 113 of the flexible cable gripping device 10 rotates a preset angle towards the parallel groove clamp mounting device 20, the pushing component 115 pushes the cable into the parallel groove clamp mounting device 20. Specifically, after the cable enters the movable swing claw 113 and the fixed gripper 114, the first rotation drive source 1132 drives the first connecting shaft 1134 to rotate. The first connecting shaft 1134 drives the drive wheel 1133 to rotate. The drive wheel 1133 and the driven wheel 1135 mesh and drive each other. The driven wheel 1135 drives the first clamping plate 1131 to rotate clockwise. When the first clamping plate 1131 and the parallel groove clamp placement mechanism 21 are basically on the same horizontal plane, the second rotary drive source 1153 drives the sleeve 1152 to rotate, thereby causing the clamping member 1151 to pass through the second clamping plate 1141 and press against the cable, pushing the cable towards the parallel groove clamp placement mechanism 21 and pushing the cable into the parallel groove clamp placement mechanism 21.

[0045] S4. Parallel groove clamp installation device 20 installs parallel groove clamp 212 onto the cable.

[0046] It should be noted that in step S3, the first linear module 12, the first lifting module 13, the second linear module 14, the third linear module 23, the second lifting module 24 and the fourth linear module 25 cooperate with each other so that the cable can smoothly transition from the cable flexible clamping device 10 to the parallel groove clamping device 20.

[0047] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0048] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible cable clamping device, characterized in that, include: The gripping module (11) includes a first mounting plate (111), a gripper seat (112) fixed to the first mounting plate (111), a movable swing jaw (113) rotatably connected to the gripper seat (112) and disposed on one side of the gripper seat (112), a fixed gripper (114) fixedly connected to the gripper seat (112) and disposed on the other side of the gripper seat (112), and a pushing assembly (115) disposed on the first mounting plate (111); wherein, the pushing assembly The component (115) includes a second rotary drive source (1153), a sleeve component (1152) connected to the output end of the second rotary drive source (1153), and a clamping component (1151) connected to the sleeve component (1152); the second rotary drive source (1153) drives the sleeve component (1152) to rotate, and the sleeve component (1152) pushes the clamping component (1151) into the fixed gripper (114) and moves closer to the movable swing gripper (113); The first moving module is connected to the first mounting plate (111); the first moving module is configured to move along at least one of the first horizontal direction, the vertical direction, and the second horizontal direction.

2. The flexible cable clamping device according to claim 1, characterized in that, The movable swing claw (113) includes a first rotary drive source (1132) disposed on one side of the gripper seat (112), a first connecting shaft (1134) connected to the output end of the first rotary drive source (1132), a drive wheel (1133) passing through the first connecting shaft (1134), a second connecting shaft (1136) arranged parallel to the first connecting shaft (1134), a driven wheel (1135) passing through the second connecting shaft (1136) and meshing with the drive wheel (1133), and a first clamping plate (1131); the second connecting shaft (1136) passes through the first clamping plate (1131) in a second horizontal direction.

3. The flexible cable clamping device according to claim 2, characterized in that, Both the first rotary drive source (1132) and the second rotary drive source (1153) are servo motors.

4. The flexible cable clamping device according to claim 1, characterized in that, The fixed clamp (114) includes a second clamping plate (1141) arranged at a preset angle between itself and the clamping plate seat (112); the second clamping plate (1141) has a through hole for the clamping member (1151) to pass through.

5. The flexible cable clamping device according to claim 1, characterized in that, The first moving module includes a first linear module (12) connected to the first mounting plate (111), a first lifting module (13) connected to the first linear module (12), and a second linear module (14) connected to the first lifting module (13); the first linear module (12) is configured to move along a first horizontal direction; the first lifting module (13) is configured to move along a vertical direction; and the second linear module (14) is configured to move along a second horizontal direction.

6. A cable wiring system, characterized in that, include: A feeding device for gripping pre-connected cables (40). An inlet device (50) is used to guide and correct the initial degree of bending of the pre-connected cable (40); A straightening device (60) is used to straighten the pre-connected cable (40) along its entire length; The cable flexible clamping device (10) as described in any one of claims 1-5 is used to receive the pre-connected cable (40) discharged from the straightening device (60). Parallel groove clamp installation device (20) is used to place the parallel groove clamp (212) and install the parallel groove clamp (212) on the pre-connected cable (40).

7. The cable connection system according to claim 6, characterized in that, The parallel groove clamp installation device (20) includes a parallel groove clamp placement mechanism (21), a tightening mechanism (22) disposed on one side of the parallel groove clamp placement mechanism (21), and a second moving module connected to the parallel groove clamp placement mechanism (21); the second moving module is configured to move along at least one of the first horizontal direction, the vertical direction, and the second horizontal direction.

8. The cable connection system according to claim 6, characterized in that, The inlet device (50) includes a guide seat; the guide seat has a tapered hole (501) along a first horizontal direction.

9. The cable connection system according to claim 6, characterized in that, The straightening device (60) includes a fixed base (605), a pressing drive source (601) installed on the fixed base (605), a first connecting rod (603) connected to the working end of the pressing drive source (601) and movably disposed at both ends on the fixed base (605), and a second connecting rod (604) arranged parallel to the first connecting rod (603) and fixed at both ends on the fixed base (605).

10. A cable wiring method, characterized in that, Implementing the cable wiring system as described in any one of claims 6-9 includes the following steps: S1. The feeding device grabs the pre-connected cable (40) and feeds it horizontally into the inlet device (50). The inlet device guides and corrects the initial bending degree of the pre-connected cable (40) to obtain the pre-treated cable. S2, the feeding device moves along the axial direction of the cable to feed the cable into the straightening device (60), and the straightening device (60) straightens the cable along its entire length; S3. The flexible cable clamping device (10) receives the cable processed in step S2 and moves close to the parallel groove clamp installation device (20) through a preset path. After the movable claw (113) of the flexible cable clamping device (10) rotates to a preset angle close to the parallel groove clamp installation device (20), the pushing component (115) pushes the cable into the parallel groove clamp installation device (20). S4. Parallel groove clamp installation device (20) installs the parallel groove clamp (212) onto the cable.

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