Cable head unhooking assisting device

Abstract

The invention provides cable head unhanging assisting equipment which comprises a cable head unhanging supporting device, a mechanical arm and a control device, the cable head unhanging supporting device comprises a base, a supporting rod and a cable head clamping mechanism, the supporting rod is vertically clamped on the base through a rotary clamping structure, the cable head clamping mechanism is installed on the supporting rod, and the mechanical arm is connected with the control device. The device further comprises a force sensor, a range finder and a real-time attitude detection sensor, the force sensor is installed on the cable head clamping mechanism and used for clamping the space bottom of the cable head, the range finder is installed at the position, facing the cable head, of the cable head clamping mechanism, and the real-time attitude detection sensor is installed on the periphery of the cable head clamping mechanism. The cable head unhooking supporting device is installed at the tail end of the mechanical arm through a base of the cable head unhooking supporting device, and the control device controls the mechanical arm to drive the cable head unhooking supporting device to drive a cable head to conduct unhooking operation according to detection data of the force sensor, the distance measuring instrument and the real-time posture detection sensor.

Description

Technical Field

[0001] This invention relates to the field of cable technology, and in particular to a cable head unsnagging aid device. Background Technology

[0002] As a core component in power transmission and distribution systems, cable heads play a crucial role in connection, and their installation, commissioning, routine maintenance, and unloading are important tasks in the power operation and maintenance field. Traditional cable head unloading operations primarily rely on manual labor, which generally suffers from excessive labor intensity, significant safety risks, and low efficiency. Especially in high-altitude operations, confined spaces, or complex environments, operators must hold cable heads weighing tens of kilograms by hand for extended periods. This not only places extremely high demands on the physical fitness and endurance of personnel but also greatly increases the risk of accidental cable head slippage, muscle injuries to operators, or accidents caused by fatigue. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a device that can assist in the unslung operation of cable heads.

[0004] To solve the above-mentioned technical problems, the present invention provides a cable head unsnagging assistance device, including a cable head unsnagging support device, a robotic arm, and a control device. The cable head unsnagging support device includes a base, a support rod, and a cable head clamping mechanism. The support rod is vertically clamped onto the base via a rotary clamping structure. The cable head clamping mechanism is mounted on the support rod. It also includes a force sensor, a rangefinder, and a real-time attitude detection sensor. The force sensor is mounted on the bottom of the space in the cable head clamping mechanism for clamping the cable head. The rangefinder is mounted on the cable head clamping mechanism facing the cable head. The real-time attitude detection sensor is mounted around the cable head clamping mechanism. The cable head unsnagging support device is mounted on the end of the robotic arm via its base. The control device is electrically connected to the robotic arm, the force sensor, the rangefinder, and the real-time attitude detection sensor. Based on the detection data from the force sensor, the rangefinder, and the real-time attitude detection sensor, the control device controls the robotic arm to drive the cable head unsnagging support device to perform an unsnagging operation on the cable head.

[0005] Furthermore, the cable head clamping mechanism is ring-shaped and is vertically mounted on the support rod. The inner ring of the cable head clamping mechanism is used to clamp the cable head. The force sensor is specifically installed at the bottom of the inner ring of the cable head clamping mechanism. The rangefinder extends into the space of the inner ring of the cable head clamping mechanism. The real-time attitude detection sensor is specifically installed on the outer ring wall of the cable head clamping mechanism.

[0006] Furthermore, the cable head clamping mechanism is provided with a cable head fixing structure for fixing the cable head in the inner ring.

[0007] Furthermore, the cable head fixing structure specifically consists of a bolt that extends from the outer ring to the inner ring.

[0008] Furthermore, there are multiple cable head fixing structures, which are evenly distributed on the cable head fixing structure.

[0009] Furthermore, the inner ring wall of the cable head clamping mechanism is provided with protruding anti-slip texture.

[0010] Furthermore, the rotating clamping structure is specifically a hollow, round cap-shaped structure that is mounted on the base. The bottom outer wall of the support rod has a protruding annular clamping block. The bottom of the support rod passes through the top of the rotating clamping structure and extends into the interior, and is clamped inside the rotating clamping structure by the annular clamping block.

[0011] The present invention has the following beneficial effects: During the cable head unslinging operation, the cable head can be clamped in the cable head clamping mechanism of the cable head unslinging support device. Then, the control device controls the robotic arm to drive the cable head unslinging support device to move the cable head for unslinging operation. During this process, the control device acquires detection data from force sensors, rangefinders, and real-time attitude detection sensors to monitor the weight change, spatial position, and motion state of the cable head. Based on the detection data, the control device controls the robotic arm to drive the cable head unslinging support device to adjust the position and motion state of the cable head, realizing real-time adaptive adjustment of the assistance level. This effectively meets the force control requirements of different operation stages and ensures that the cable head can be accurately unslinged. In this way, the cable head unslinging assistance device can replace manual lifting of the cable head for unslinging operation, reducing the safety accidents that may occur due to manual operation. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the cable head unhooking assistance device.

[0013] Figure 2 This is a schematic diagram of the cable head unslung support device.

[0014] Figure 3 This is a schematic diagram showing the fit between the base, support rod, and rotating clamping structure.

[0015] Explanation of reference numerals in the attached drawings: 1. Base; 2. Support rod; 3. Cable head clamping mechanism; 4. Rotary clamping structure; 5. Force sensor; 6. Rangefinder; 7. Real-time attitude detection sensor; 8. Cable head fixing structure; 9. Anti-slip texture; 21. Annular clamping block; 101. Cable head unhooking support device; 102. Robotic arm. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to specific embodiments.

[0017] Cable head unloading assistance equipment, such as Figure 1 As shown, the device includes a cable head unhooking support device 101, a robotic arm 102, and a control device 103. The cable head unhooking support device 101 is installed at the end of the robotic arm 102. The control device 103 is specifically an industrial computer or industrial control computer with a touch screen, which is electrically connected to the robotic arm 102.

[0018] like Figure 2 As shown, the cable head unhooking support device 101 includes a base 1, a support rod 2, and a cable head clamping mechanism 3. The cable head unhooking support device 101 is mounted on the end of the robotic arm 102 via its base 1. The support rod 2 is vertically clamped onto the base 1 via a rotating clamping structure 4. The cable head clamping mechanism 3 is mounted on the support rod 2, allowing the cable head clamping mechanism 3 to rotate on the base 1 via the support rod 2. Figure 3 As shown, the rotating clamping structure 4 is specifically a hollow, round cap-shaped structure, which is mounted on the base 1. A ring-shaped clamping block 21 protrudes from the bottom outer wall of the support rod 2. The bottom of the support rod 2 passes through the top of the rotating clamping structure 4 and extends into its interior, where it is clamped by the ring-shaped clamping block 21, allowing the support rod 2 to rotate around its own axis. The cable head clamping mechanism 3 is ring-shaped and is vertically mounted on the support rod 2. The inner ring of the cable head clamping mechanism 3 is used to clamp the cable head. The cable head clamping mechanism 3 is provided with three cable head fixing structures 8 for fixing the cable head in the inner ring. Specifically, the three cable head fixing structures 8 are bolts that pass through from the outer ring to the inner ring, evenly distributed on the cable head fixing structures 8. The inner ring wall of the cable head clamping mechanism 3 is provided with protruding anti-slip textures 9.

[0019] The cable head unhooking support device 101 also includes a force sensor 5, a rangefinder 6, and a real-time attitude detection sensor 7. The force sensor 5 is installed on the bottom of the space where the cable head is clamped on the cable head clamping mechanism 3, specifically at the bottom of the inner ring of the cable head clamping mechanism 3, and is used to detect changes in the weight of the cable head. The rangefinder 6 is specifically a laser rangefinder, which is installed on the cable head clamping mechanism 3 facing the cable head, specifically at the bottom of the cable head clamping mechanism 3, with the detection direction upward, extending towards the inner ring space of the cable head clamping mechanism 3, and is used to detect the spatial position of the cable head. The real-time attitude detection sensor 7 specifically integrates motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, and is installed on the periphery of the cable head clamping mechanism 3, specifically on the outer ring wall of the cable head clamping mechanism 3, and is used to detect the motion state of the cable head clamping mechanism 3 as it rotates. The control device 103 is electrically connected to the force sensor 5, the rangefinder 6 and the real-time attitude detection sensor 7 respectively. Based on the detection data of the force sensor 5, the rangefinder 6 and the real-time attitude detection sensor 7, the control device 103 controls the robotic arm 102 to drive the cable head unhanging support device 101 to perform the unhanging operation.

[0020] During the cable head unslinging operation, the cable head can be clamped in the cable head clamping mechanism 3 of the cable head unslinging support device 101. Then, the control device 103 controls the robotic arm 102 to drive the cable head unslinging support device 101 to perform the unslinging operation. During this process, the control device 103 acquires detection data from the force sensor 5, the rangefinder 6, and the real-time attitude detection sensor 7. Based on this, it monitors the weight change, spatial position, and motion state of the cable head, and controls the robotic arm 102 to drive the cable head unslinging support device 101 to adjust the position and motion state of the cable head. This achieves real-time adaptive adjustment of the assistance level, effectively meeting the force control requirements of different operation stages and ensuring that the cable head can be accurately unslinged. In this way, the cable head unslinging assistance device can replace manual lifting of the cable head for unslinging operations, reducing the safety accidents that may occur due to manual operation.

[0021] The above description is merely an embodiment of the present invention and does not limit the scope of patent protection. Any non-substantial changes or substitutions made by those skilled in the art based on the present invention will still fall within the scope of patent protection.

Claims

1. A cable head unhooking assistance device, characterized in that, The system includes a cable head unhooking support device (101), a robotic arm (102), and a control device (103). The cable head unhooking support device (101) includes a base (1), a support rod (2), and a cable head clamping mechanism (3). The support rod (2) is vertically clamped onto the base (1) via a rotary clamping structure (4). The cable head clamping mechanism (3) is mounted on the support rod (2). The system also includes a force sensor (5), a rangefinder (6), and a real-time attitude detection sensor (7). The force sensor (5) is mounted on the cable head clamping mechanism (3) at the bottom of the space for clamping the cable head. The rangefinder (6) is mounted on the cable head clamping mechanism (3) facing the cable head. The real-time attitude detection sensor (7) is installed around the cable head clamping mechanism (3) at the position of the cable head. The cable head unhooking support device (101) is installed at the end of the robotic arm (102) through its base (1). The control device (103) is electrically connected to the robotic arm (102), the force sensor (5), the rangefinder (6) and the real-time attitude detection sensor (7) respectively. The control device (103) controls the robotic arm (102) to drive the cable head unhooking support device (101) to drive the cable head to perform unhooking operation based on the detection data of the force sensor (5), the rangefinder (6) and the real-time attitude detection sensor (7).

2. The cable head unhooking assist device according to claim 1, characterized in that, The cable head clamping mechanism (3) is circular and is vertically mounted on the support rod (2). The inner ring of the cable head clamping mechanism (3) is used to clamp the cable head. The force sensor (5) is specifically installed at the bottom of the inner ring of the cable head clamping mechanism (3). The rangefinder (6) extends towards the inner ring of the cable head clamping mechanism (3). The real-time attitude detection sensor (7) is specifically installed on the outer ring wall of the cable head clamping mechanism (3).

3. The cable head unhooking assist device according to claim 2, characterized in that, The cable head clamping mechanism (3) is provided with a cable head fixing structure (8) for fixing the cable head in the inner ring.

4. The cable head unhooking assist device according to claim 3, characterized in that, The cable head fixing structure (8) is specifically a bolt that runs from the outer ring to the inner ring.

5. The cable head unhooking assist device according to claim 4, characterized in that, There are multiple cable head fixing structures (8), which are evenly distributed on the cable head fixing structure (8).

6. The cable head unhooking assist device according to claim 2, characterized in that, The inner ring wall of the cable head clamping mechanism (3) is provided with protruding anti-slip texture (9).

7. The cable head unhooking assist device according to claim 1, characterized in that, The rotating clamping structure (4) is specifically a hollow, round cap-shaped structure, which is installed on the base (1). The bottom outer wall of the support rod (2) has a ring-shaped clamping block (21) protruding. The bottom of the support rod (2) passes through the top of the rotating clamping structure (4) and extends into the interior, and is clamped inside the rotating clamping structure (4) by the ring-shaped clamping block (21).

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