Fire welding operation robot supporting full-automatic drainage wire pretreatment and operation method thereof

Abstract

The invention provides a flame welding operation robot supporting full-automatic drainage wire pretreatment and an operation method of the flame welding operation robot, a machine head is integrated with a machine head base, a wire stripper and a wire clamp flame welding device, and a cable clamp is arranged at the top of a side plate of the machine head base. The wire stripping space of the wire stripper is communicated with the wire clamping space of the cable clamp along the first direction, and the wire stripper enters the wire stripping space after clamping the drainage wire and is stripped at the wire stripping station. And after the drainage wire is stripped, the wire stripper retreats to the side direction, and the wire clamp fire connector ascends to the first ascending height target position and clamps the core section of the drainage wire. The auxiliary mechanical arm places the wire clamp in the wire clamp installation groove and cuts the wire, and the wire clamp fire receiver carries the drainage wire and the wire clamp to descend after wire cutting. And the main mechanical arm lifts the machine head to the bus to strip the bus, and after wire stripping is completed, the wire clamp fire connector ascends to a second ascending height target position and screws a wire clamp bolt, so that wire clamp installation is completed. According to the scheme, full-process full-automatic fire welding operation can be achieved, a series of drainage wire pretreatment operation is completed on the machine head, and the operation efficiency and reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of power operation technology, and in particular to a welding operation robot and its operation method that supports fully automated pre-processing of lead wires. Background Technology

[0002] To meet the higher demands for power supply reliability from the rapid development of the national economy and people's lives, existing technologies require that distribution network operations must strictly adhere to the principle of "live operation without interruption" to minimize the number of power outages. Live operation of distribution networks has become an inevitable trend in the industry.

[0003] One of the most common tasks in live-line work on distribution networks is to reliably connect one end of a drain wire to the high-voltage busbar while it is energized, in order to temporarily divert or conduct current. The drain wire is a conductor with a well-insulated outer sheath, used to share or guide current and prevent overload or arcing of the main equipment; the busbar is a rigid conductor that collects, distributes, and transmits electrical energy, and is usually in a continuously energized state.

[0004] Current methods for live-line connection of lead wires generally employ a semi-automated approach, involving manual climbing in conjunction with insulated bucket trucks or ladders. Workers must perform a series of high-risk operations—grabbing, stripping, cutting, and securing the lead wire to the busbar side—in an environment of high altitude, high voltage, and strong electromagnetic fields. This method has the following significant drawbacks: (1) Workers are in the vicinity of live conductors for a long time, which poses an extremely high safety risk; (2) Low work efficiency; (3) It is greatly affected by factors such as weather and human operational stability, making it difficult to guarantee consistency and success rate; (4) It requires the cooperation of many people, has high labor costs, and is difficult to achieve standardization and large-scale promotion.

[0005] Currently, although some technologies have attempted to use single robotic arms or master-slave teleoperated robots to assist in completing some processes, key steps such as frequent replacement of end effectors, manual judgment of alignment, manual intervention in stripping and cutting of the lead wire are still required. The entire process from lead wire pretreatment to busbar live connection has not been fully automated, and there is still a significant technological gap from truly "fully automated live connection of lead wires".

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] In view of the problems in the prior art, the purpose of this invention is to provide a welding operation robot and its operation method that support fully automatic pretreatment of the lead wire, which overcomes the difficulties of the prior art and can solve the technical problems of insufficient safety, efficiency and reliability of existing live-line operation of distribution network.

[0008] The first aspect of this disclosure provides a welding operation robot that supports fully automated pre-processing of the discharge line, which includes a base platform, an operation control system, a main robotic arm, a robot head, an auxiliary robotic arm, and multiple collaborative tools; The machine head and multiple collaborative tools are pre-mounted on the base platform. The multiple collaborative tools include at least a wire picker, a wire cutter, and several wire clamps. The main robotic arm is fixed to the base platform, and its end is provided with a first quick connector that can be detachably connected to the machine head. The auxiliary robotic arm is fixed to the base platform, and its end is provided with a second quick connector for switching and installing multiple collaborative tools. The head unit includes: a head unit base, which includes a base plate and side plates located at both ends along a first direction. The top of the side plates is provided with a cable clamp, and the base plate and side plates enclose an accommodating space; a wire stripper and a wire clamp fire catcher are located in the accommodating space and are separately arranged. The stripping space of the wire stripper communicates with the first clamping space of the cable clamp along the first direction and is located at the target height position relative to the base plate. The wire stripper is configured to reciprocate between the stripping station and the lateral position in the receiving space along the first direction. The wire clamp fire receiver includes: a mounting base; a lead wire fixing clamp and a wire clamp mounting groove arranged along a first direction on the mounting base, the wire clamp mounting groove having a lead wire pre-installation position and a busbar pre-installation position above it arranged along a first height direction perpendicular to the base plate, and the second wire clamping space of the lead wire fixing clamp communicating with the lead wire pre-installation position along the first direction; The wire clamp fire receiver is configured to move up and down along a first height direction between a starting position, a first rising height target position, and a second rising height target position. The starting position is located below the wire stripping station. The first rising height target position corresponds to the target height position of the lead wire pre-installation position. The second rising height target position corresponds to the target height position of the busbar pre-installation position. The clamp includes: a drain line channel and a busbar channel arranged in parallel; and multiple bolts arranged in parallel between the drain line channel and the busbar channel. The clamp is adapted to the clamp mounting groove such that, when the clamp is inserted into the clamp mounting groove, the drain line channel is located in the drain line pre-installation position and the busbar channel is located in the busbar pre-installation position. The operation control system is configured to schedule the main robotic arm, auxiliary robotic arm and machine head according to preset program instructions, so as to sequentially perform the following on the machine head at the end of the main robotic arm: stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the upper wire connection and connecting the busbar to the live wire.

[0009] The second aspect of this disclosure provides a fire-connection operation method for a fire-connection robot that supports fully automatic pre-processing of lead wires based on any of the above embodiments. The operation control system schedules the main robotic arm, auxiliary robotic arm and head according to preset program instructions to sequentially perform lead wire stripping, wire clamp placement, lead wire cutting, online fire-connection preparation and busbar live fire-connection on the head at the end of the main robotic arm. Stripping the drainage thread includes: The main robotic arm is scheduled to install the machine head through the first quick connector, move the machine head to the guide wire, guide the guide wire through the cable inlet of the wire stripper into the stripping space, and schedule the cable clamp to clamp the guide wire; The wire stripper located at the wire stripping station is moved horizontally in the first direction toward the side to strip the wire until the core section of the lead wire is exposed. Then the wire stripper is moved from the wire stripping station to the side in the first direction. The placement of the wire clamp includes: The dispatch line clamp moves upward to the first rising height target position, so that the core segment of the guide wire enters the guide wire pre-installation position, and the guide wire on one side of the core segment of the guide wire enters the guide wire fixing clamp, and the guide wire fixing clamp clamps the guide wire. The dispatching auxiliary robotic arm is equipped with a wire-retrieving tool via a second quick connector, and the wire-retrieving tool is used to retrieve the wire clamp. The dispatching auxiliary robotic arm transfers the wire clamp into the wire clamp mounting slot, allowing the core segment of the lead wire to enter the lead wire channel of the wire clamp; Cutting the drainage wire includes: The dispatching auxiliary robotic arm switches to install the wire cutting tool via the second quick connector, and moves the wire cutting tool to the drain wire between the wire stripper and the wire clamp fire connector to cut the drain wire; Online connection preparation includes: The cable clamp at the end of the dispatcher head away from the wire stripper loosens the lead wire; The dispatcher wire clamp receiver carries the wire clamp and the drain line in the wire clamp mounting slot down to the starting position; After the online connection preparation is completed, the main robotic arm will lift the machine head to the busbar to perform the live connection of the busbar, including busbar stripping and clamp installation. Busbar stripping includes: scheduling the stripper to strip the busbar at the stripping station to expose the stripped section of the busbar, and controlling the stripper to move to the side along the first direction; The installation of the clamp includes: raising the clamp receiver to the second target height position so that the stripped section of the busbar enters the busbar channel; Tighten the bolts of the dispatch line clamp to close the busbar channel and the diversion line channel.

[0010] The welding operation robot and its operation method that support fully automated pre-processing of drainage lines provided in this disclosure have the following beneficial effects: In this embodiment, the machine head has a highly integrated structure, including a machine head base, a wire stripper, and a wire clamp for connecting the wire. The top of the side plates at both ends of the machine head base along a first direction are equipped with cable clamps for gripping the lead wire or busbar. The stripping space of the wire stripper communicates with the clamping space of the cable clamps along the first direction and is positioned at a target height relative to the base plate. After the cable clamps clamp the lead wire, the lead wire enters the stripping space of the wire stripper, its height relative to the base plate at the target height. Subsequently, the wire stripper performs wire stripping operations on the lead wire along the first direction between the stripping station and the side position. After the lead wire is stripped, the wire stripper retracts to the side position, freeing up the stripping station and creating space for the wire clamp for connecting the wire. The wire clamp receiver, originally positioned below the wire stripping station, rises to the target height at the pre-installation position for the lead wire and stops. At this point, the stripped lead wire core segment is located in the lead wire pre-installation position, and the lead wire fixing clamp on the wire clamp receiver secures the lead wire on one side of the lead wire core segment. Subsequently, the auxiliary robotic arm uses a wire clamp retrieval tool to pick up the wire clamp and place it in the wire clamp mounting slot, allowing the lead wire core segment to smoothly enter the lead wire channel of the wire clamp. Next, the auxiliary robotic arm uses a wire cutting tool to cut the lead wire between the wire stripper and the wire clamp receiver, preparing for the wire clamp receiver to drag the lead wire down to the starting position. Then, the cable clamp at the end of the machine head away from the wire stripper releases the lead wire, and the wire clamp receiver, carrying the wire clamp and lead wire, descends to the starting position, making room for subsequent busbar stripping. During the busbar stripping process, the main robotic arm lifts the machine head to the busbar position, and the cable clamps clamp the busbar, allowing it to enter the stripping space of the stripper, with its height relative to the base plate at the target height. After the busbar stripping is completed, the stripper retracts to the side, clearing the stripping station and creating space for the clamp connector to rise. The clamp connector rises to the target height at the busbar pre-installation position and stops. The stripped busbar section enters the busbar channel of the clamp, and then the clamp connector tightens the clamp bolts to close the busbar channel and the drain cable channel, completing the clamp installation.

[0011] Compared with existing technologies, this technical solution has the following advantages: (1) The existing technology does not disclose the method of stripping the drainage line. Usually, the drainage line needs to be stripped manually in advance and held by the auxiliary arm. In this technical solution, the machine head can automatically complete the stripping of the drainage line, and the auxiliary robotic arm assists in cutting the drainage line, realizing the full automation of the stripping and cutting of the drainage line, reducing manual intervention and improving the reliability of the operation.

[0012] (2) The existing technology involves a "threading the needle" step, which requires the main arm and auxiliary arm to work together to pass the stripped lead wire through the wiring tool at the end of the main arm. This is difficult and inefficient. In this technical solution, the cable clamps at both ends of the machine head clamp the lead wire to complete the pre-connection preparation. The pre-processing steps, including lead wire stripping, clamp placement, lead wire cutting, and pre-connection preparation, are all completed on the machine head. The clamp fire receiver moves up and down along the first height direction between the starting position, the first target height position, and the second target height position, so that the stripped lead wire and the stripped busbar can be spatially connected in the clamp, eliminating the need for "threading the needle" and saving operation time. The lead wire is clamped during the stripping and clamp placement process, reducing bending and ensuring smooth clamp placement. The stripped lead wire can easily enter the clamp channel, which is beneficial for the auxiliary robotic arm to perform fixed-point operation and improves operation accuracy and efficiency.

[0013] (3) In the prior art, the main arm needs to perform two busbar online operations, one for busbar stripping and the other for clamp installation, which is time-consuming and requires high control precision. In this technical solution, after the main robotic arm completes the online connection preparation, it can drag the lead wire to complete the busbar online operation in one go. The busbar stripping and clamp installation can be completed in one busbar online operation, which improves the work efficiency and reduces the time spent on repeated busbar online operations.

[0014] In summary, this technical solution enables fully automated lead wire splicing operations, including lead wire pretreatment and busbar connection, eliminating the need for operators to climb to heights to strip and cut the lead wires, as well as the need for operators to climb onto the line with the robot, significantly improving operational safety.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0016] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0017] Figure 1 This illustration shows a schematic diagram of a live-line connection operation scenario provided by an embodiment of the present disclosure.

[0018] Figure 2 A perspective view of a welding operation robot that supports fully automated pretreatment of the discharge line provided in this disclosure is shown. Figure 3 Display and utilization Figure 2 The diagram shows the operation of the welding robot using its head to grip the guide wire. Figure 4 exhibit Figure 2The diagram shows a 3D view of the robot head for fire-fighting operations, specifically illustrating the operation of introducing the guide wire into the robot head. Figure 5 Display and utilization Figure 2 The diagram shows the state of the welding robot after the wire stripping operation is completed and before the wire clamp welding device rises during the welding operation. The wire clamp welding device is located at the starting position s0 and the wire stripper is located at the side position w2. Figure 6 A schematic diagram showing the positional relationship between the pre-installed positions of the guide wire and the busbar in the display clamp mounting slot; Figure 7 A schematic diagram showing the fit between the wire clamp and the wire clamp mounting slot; Figure 8 A schematic diagram showing the wire clamp fire receiver rising to the first target height after the stripping of the diversion wire is completed; Figure 9 The diagram shows the process of the auxiliary robotic arm placing the wire clamp into the wire clamp mounting slot after the wire clamp receiver has been raised to the first target height (the wire clamp has not yet entered the wire clamp mounting slot). Figure 10 The diagram shows the process of the auxiliary robotic arm placing the wire clamp into the wire clamp mounting slot after the wire clamp receiver has been raised to the first target height (the wire clamp has already entered the wire clamp mounting slot). Figure 11 for Figure 9 A magnified view of the central region S1; Figure 12 A schematic diagram showing the state of the machine head before the drain wire is cut after the wire clamp has been placed. Figure 13 exhibit Figure 4 A three-dimensional view of the firearm clamped at the center line of the machine head shown; Figure 14 exhibit Figure 4 The diagram shows the wire clamp screwing mechanism in the online clamping fire receiver of the machine head when it is in the open position. Figure 15 exhibit Figure 4 The diagram shows the wire clamp screwing mechanism in the online fire-clamping device of the machine head when it is in the closed position. Figure 16 Shown Figure 14 A schematic diagram showing the positional relationship between the clamp screwing mechanism and the clamp when the clamp is in the open position; Figure 17 Shown Figure 14 A schematic diagram showing the positional relationship between the clamp screwing mechanism and the clamp when the clamp is in the closed position; Figure 18 exhibit Figure 4 The diagram shows a perspective view of the firearm connected to the center line clamp on the machine head, which illustrates the internal structure of the clamp screwing mechanism. Figure 19 exhibit Figure 18 A schematic diagram of the gear transmission relationship in the wire clamp screwing mechanism of the wire clamp fire connector shown. Figure 20 A schematic diagram showing the bolt cap collection box inserted into the clamp mounting slot after the busbar connection operation is completed; Figure 21 A schematic diagram showing the auxiliary robotic arm assisting in the cutting of the drain line after the wire clamp is placed. Figure 22 A schematic diagram showing the process after the drain wire is cut, and before the wire clamp fire receiver carries the drain wire and the wire clamp descends. Figure 23 A schematic diagram showing the operation of discarding waste drain line segments with the assistance of a robotic arm after the drain line is cut. Figure 24 A schematic diagram showing the wire clamp fire receiver descending to the starting position after the drain wire is cut; Figure 25 exhibit Figure 4 The diagram shows the outer side structure of the side plate of the machine head near the wire stripping station; Figure 26 exhibit Figure 4 The diagram shows the inner side structure of the side plate of the machine head near the wire stripping station. Figure 27 The diagram shows the state after the busbar stripping is completed and before the wire clamp is raised, where the wire stripper is moved to the side position w2; Figure 28 A schematic diagram showing the wire clamp fire catcher carrying the guide wire and wire clamp rising to the second rising height target position after the busbar stripping is completed; Figure 29 A schematic diagram showing the process of using a wire gripper to hold the drainage wire before stripping it. Figure 30 A schematic diagram showing the operation of using a wire gripper to drag and transfer the drainage line to the drainage line placement rack before stripping the drainage line; Figure 31 and Figure 32 A 3D view showing the main robotic arm in different states during the fire-fighting operation; Figure 33 The diagram illustrates the operation of an auxiliary robotic arm using a wire-removing tool to remove the wire insulation after stripping the drain line or the busbar. Figure 34 A flowchart illustrating the fire connection operation method provided by the embodiments of this disclosure is shown. Detailed Implementation

[0019] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0020] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore, repeated descriptions of them will be omitted.

[0021] Furthermore, the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to define the order of functions performed by these devices, modules or units or their interdependencies.

[0022] Figure 1 This illustration shows a working scenario of the welding operation robot 100 that supports fully automatic pre-processing of diversion lines provided in this embodiment. The welding operation robot 100 is placed on an insulated bucket truck platform or other mobile working platform. It is used to automatically process and reliably connect one end of the diversion line L to the bus line M while the high-voltage bus line M is continuously energized, so as to realize diversion or diversion.

[0023] like Figure 2 As shown, the fire-connecting robot 100 supporting fully automated pre-processing of the diversion line in this embodiment includes a base platform 10, an operation control system (not shown in the figure), a main robotic arm 20, and a machine head 30 (as shown in the figure). Figure 3 (as shown), auxiliary robotic arm 40 and multiple collaborative tools 50.

[0024] The base platform 10 provides a mounting and support foundation for the aforementioned functional components. The machine head 30 and multiple cooperating tools 50 are pre-positioned on the base platform 10. The multiple cooperating tools 50 include at least a wire-picking tool 51, a wire-cutting tool 52, and several wire clamps 53, arranged and placed on one side edge of the base platform 10.

[0025] The main robotic arm 20 is fixed to the base platform 10, for example, located on one side of the base platform 10, and its end is provided with a first quick connector 21, which is detachably connected to the robotic head 30 (e.g., Figure 3 (as shown), so that the head 30 is mounted at the end of the main robotic arm 20.

[0026] The auxiliary robotic arm 40 is fixed to the base platform 10, for example, located on the base platform 10, and its end is provided with a second quick connector 41. The second quick connector 41 is configured to switch on and install multiple cooperating tools 50 to cooperate in completing operations such as picking up wire clips and cutting wires.

[0027] Figure 4 Showing a 3D view of the nose section 30, such as Figure 4 As shown, the head unit 30 includes: The head base 31 includes a base plate 311 and side plates 312 located at both ends along the first direction AA'. The top of the side plates 312 is provided with a cable clamp 34. The base plate 311 and the side plates 312 form an accommodating space 31a. The wire stripper 32 and the wire clamp fire catcher 33 are located in the accommodating space 31a and are separately installed.

[0028] The wire stripper 32 has a wire stripping space 32a, which communicates with the first clamping space 34a of the cable clamp 34 along the first direction AA' and is located at a target height position H1 relative to the base plate 311 (e.g., Figure 5 (As shown). The centerline of the first clamping space 34a along the first direction AA' coincides with the centerline of the stripping space 32a along the first direction AA'. Therefore, the target height position H1 can be set to the position of the centerline of the first clamping space 34a along the first direction AA', or it can be set to the position of the centerline of the stripping space 32a along the first direction AA'. The stripping space 32a has a cable inlet 32b. The stripper 32 is configured to be rotatable and can be positioned along the first direction AA' in the stripping station w1 and the side position w2 within the receiving space 31a (e.g., ...). Figure 5 It moves back and forth between (as shown). Figure 5 This example only illustrates the relative positions between the wire stripping station w1 and the lateral position w2, and is not limited to their absolute positions.

[0029] The wire clamp fire receiver 33 includes a mounting base 331, a drain wire fixing clamp 332 and a wire clamp mounting groove 33a arranged along the first direction AA' on the mounting base 331. Figure 6 As shown, the wire clamp mounting groove 33a has a guide wire pre-installation position L1 arranged along a first height direction HH' perpendicular to the base plate 311 and a busbar pre-installation position L2 located above it. The second wire clamping space 332a of the guide wire fixing clamp 332 and the guide wire pre-installation position L1 are arranged along the first direction AA' (e.g., Figure 5 (As shown) are connected.

[0030] like Figure 5 As shown, the wire clamp fire receiver 33 is configured to move up and down along the first height direction HH' between the starting position s0, the first target height position s1, and the second target height position s2. Figure 5This example only illustrates the relative positions of s0, s1, and s2 and does not represent their absolute positions. The starting position s0 is located below the wire stripping station w1, and the first target rising height position s1 corresponds to the pre-installation position L1 of the guide wire (e.g., ...). Figure 6 As shown, the target height position H1 is located at the second ascent height target position s2, which corresponds to the busbar pre-installation position L2 (as shown). Figure 6 (As shown) is at the target height position H1.

[0031] like Figure 7 As shown, the clamp 53 includes a busbar channel 53b and a drain wire channel 53a arranged side by side, and multiple bolts 531 arranged side by side between the drain wire channel 53a and the busbar channel 53b. The drain wire inlet 53a1 of the drain wire channel 53a is located at the bottom of the drain wire channel 53a, and the busbar inlet 53b1 of the busbar channel 53b is located at the top of the busbar channel 53b. The clamp 53 is adapted to the clamp mounting groove 33a, such that when the clamp 53 is inserted into the clamp mounting groove 33a, the drain wire channel 53a is located in the drain wire pre-installation position L1, and the busbar channel 53b is located in the busbar pre-installation position L2.

[0032] like Figure 4 As shown, the wire clamp ignition device 33 and the wire stripper 32 are integrated in the same machine head 30, and work together to complete actions such as stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the lead wire ignition, stripping the busbar, and installing the wire clamp.

[0033] In this embodiment, such as Figure 2 As shown, the operation control system is not shown. It may be integrated inside the base platform 10 and therefore not shown, or it may be remotely deployed outside the base platform 10. For example, the operation control system (not shown) adopts a distributed architecture of industrial-grade industrial control computer, programmable logic controller (PLC) and / or motion control card, and achieves real-time communication and precise control with the main robotic arm 20, auxiliary robotic arm 40, machine head 30 and various cooperating tools 50 through industrial Ethernet, wireless network or CAN bus.

[0034] Specifically, the operation control system is configured to schedule the main robotic arm 20, the auxiliary robotic arm 40 and the machine head 30 according to preset program instructions, so as to sequentially perform the following on the machine head 30 at the end of the main robotic arm 20: stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the upper wire connection and connecting the busbar to the live wire.

[0035] The operation control system stores a complete set of preset program instructions, which can uniformly schedule all the above-mentioned actuators according to the time sequence and signal triggering conditions, thereby realizing the full-process automatic operation of sequentially performing tasks such as stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the online connection, and connecting the busbar to the live wire.

[0036] In this embodiment, the main robotic arm 20 is assembled with the machine head 30 via a first quick connector 21 at its end to complete the main process of pre-processing the lead wire and subsequent connection. The auxiliary robotic arm 40 is equipped with multiple cooperating tools 50 via a second quick connector 41 to perform auxiliary operations such as clamp placement and wire cutting. A clear division of labor is established between the main and auxiliary robotic arms, allowing the main robotic arm 20 to focus on lead wire pre-processing and busbar energization, while the auxiliary robotic arm 40 handles the scheduling of cooperating tools. This reduces frequent changes and reciprocating movements of a single robotic arm, significantly compressing the overall work cycle and improving work efficiency.

[0037] Combination Figure 4 As shown, the machine head 30 integrates the wire stripper 32 and the wire clamp flame connector 33 within the same machine head base 31, and the two form a clear station correspondence in space through the first direction AA' and the first height direction HH'. After the wire stripping is completed, the lead wire can directly enter the lead wire pre-installation position L1 corresponding to the wire clamp flame connector 33 (e.g., Figure 7 As shown in the diagram, this design eliminates the need for the two robotic arms to work together to insert the drain wire into the end tool of the other robotic arm after stripping it, thus eliminating the "threading the needle" step. This structural design effectively reduces the uncertainty caused by threading and repeated positioning in traditional automated fire-connecting equipment, fundamentally improving the success rate and stability of drain wire pretreatment and fire-connecting operations.

[0038] At the same time, such as Figure 2 As shown, multiple collaborative tools 50 are pre-positioned on the base platform 10, forming a decoupled layout with the main robotic arm 20 and the auxiliary robotic arm 40. The tool retrieval and placement paths are short and the spatial relationships are fixed, which helps to improve alignment accuracy and reduce system control complexity. The overall structure is compact and occupies a small area, making it easy to integrate into insulated bucket trucks or mobile work platforms, and it has good engineering adaptability and value for large-scale promotion and application.

[0039] Compared with existing technologies, the fully automated wire pretreatment connection robot 100 provided in this embodiment integrates multiple key processes, such as wire stripping, wire clamp placement, wire cutting, wire connection preparation, and busbar live connection, and coordinates them under the operation control system. These processes are continuously completed on the robot head 30 mounted at the end of the main robotic arm 20, eliminating the need for manual operation at height. Operators only need to remotely monitor the process from the ground to complete the entire live connection operation, significantly reducing the safety risks associated with high-voltage live work and fundamentally improving safety.

[0040] like Figure 5 As shown, during the stripping operation of the lead wire, the lead wire L is first clamped by the cable clamps 34 at both ends of the machine head base 31. Then, the wire stripper 32 strips the lead wire L at the stripping station w1, which includes rotating while moving along the first direction AA' towards the side position w2 to strip the lead wire core segment Lm. Afterwards, the wire stripper 32 is controlled to move horizontally along the first direction AA' to the side position w2 to make room for the wire clamp connector 33 to rise to the stripping station w1.

[0041] like Figure 8 As shown, when the online clamp fire connector 33 rises from the starting position s0 to the first rising height target position s1, the pre-installed position L1 of the guide wire in its clamp mounting groove 33a (as shown) Figure 7 As shown, it is located exactly at the target height position H1 (in conjunction with...). Figure 5 As shown), the drain wire core segment Lm (as shown) Figure 5 As shown) is located exactly at the pre-installation position L1 of the drainage line (as shown) Figure 7 (as shown). During the ascent of the online clamping firearm 33, its guide wire fixing clamp 332 is in the open state, allowing the guide wire L to be guided into the second clamping space 332a of the guide wire fixing clamp 332 (as shown). Figure 6 As shown), specifically, the insulated drain wire on one side of the drain wire core segment Lm is guided into the second clamping space 332a of the drain wire fixing clamp 332, and then the drain wire fixing clamp 332 is closed to clamp the drain wire L and ensure the stability of subsequent operations.

[0042] like Figure 9 and Figure 10 As shown, multiple wire clamps 53 are pre-installed on the base platform 10. The wire clamps 53 have a lead wire inlet 53a1 and a busbar inlet 53b1 (as shown in the image). Figure 7 (As shown) is pre-adjusted to the open state.

[0043] The operation control system schedules the auxiliary robotic arm 40 to install a wire-retrieving tool 51 via a second quick connector 41. The wire-retrieving tool 51 is used to retrieve the wire clamp 53 from the base platform 10, and then... Figure 7As shown, the wire clamp 53 is placed into the wire clamp mounting slot 33a, and the wire guide channel 53a of the wire clamp 53 (as shown) is opened. Figure 11 (As shown) First, insert it into the clamp mounting slot 33a and position it in the pre-installation position L1 of the drain wire (as shown). Figure 7 As shown), make the drain wire core segment Lm (as shown) Figure 5 (As shown) the drain line is guided precisely into the drain line channel 53a from the drain line inlet. Thus, as... Figure 12 As shown, the wire clamp 53 is placed in the wire clamp mounting slot 33a (e.g., Figure 7 (As shown)

[0044] In this disclosure, such as Figure 13 As shown, the wire clamp fire connector 33 also includes a wire clamp tightening mechanism 333. The wire clamp tightening mechanism 333 is disposed on the mounting base 331 and is located outside the wire clamp mounting groove 33a along the second direction BB', wherein the second direction BB' is perpendicular to the aforementioned first direction AA' and first height direction HH'.

[0045] The wire clamp screwing mechanism 333 is configured to be able to open in the second direction BB' relative to the wire clamp mounting slot 33a in the open position z1 (connected). Figure 14 (as shown) and the off bit z2 (as shown) Figure 15 Move between (as shown). Among them, as shown... Figure 14 and Figure 16 As shown, in the open position z1, the wire clamp screwing mechanism 333 is completely moved away from the wire clamp mounting slot 33a, providing space for the wire clamp 53 to be inserted and pre-installed. For example... Figure 16 As shown, a gap is formed between the bolt cap 5311 of the bolt 531 on the wire clamp 53 and the screwing sleeve 3331 in the wire clamp screwing mechanism 333; when moving towards Figure 15 and Figure 17 During the switching of the closed position z2 shown, the wire clamp screwing mechanism 333 moves along the second direction BB' toward the wire clamp mounting groove 33a, so that the bolt caps 5311 on the wire clamp 53 enter the corresponding screwing sleeves 3331.

[0046] like Figure 16 and Figure 17 As shown, the wire clamp tightening mechanism 333 includes multiple tightening sleeves 3331. The number of tightening sleeves 3331 is the same as the number of bolts 531 on the wire clamp 53, and they are arranged at intervals along the first direction AA' to correspond to the multiple bolts 531 arranged side by side on the wire clamp 53. The end of the bolt 531 is provided with a bolt cap 5311, which is used to fit with the tightening sleeve 3331 and to drive the bolt cap 5311 to rotate during tightening.

[0047] like Figure 18As shown, the wire clamp screwing mechanism 333 also includes a drive mechanism 3332 that cooperates with the screwing sleeve 3331. The drive mechanism 3332 includes a plurality of rotary drive components 33321, and each screwing sleeve 3331 is driven by a rotary drive component 33321.

[0048] In this embodiment, the rotary drive assembly 33321 is specifically in the form of a transmission gear 333211. Each transmission gear 333211 is coaxially mounted with a corresponding screwing sleeve 3331, and each screwing sleeve 3331 can rotate under the drive of the corresponding transmission gear 333211. This structural arrangement ensures that each screwing sleeve 3331 maintains synchronous control during the screwing process, thereby guaranteeing the stability of the multiple bolts 531 of the wire clamp 53 (e.g., ...). Figure 17 (As shown) The screw advance amount is the same or similar, which improves the consistency of the closure of the channel of the clamp 53 along the first direction AA', and ensures that the closed clamp 53 completely covers the lead wire core segment Lm and the busbar stripped segment.

[0049] In one specific implementation, the drive mechanism 3332 may include a motor-reducer combination, a servo motor assembly, or a pneumatic rotary actuator, which can precisely control the rotation angle, rotation direction, and output torque of the screwing sleeve 3331 under the scheduling of the operation control system.

[0050] Specifically, such as Figure 19 As shown, the drive mechanism 3332 includes a gear mechanism comprising multiple transmission gears 333211 corresponding to multiple screwing sleeves 3331, a driving gear 333212, and two driven gears 333213. The driving gear 333212 meshes with the two driven gears 333213, so that under the drive of the driving gear 333212, the two driven gears 333213 rotate in the same direction. Each driven gear 333213 further meshes with the two transmission gears 333211. Since the two driven gears 333213 rotate in the same direction, the four transmission gears 333211 rotate in the same direction, achieving synchronous rotation. The driving gear 333212 can be installed with a rotary motor 33322, ultimately driving the four transmission gears 333211 to synchronously screw the four screwing sleeves 3331.

[0051] It should be noted that the above-described gear transmission structure is only a preferred embodiment of the present invention. Those skilled in the art will understand that the rotary drive component of the drive mechanism 3332 can also adopt other equivalent linkage transmission designs, such as chain drive, synchronous belt drive, planetary gear set or multi-motor synchronous control, etc. As long as the synchronous turning of multiple turning sleeves 3331 can be achieved, it falls within the protection scope of the present invention and is not limited by the specific gear meshing form described above.

[0052] In the specific operation process, combined with Figure 16 and Figure 17 As shown, after the wire clamp 53 is placed into the wire clamp mounting slot 33a, the wire clamp tightening mechanism 333 moves from the open position z1 along the second direction BB' towards the closed position z2. During this movement, each tightening sleeve 3331 is driven by the corresponding rotation drive assembly 33321 (e.g., Figure 18 Driven by the (shown) mechanism, the forward and reverse rotations are performed synchronously, guiding the screwing sleeve 3331 to automatically fit onto the corresponding bolt cap 5311.

[0053] like Figure 9 and Figure 10 As shown, in one specific embodiment, the end effector of the auxiliary robotic arm 40 is integrated with a binocular camera 42, used to perform spatial visual perception and pose recognition functions during the fire-fighting operation. Figure 13 As shown, a QR code label 3333 is affixed to the top area of ​​the wire clamp screwing mechanism 333 on the wire clamp fire connector 33. The QR code label 3333 and the wire clamp mounting groove 33a have a fixed spatial positional relationship and are used as a visual positioning reference during the wire clamp installation process.

[0054] Furthermore, such as Figure 11 As shown, a number of micro switches 33a1 are provided at the bottom of the wire clamp mounting groove 33a. The micro switches 33a1 are distributed along the bottom area of ​​the wire clamp mounting groove 33a and are used to output a trigger signal when the wire clamp 53 is fully placed in place.

[0055] In the specific operation process, combined with Figure 9 and Figure 10 As shown, when the wire clamp 53 needs to be inserted, the operation control system, according to the preset program instructions, first dispatches the auxiliary robotic arm 40 to carry the wire clamp retrieval tool 51 to retrieve the wire clamp 53 from the base platform 10, and controls the auxiliary robotic arm 40 to move to the clamping area near the machine head 30. Simultaneously, the binocular camera 42 scans the QR code label 3333 on the top of the wire clamp receiver 33 (e.g., ...). Figure 13 Image acquisition is performed (as shown), and the pose information of the QR code identifier 3333 in space is obtained based on binocular vision calculation.

[0056] like Figure 13 As shown, since the relative positional relationship between the QR code identifier 3333 and the wire clamp mounting slot 33a is a known parameter, the operation control system can deduce the target pose of the wire clamp mounting slot 33a based on the pose information of the QR code identifier 3333, and combine it with... Figure 9 and Figure 10 As shown, by further combining the kinematic model of the auxiliary robotic arm 40, the corresponding movement trajectory is calculated and generated, guiding the auxiliary robotic arm 40 carrying the wire clamp 53 towards... Figure 13 The wire clamp mounting slot 33a shown is precisely aligned.

[0057] During the process of the auxiliary robotic arm 40 performing the action of loading the wire clamp 53, such as Figure 13 As shown, the operation control system monitors in real time the micro switch 33a1 (such as...) located at the bottom of the wire clamp mounting slot 33a. Figure 11 The triggering state of the wire clamp 53 (as shown) is determined when all of the microswitches 33a1 are triggered. Figure 10 The wire clamp (as shown) has been correctly installed into the wire clamp mounting slot 33a, and the wire clamp installation action is complete. Subsequently, the operation control system controls the auxiliary robotic arm 40 to retrieve the wire clamp tool 51 (as shown). Figure 10 (As shown) Place it back onto the base platform 10.

[0058] Through the above methods, such as Figure 9 and Figure 10 As shown, the binocular camera 42 located at the end of the auxiliary robotic arm 40 and the QR code label 3333 on the top of the wire clamp screwing mechanism 333 (as shown) utilize the QR code label 3333 on the top of the wire clamp screwing mechanism 333. Figure 13 Visual guidance is provided, and the micro switch 33a1 at the bottom of the wire clamp mounting slot 33a (as shown) is used in conjunction with the wire clamp mounting slot 33a. Figure 11 As shown, the clamping position is confirmed, realizing the automated and high-precision insertion of the wire clamp 53, improving the stability and reliability of wire clamp installation.

[0059] In this disclosure, such as Figure 12 As shown, the wire clamp 53 is placed into the wire clamp mounting slot 33a of the wire clamp receiver 33, and the lead wire core segment Lm (as shown) Figure 5 As shown) the drain wire channel 53a placed in the wire clamp 53 (as shown) Figure 7 (As shown) then perform the drain line cutting operation.

[0060] In this embodiment, such as Figure 21 As shown, place clamp 53 (e.g., on the drainage line L) Figure 12 (As shown) After that, the auxiliary robotic arm 40 is equipped with a wire-cutting tool 52 via the second quick connector 41. The auxiliary robotic arm 40 carries the wire-cutting tool 52 to the machine head 30 position to cut the guide wire L. Figure 22 As shown, the wire cutting position is between the wire stripper 32 and the wire clamp connector 33, which is the wire stripping station w1 (as shown). Figure 5 (as shown) and lateral w2 (as shown) Figure 5 The position between (as shown). During this process, the binocular camera 42 on the auxiliary robotic arm 40 plays a monitoring role throughout.

[0061] like Figure 23 As shown, a waste bin 60 is provided on the base platform 10. The waste bin 60 is fixedly installed at a predetermined position on the base platform 10 and is used to collect waste generated during the fire connection operation. The waste includes at least the waste diversion line segment Lf that is cut off during the diversion line pretreatment process.

[0062] During the specific operation, after the drain line cutting step is completed, the operation control system controls the auxiliary robotic arm 40 to continue moving the cutting tool 52 to a position near the cut waste drain line segment Lf, specifically, outside the cable clamp 34 near the side w2, according to the preset operation process.

[0063] Subsequently, the operation control system controls the wire cutting tool 52 to perform a clamping action, gripping the cut-off waste lead wire segment Lf. After confirming that the waste lead wire segment Lf has been reliably gripped by the wire cutting tool 52, the operation control system controls the cable clamp 34 (e.g., near the side w2) to... Figure 4 (As shown) Release the clamp on the discarded drain line segment Lf, so that the discarded drain line segment Lf is completely carried by the wire cutting tool 52.

[0064] Based on this, the operation control system continues to control the auxiliary robotic arm 40 to move the wire cutting tool 52, which is holding the waste drain wire segment Lf, to above the waste bin 60 according to the preset motion trajectory. When the wire cutting tool 52 is located in the disposal area of ​​the waste bin 60, the operation control system controls the wire cutting tool 52 to release the gripped waste drain wire segment Lf, so that the waste drain wire segment Lf falls into the waste bin 60, thereby completing the automatic disposal and recycling of the waste drain wire segment Lf.

[0065] By setting up a waste bin 60 on the base platform 10 and coordinating the operation control system to control the auxiliary robotic arm 40 and the wire cutting tool 52, the entire process of waste lead-ahead wire segment Lf from wire cutting and clamping to centralized recycling is automated, effectively improving the safety, cleanliness and continuity of the fire connection operation.

[0066] After discarding the waste drain line segment Lf, continue to control the auxiliary robotic arm 40 to move the wire cutting tool 52 to its preset position on the base platform 10, and remove the wire cutting tool 52 from the second quick connector 41.

[0067] like Figure 24 As shown, after the drain wire is cut, the control clamp receiver 33 carries the clamp 53 in the clamp mounting slot 33a and the drain wire core segment Lm (as shown). Figure 5 (As shown) Move downwards to the starting position s0 to prepare for online connection. A small section of the drain wire sheath is left on the side of the drain wire core segment Lm near the side position w2, serving as the end of the drain wire body La, as shown. Figure 1 As shown, the starting end of the drainage line body La is located on the bracket 2 of the utility pole 1.

[0068] In this embodiment, such as Figure 24 As shown, the two ends of the machine head base 31 are respectively provided with oppositely arranged side plates 312 (combined with...) Figure 4As shown). A through groove 31b is formed on one end of the side plate 312 corresponding to the wire stripping station w1 (as shown). Figure 25 As shown), that is, the through groove 31b is located on the side plate 312 at the end away from the lateral position w2. Combined with... Figure 25 As shown, the through groove 31b is along the first direction AA' (e.g.) Figure 24 (As shown) communicates with the receiving space 31a inside the nose base 31, and connects with the starting position s0 of the wire clamp firearm 33 inside the nose 30 (as shown). Figure 24 As shown, the relative arrangement is used to provide clearance space for the drainage line body La as it moves downward along the first height direction HH' after the wire is cut.

[0069] Cable clamps 34 are fixedly installed on the side plates 312 at both ends of the machine head base 31 to clamp and fix the cable, so that the cable (lead line L or bus line M) located in the accommodating space 31a is kept as straight as possible, preventing the cable from twisting and turning during the stripping process, which helps to improve the stripping quality.

[0070] Near the wire stripping station w1 (such as...) Figure 24 Cable clamp 34 at the position shown) Figure 4 (As shown) is located at the upper opening position of the through groove 31b.

[0071] like Figure 8 As shown, from the stripping of the lead wire until the wire clamp fire receiver 33 rises to the first rising height target position s1, the cable clamps 34 at both ends of the machine head 30 are in a state of clamping the lead wire L to restrict the movement of the lead wire L and keep the lead wire L as straight as possible.

[0072] After the wire clamp receiver 33 rises to the first target height s1, the drain wire fixing clamp 332 clamps the drain wire L, further improving the straightness of the drain wire L and preventing the drain wire L from bending during the wire clamp placement step, which could cause one end of the wire clamp 53 to tilt upwards. Figure 4 As shown, the drain line fixing clamp 332 is located between the through groove 31b and the wire clamp mounting groove 33a.

[0073] like Figure 12 As shown, optionally, in the step of cutting the drain line, the drain line fixing clamp 332 and the cable clamps 34 at both ends of the machine head 30 remain in a closed state, but appropriately reducing the clamping force of the drain line fixing clamp 332 and the cable clamps 34 at both ends of the machine head 30 on the drain line L helps to reduce the required shearing force and reduce the deformation of the drain line L at the cutting position.

[0074] like Figure 25 As shown, after the cable cutting operation is completed, the operation control system controls the cable clamp 34 at the upper opening of the through slot 31b to release its grip on the cable L. Next, in conjunction with... Figure 24As shown, the wire clamp connector 33 carries the lead wire core segment Lm (e.g., with the wire clamp already installed) Figure 5 As shown, the wire stripper moves downward along the first height direction HH' to the starting position s0, and then moves back to the wire stripping position w1 to prepare for the wire connection.

[0075] Since the through groove 31b is connected to the starting position s0 along the first direction AA', the guide wire body La can slide down along the through groove 31b along the first height direction HH' during the process of moving the wire clamp firearm 33 downward, without interfering with the side plate 312 of the machine head base 31.

[0076] Optionally, such as Figure 25 As shown, the bottom position of the through slot 31b is in the first direction AA' (e.g., ...). Figure 24 As shown, the drainage line body La (as shown) is roughly flush with the surface, so that the drainage line body La (as shown) is flush with the surface. Figure 24 As shown, after moving down, it can rest against the bottom edge of the through groove 31b, thereby supporting and restricting the drain line body La, preventing the drain line body La from excessively falling or swinging due to its own weight, which helps to maintain the stability of the drain line body La and provides a good cable condition for subsequent operation processes.

[0077] Through the above structural design, the through groove 31b undertakes the function of smooth downward movement and support and positioning during the downward movement process after the guide wire is cut and the wire clamp is installed, so as to avoid interference or disorderly falling between the guide wire body La and the machine head 30, and improve the stability and reliability of the whole machine operation process.

[0078] In this disclosure, such as Figure 26 As shown, in the machine head 30, near the wire stripping station w1 (e.g.) Figure 24 Side panel 312 on one side (as shown) Figure 24 As shown, on the inner side of the side plate 312 where the through slot 31b is located, there are a first optical coupler sensor P1, a second optical coupler sensor P2, and a third optical coupler sensor P3 arranged sequentially from bottom to top along the first height direction HH'. The above three optical couplers form a position detection array distributed along the first height direction HH' on the side plate 312, which is used to perform graded detection of the lifting position of the wire clamp fire igniter 33.

[0079] For example, the side plate 312 where the first optocoupler sensor P1, the second optocoupler sensor P2, and the third optocoupler sensor P3 are located is also provided with a through slot 31b, with the first optocoupler sensor P1, the second optocoupler sensor P2, and the third optocoupler sensor P3 located on one side of the through slot 31b. This arrangement allows the optocoupler sensor array to correspond spatially with the through slot 31b in the first height direction HH', thereby enabling the online clamping of the firearm 33 (such as...). Figure 25As shown, during the process of moving up and down along the first height direction HH' and driving the guide line to move up and down through the through groove 31b, the height position of the wire clamp fire-starter 33 is simultaneously detected and confirmed.

[0080] A spring clip (not shown in the figure) is fixedly mounted on the wire clamp fire connector 33. Specifically, the spring clip is located on the mounting base 331 (e.g., Figure 4 (As shown) is located on the outer wall of the through slot 31b. The spring clip rises and falls synchronously with the wire clamping firearm 33 along the first height direction HH'. The position of the spring clip in the first height direction HH' is configured such that the wire clamping firearm 33 is located at the starting position s0, the first rising height target position s1, and the second rising height target position s2 respectively (in combination with...). Figure 5 When the light beam path in the first optical coupler sensor P1, the third optical coupler sensor P3, and the second optical coupler sensor P2 is blocked, the corresponding optical coupler sensor will generate a position detection signal.

[0081] Specifically, in combination Figure 5 As shown, when the wire clamp connector 33 is in the initial position s0, the spring clip blocks the first optocoupler sensor P1 (as shown). Figure 26 The beam path (as shown) triggers the first optocoupler sensor P1 to generate a start position detection signal, which is used to indicate that the wire clamp connector 33 is in the lowest standby state.

[0082] Combination Figure 8 As shown, when the wire clamp connector 33 rises from the starting position s0 and reaches the first rising height target position s1, the spring clip correspondingly blocks the third optocoupler sensor P3 (e.g., Figure 26 The beam path (as shown) causes the third optocoupler sensor P3 to generate a position detection signal, which is used to confirm the pre-installation position of the drain wire L1 (as shown). Figure 7 As shown, it has been accurately aligned with the target height position H1 (as shown). Figure 5 (As shown).

[0083] Combination Figure 26 As shown, when the wire clamp connector 33 reaches the second ascent height target position s2, the spring clip blocks the second optocoupler sensor P2 (as shown). Figure 26 The beam path (as shown) triggers the second optocoupler sensor P2 to generate a position detection signal, which is used to confirm the pre-installed position of the bus L2 (as shown). Figure 7 (as shown) and target height position H1 (as shown) Figure 5 (As shown) Alignment.

[0084] With the above settings, as Figure 26 As shown, the operation control system can, based on the position detection signals output by the first optocoupler sensor P1, the second optocoupler sensor P2, and the third optocoupler sensor P3, control the wire clamp firearm 33 (e.g., Figure 25As shown) at the starting position s0, the first target ascent altitude s1, and the second target ascent altitude s2 (as shown) Figure 5 The rising and falling positions between (as shown) are reliably determined and their status confirmed.

[0085] In this disclosure, such as Figure 24 As shown, the core segment Lm of the drainage wire (as shown) Figure 5 As shown, the wire clamp 53 is carried down to the starting position s0 by the wire clamp fire contactor 33, and the wire stripper 32 moves back to the wire stripping position w1, completing the preparation for the upper wire fire contact, that is, the entire process of the pretreatment of the lead wire is completed.

[0086] Next, further busbar operations are performed. Specifically, the main robotic arm 20 (e.g., Figure 23 (As shown) The entire head unit 30, which is ready for online connection, will be lifted and aligned with bus M (as shown). Figure 1 (As shown) position, to facilitate the completion of the busbar side connection work, including busbar stripping and clamp installation.

[0087] like Figure 27 As shown, the busbar stripping operation process can refer to the aforementioned diversion line stripping operation process. The cable clamps 34 at both ends of the machine head base 31 clamp the busbar M, and the stripper 32 rotates to strip the wire and moves laterally to the side w2 to form a busbar stripping section M1 of a preset length. After the busbar M is stripped, the stripper 32 moves along the first direction AA' from the stripping station w1 to the side w2 to make room for the upward movement of the wire clamp connector 33.

[0088] Subsequently, as Figure 28 As shown, under the control of the operation control system, the wire clamp 53 moves upward from the starting position s0 along the first height direction HH' to the second rising height target position s2, so that the busbar channel 53b of the wire clamp 53 (as shown) Figure 7 (as shown) and target height position H1 (as shown) Figure 5 (As shown) Alignment, so that the stripped busbar section M1 enters the busbar channel 53b and spatially merges with the previously pre-installed drain line body La in the line clamp 53.

[0089] Afterwards, combined Figure 17 As shown, under the control of the operation control system, the wire clamp tightening mechanism 333 performs a tightening operation on the bolt 531 on the wire clamp 53. The tightening sleeve 3331 is configured to be in the rotary drive assembly 33321 (e.g., Figure 18 Under the drive of (as shown), the bolt cap 5311 (as shown) Figure 16 (As shown) Apply a preset torque and tighten, gradually closing the busbar channel 53b and the drain line channel 53a. When the busbar clamp 53 is fully closed and tightened, continue to tighten the bolt cap 5311 (as shown). Figure 16As shown in the figure, when the tightening torque reaches the breakage threshold of the bolt cap 5311, the bolt cap 5311 breaks, and the machine head 30 can be detached from the wire clamp 53 to complete the wire clamp installation.

[0090] In this disclosure, such as Figure 18 and Figure 20 As shown, the wire clamp tightening mechanism 333 has a corresponding elastic push rod 3334 inside each tightening sleeve 3331, and the number of elastic push rods 3334 is the same as the number of tightening sleeves 3331. One end of each elastic push rod 3334 is disposed inside the corresponding tightening sleeve 3331 along the tightening axis, and the other end extends out of the side wall of the wire clamp tightening mechanism 333 and toward the outside of the machine head 30. The elastic push rod 3334 has an elastic restoring capability in the axial direction, which is used to automatically return to the initial position after the external force is released.

[0091] For example, each elastic push rod 3334 is fitted with a spring 3335, which can elastically deform along the axial direction of the elastic push rod 3334, so that the elastic push rod 3334 has elastic restoring capability in the axial direction.

[0092] like Figure 20 As shown, in bolt cap 5311 (as Figure 16 (As shown) After disconnection, the broken bolt cap 5311 becomes stuck inside the screw sleeve 3331. The machine head 30 disengages from the wire clamp 53 (as shown). Figure 28 After the wire picker tool 51 (as shown) is taken offline, the operation control system controls the auxiliary robotic arm 40 to replace and install the wire picker tool 51 via the second quick connector 41. Figure 2 (As shown). Subsequently, the auxiliary robotic arm 40 grips the bolt cap collection box 54 (in conjunction with...). Figure 2 (as shown), and combined with Figure 18 As shown, the bolt cap collection box 54 is placed into the wire clamp mounting slot 33a, with the opening of the bolt cap collection box 54 facing the screwing sleeve 3331.

[0093] Next, the operation control system further controls the auxiliary robotic arm 40 to utilize the wire clamp tool 51 (in conjunction with...) Figure 2 (As shown) A thrust is applied to the exposed end of the elastic push rod 3334, causing the elastic push rod 3334 to move axially inward, thereby pushing the disconnect bolt cap 5311 located inside the screw sleeve 3331 (as shown). Figure 16 (As shown) It disengages from the screw sleeve 3331 and rushes into the bolt cap collection box 54. Each elastic push rod 3334 is pushed synchronously to improve the recovery efficiency of multiple broken bolt caps 5311.

[0094] The broken bolt cap 5311 will be collected using the bolt cap collection box 54 to empty the screw sleeve 3331 and prepare for the next phase live-line operation. On the other hand, it will prevent the broken bolt cap 5311 from falling from a height to comply with safety operation regulations.

[0095] After completing the ejection and retrieval of bolt cap 5311, the auxiliary robotic arm 40 (combined with...) Figure 2 (As shown) Under the control of the operation control system, the machine will be loaded with bolt caps 5311 (as shown). Figure 16 The bolt cap collection box 54 (as shown) is removed from the clamp mounting slot 33a and placed in the preset storage position.

[0096] After completing the recycling of bolt cap 5311, combined with Figure 20 As shown, the wire clamp screwing mechanism 333 is in the open position z1, at which time the wire clamp 53 (as shown) Figure 28 (As shown) disengages from the wire clamp screwing mechanism 333, and the operation control system can control the main robotic arm 20 to drive the machine head 30 (as shown) Figure 27 As shown, the entire structure descends, completing this fire connection operation.

[0097] Through the above process, the main robotic arm 20 carries the machine head 30 as a whole, realizing the operation logic of first pre-processing the lead wire, then stripping the busbar and entering the clamp, and then completing the screwing and closing of the clamp. This allows the lead wire side operation and the busbar side operation to be completed continuously in the same machine head 30 according to the action flow sequence, which significantly improves the safety, stability and success rate of the connection operation.

[0098] In this disclosure, such as Figure 29 As shown, a drain wire placement rack 11 is provided on the base platform 10 for placing the drain wire at the machine head 30 (e.g., Figure 3 Cable clamps 34 at both ends (as shown) Figure 4 (As shown) Clamp the drainage line L (as shown) Figure 3 (As shown) Before stripping the drain wire, the drain wire L is temporarily placed, positioned, and shaped. Drain wire placing frame 11 has drain wire shaping clamps 12 at both ends. The drain wire shaping clamps 12 are configured to actively clamp the drain wire L, thereby limiting the drain wire L in the clamped state and keeping it stable in spatial position and direction, thus facilitating subsequent pre-processing operations such as stripping by the machine head 30.

[0099] In this embodiment, the fire-fighting robot also includes a wire gripper 13, which is pre-mounted on the base platform 10 and together with the head 30, constitutes a switchable end effector of the main robotic arm 20. The first quick connector 21 at the end of the main robotic arm 20 is configured to switch between the wire gripper 13 and the head 30 under the control of the operation control system.

[0100] In the specific operation process, in conjunction with the reference Figure 1 and Figure 29The operation control system first controls the main robotic arm 20 to install the wire gripper 13 via the first quick connector 21, and drives the main robotic arm 20 to move to the position of the guide wire hanging from the bracket 2 of the utility pole 1, where the wire gripper 13 grabs the guide wire L to be processed. Then, as... Figure 30 As shown, under the guidance of the operation control system, the main robotic arm 20 drags the guide line L, guides the guide line L and places it on the guide line placement frame 11, so that the guide line L is located between the guide line shaping fixtures 12.

[0101] Once the guide line L is in place, the operation control system controls the guide line shaping fixture 12 to clamp the guide line L, thereby completing the positioning and shaping of the guide line L. Through this shaping process, the guide line L is effectively constrained in length and orientation, preparing it for subsequent machine head 30 (such as...). Figure 3 (As shown) Clamp the drain line L to perform drain line stripping and provide stable working conditions.

[0102] After the drainage line L is shaped and clamped, the operation control system further controls the main robotic arm 20 to switch the installation head 30 via the first quick connector 21, and combines it with... Figure 3 As shown, the main robotic arm 20 moves the machine head 30 to the drain wire L fixed by the drain wire shaping fixture 12. After the machine head 30 is in position, it clamps the drain wire L and performs wire stripping operation on the drain wire L according to the work process mentioned in the aforementioned embodiment.

[0103] Through the above settings, the drain wire L is reliably positioned and shaped before entering the stripping head 30, facilitating the smooth entry of the drain wire L into the stripping head 30 (e.g., Figure 3 Cable clamps 34 at both ends (as shown) Figure 4 (As shown).

[0104] In this disclosure, such as Figures 29-31 As shown, the main robotic arm 20 includes a support base 29, which is fixedly connected to the base platform 10 and serves to provide an overall installation reference for the main robotic arm 20. The bottom of the support base 29 is flush with the bottom of the base platform 10, thereby ensuring the stability of the entire equipment during transportation, placement, and when the platform is under the load.

[0105] The main robotic arm 20 also includes a movable seat 22, which is rotatably connected to the support base 29 via a first rotating shaft 23. The first rotating shaft 23 is arranged along a second height direction CC' perpendicular to the base platform 10, passing through the support base 29 and the movable seat 22, and is configured to drive the movable seat 22 to rotate relative to the support base 29 under the control of the operation control system, thereby realizing the rotational movement of the main robotic arm 20 around the first rotating shaft 23 to cover the planar angle range required for the operation.

[0106] A lifting push rod 25 is rotatably connected to the movable base 22 via a second rotating shaft 24. The second rotating shaft 24 extends in the horizontal direction LL', allowing the lifting push rod 25 to rotate around the center line of the second rotating shaft 24. Figure 31 and Figure 32 As shown, the lifting push rod 25 includes a fixed sleeve section 251 and a telescopic section 252 disposed above the fixed sleeve section 251. The telescopic section 252 can retract into the fixed sleeve section 251 under driving action, forming a retracted state. To increase the maximum extension of the main robotic arm 20, enabling the main robotic arm 20 to complete the three-phase lead wire erection at a selected position at a high altitude, and reducing the number of times the insulated bucket of the mobile insulated bucket truck is moved, the top of the lifting push rod 25 is higher than the base platform 10 in the retracted state (e.g., Figure 30 (as shown) at the top.

[0107] like Figure 31 As shown, the main robotic arm 20 also includes a tilt adjustment mechanism 26, which is connected to the lifting push rod 25 and configured to drive the lifting push rod 25 to rotate around the second pivot 24 under the control of the operation control system, so as to adjust the tilt angle of the lifting push rod 25 relative to the moving seat 22. By adjusting the tilt angle of the lifting push rod 25, the actuator mounted at the end of the main robotic arm 20 can obtain more space-accessible positions.

[0108] like Figure 32 As shown, an insulating rod 28 is rotatably connected to the top of the lifting push rod 25 via a third rotating shaft 27. The third rotating shaft 27 is arranged parallel to the second rotating shaft 24, allowing the insulating rod 28 to swing relative to the lifting push rod 25. The insulating rod 28 is used to support the end effector while ensuring electrical safety, and its top is equipped with a first quick connector 21.

[0109] During operation, by controlling the rotation of the third rotating shaft 27, the first quick connector 21 can be adjusted to face the downward-facing base platform 10 (e.g., Figure 30 (as shown), for use with the machine head 30 or the wire gripper 13 (such as...) Figure 30 Quick-connect assembly is performed (as shown). After completing the quick-connect assembly, the first rotating shaft 23 and the second rotating shaft 24 (as shown) are then used for assembly. Figure 31 (As shown) and the coordinated action of the third rotating shaft 27, the machine head 30 or the wire gripper 13 is accurately moved to the drainage line operation position to perform the corresponding operation, including the wire gripper 13 placing the drainage line L on the drainage line placement frame 11, and the machine head 30 clamping and fixing the drainage line L between the drainage line shaping fixture 12.

[0110] Through the above structural design, the main robotic arm 20, while ensuring a compact overall structure and controlled degrees of freedom of movement, achieves the ability to control the machine head 30 or the wire gripper 13 (such as...). Figure 30The reliable load-bearing capacity and precise positioning (as shown) provide a stable and highly safe mechanical execution foundation for supporting the connection operation of the pretreatment of the diversion line.

[0111] In this embodiment, after the drain wire has been stripped and the wire clamp has been placed, the operation control system controls the main robotic arm 20 to use its lifting, rotating, and attitude adjustment capabilities to install the machine head 30 (e.g., Figure 30 The end of the structure (as shown) is raised to bus M (as shown). Figure 1 (As shown) position, awaiting completion of the busbar side connection operation.

[0112] In this disclosure, such as Figure 2 As shown, the first quick connector 21 at the end of the main robotic arm 20 adopts a screw-locking structure, and the first quick connector 21 is provided with a screw 211 for locking and unlocking. By turning the screw 211, the locking and unlocking states can be switched, thereby enabling the first quick connector 21 to engage with the wire gripper 13 or the machine head 30 (e.g., Figure 30 A reliable connection or rapid separation between (as shown).

[0113] The collaborative tools 50 further include a screw-tightening tool 55, which is pre-positioned on the base platform 10 and adapted to a second quick connector 41 at the end of the auxiliary robotic arm 40 for assisting the robotic arm 40 in tightening the screw 211. The screw-tightening tool 55 has a bolt sleeve 551 for tightening the screw 211.

[0114] In specific operations, when it is necessary to use the first quick connector 21 to connect the wire gripper 13 or the machine head 30 (e.g.) Figure 30 When switching between the main robot arm 20 and the main robot arm 20 (as shown), the operation control system, according to the preset program instructions, first dispatches the auxiliary robot arm 40 to switch the installation of the screw tightening tool 55 through the second quick connector 41. Then, it controls the auxiliary robot arm 40 to move the screw tightening tool 55 to the end position of the main robot arm 20, so that the screw tightening tool 55 is aligned with the screw 211 on the first quick connector 21.

[0115] After the screw-tightening tool 55 is aligned with the screw 211, the operation control system further controls the auxiliary robotic arm 40 to drive the screw-tightening tool 55 to perform a screw-tightening operation on the screw 211, thereby opening or closing the first quick connector 21, thus completing the connection between the first quick connector 21 and the wire gripper 13 or the machine head 30 (e.g., Figure 30 The tool can be switched between disassembly or installation as shown. This method achieves automated locking and releasing of the first quick-connector 21 without manual intervention, ensuring the safety and reliability of the tool switching process and maintaining consistency with the collaborative operation flow of the main robotic arm 20 and the auxiliary robotic arm 40.

[0116] In this disclosure, such as Figure 5As shown, the wire stripper 32 is integrated with a take-up box 321, and the take-up box 321 and the wire stripping space 32a (as shown) Figure 4 (As shown) The connection is used to collect the stripped wire insulation during the stripping of the lead wire and busbar, so as to prevent waste wire insulation from scattering on the machine head 30 or the base platform 10 (e.g. Figure 33 As shown in the figure, this affects the stability and safety of subsequent operations.

[0117] In coordination, combined Figure 2 As shown, the multiple collaborative tools 50 further include a wire stripping tool 56, which is pre-positioned on the base platform 10 and adapted to the second quick connector 41 at the end of the auxiliary robotic arm 40 to achieve quick loading, unloading and switching.

[0118] like Figure 33 As shown, the wire sheath removal tool 56 has a spike 561, which is used to grab the waste wire sheath inside the wire take-up box 321.

[0119] During the actual operation, after each stripping operation of a drain wire or busbar is completed, the operation control system executes preset program instructions, such as... Figure 33 As shown, the dispatching auxiliary robotic arm 40 switches and installs the wire stripping tool 56 via the second quick connector 41. Subsequently, the control auxiliary robotic arm 40 moves the wire stripping tool 56 to the wire stripper 32, causing the clamping end of the wire stripping tool 56 to enter the take-up box 321 (as shown). Figure 5 (As shown) Inside, and take the waste yarn sheath stored therein.

[0120] After the clamping is completed, the operation control system further controls the auxiliary robotic arm 40 to move the waste wire sheath carried by the wire sheath removal tool 56 to the waste bin 60 on the base platform 10, and opens the wire sheath removal tool 56 above the waste bin, allowing the waste wire sheath to fall freely into the waste bin 60 for disposal. Through this method, the automated collection and centralized processing of waste wire sheaths generated during wire stripping is achieved, avoiding manual intervention and improving the overall continuity of operations and the cleanliness of the work site.

[0121] This disclosure also provides a fire-connection method based on any of the above embodiments, supporting a fully automated fire-connection robot for pre-processing the drain line, such as... Figure 34 As shown, this welding operation method involves the operation control system scheduling the main robotic arm, auxiliary robotic arm, and welding head according to preset program instructions, so that the following steps are executed sequentially on the welding head at the end of the main robotic arm: Step 3410: Stripping the drainage thread; Step 3420: Place the wire clamp; Step 3430: Cut the drainage line; Step 3440: Online connection preparation; Step 3450: Connect the busbar to the live circuit.

[0122] The mechanical structure of the above-mentioned fire-receiving robot is described in detail below. Figure 34 Each step.

[0123] In this embodiment of the disclosure, performing step 3410, specifically stripping the drainage wire, includes: In this embodiment, as shown in the figure, the stripping process of the drain line is automatically completed under the unified scheduling of the operation control system, and specifically includes the following steps.

[0124] like Figure 3 As shown, the operation control system schedules the main robotic arm 20 to install the head 30 via the first quick connector 21 at its end. After the head 30 is installed, the main robotic arm 20 is controlled to move the head 30 to the location of the lead wire to be processed, and guides the lead wire L through the cable inlet 32b of the wire stripper 32 into the stripping space 32a. At the same time, the cable clamp 34 (such as...) is scheduled... Figure 4 (As shown) Clamp the drain line L to limit the axial and radial displacement of the drain line L during the stripping process.

[0125] After clamping and positioning are completed, such as Figure 5 As shown, the operation control system further schedules the wire stripper 32 located at the wire stripping station w1 to perform the wire stripping action. Specifically, this includes controlling the wire stripper 32 to rotate while moving along the first direction AA' towards the side position w2 to strip the wire, so that the outer insulation of the lead wire L is stripped off until the lead wire core segment Lm of a preset length is exposed. After the lead wire stripping is completed, the wire stripper 32 is continued to move along the first direction AA' from the wire stripping station w1 to the side position w2 to make room for subsequent operations, thereby completing one lead wire stripping operation.

[0126] In this embodiment, after stripping the drainage wire, the following steps are performed: Figure 34 Step 3420, as shown, involves placing the wire clamp, which includes the following steps: like Figure 8 As shown, the operation control system schedules the wire clamp connector 33 to move upward along the first height direction HH', so that the wire clamp connector 33 moves from the starting position s0 to the first rising height target position s1. At this time, the pre-installed position L1 of the wire guide in the wire clamp mounting slot 33a (as shown) Figure 7 As shown) located at target height position H1 (e.g. Figure 5 As shown). At the target height position H1, the stripped core segment Lm of the drain wire (as shown) Figure 5 (As shown) is accurately fed into the pre-installation position L1 of the drainage line (as shown) Figure 7(As shown). At the same time, the lead wire body La, which is still covered with an insulation layer on one side of the lead wire core segment Lm, enters the lead wire fixing clamp 332 set on the wire clamp fire receiver 33, and the lead wire fixing clamp 332 clamps and fixes the lead wire body La to prevent the lead wire from axially retracting or shifting during the subsequent placement of the wire clamp.

[0127] like Figure 9 and Figure 10 As shown, the operation control system schedules the auxiliary robotic arm 40 to switch the installation of the wire clamp retrieval tool 51 via the second quick connector 41 at its end. After installation, the control system moves the auxiliary robotic arm 40 to the wire clamp storage position and uses the wire clamp retrieval tool 51 to clamp and stably hold the wire clamp 53 to be installed.

[0128] After the wire clamp is picked up, the operation control system further directs the auxiliary robotic arm 40 to move the wire clamp 53 to the wire clamp receiver 33 (e.g., Figure 12 At the location, the wire clamp 53 is precisely transferred to the wire clamp mounting slot 33a (e.g., Figure 6 (as shown) and make the drain wire channel 53a of the clamp 53 (as shown) inside, and make the drain wire channel 53a of the clamp 53 (as shown) Figure 11 (As shown) First, insert it into the clamp mounting slot 33a and position it in the pre-installation position L1 of the drain wire (as shown). Figure 7 (As shown). In this process, through the positional engagement between the machine head 30 and the wire clamp connector 33, the core segment Lm of the drain wire (as shown) is adjusted. Figure 5 (As shown) While maintaining the clamped state, align and enter the drainage wire channel 53a provided inside the wire clamp 53 (as shown). Figure 7 As shown), this completes the pre-assembly of the clamp 53 and the drain wire core segment Lm.

[0129] In this embodiment, such as Figure 12 As shown, after placing the wire clamp 53, execute... Figure 34 Step 3430, as shown, involves cutting the drainage wire, which includes the following steps: like Figure 21 As shown, the auxiliary robotic arm 40 is dispatched, and the wire cutting tool 52 is switched on and off via the second quick connector 41 at its end. After the tool switch is completed, the auxiliary robotic arm 40 is controlled to move along a preset motion trajectory, so that the wire cutting tool 52 is aligned with the position of the guide wire L located between the wire stripper 32 and the wire clamp connector 33 (in conjunction with...). Figure 22 (As shown).

[0130] like Figure 22 As shown, the drain line L is secured by a cable clamp 34 on the head 30 (e.g., ...). Figure 4With the cable clamp 34 and the drain wire fixing clamp 332 maintaining their positioning, the clamping force of the cable clamp 34 and the drain wire fixing clamp 332 on the drain wire L is appropriately reduced. The operation control system controls the wire cutting tool 52 to close its cutting part and perform a cutting operation on the drain wire L located between the wire stripper 32 (located at the side w2) and the wire clamp connection device 33, thereby cutting the drain wire L and separating the drain wire section that has been pre-clamped from the waste wire section. In this way, the automation and precise control of the drain wire cutting process are achieved, and the retained drain wire core section provides a stable and standardized wire end condition for the subsequent busbar live-line connection operation.

[0131] In this embodiment, after completing the stripping of the drainage wire, placement of the wire clamp, and wire cutting... Figure 34 The preparatory step for live connection in step 3440 is used to adjust the cut-off lead wire and clamp assembly to an initial state suitable for live connection of the busbar. Specifically, it includes the following steps: like Figure 24 As shown, the operation control system schedules the machine head 30, causing the cable clamp 34 (such as...) located at the end furthest from the wire stripper 32 to... Figure 5 (As shown) Switching from the closed state to the released state releases the constraint on the end of the drain line body La, allowing the drain line body La to be in a free hanging or restricted suspension state while still supported by the wire clamp fire connector 33.

[0132] Subsequently, the operation control system schedules the wire clamp fire receiver 33 to move downwards along the first height direction HH', causing it to carry the wire clamp mounting slot 33a (e.g., Figure 7 The wire clamp 53 and its pre-installed lead wire core segment Lm descend as a whole until they reach the preset starting position s0. At the starting position s0, the wire clamp contactor 33 stops moving, and the wire clamp 53 and the wire clamp contactor 33 are in the initial spatial position for subsequent wire connection operations. Figure 5 As shown in the figure, the busbar stripping operation will be carried out in preparation for subsequent online operation.

[0133] After completing the above-mentioned preparatory actions for online connection, the operation control system further schedules the main robotic arm 20, driving it through the first quick connector 21 (connected to...). Figure 3 (As shown) The turbine head 30 is lifted as a whole and moved to bus M (as shown). Figure 27 (As shown) at the location, to perform live-line connection work on the busbar. Specifically, the machine head 30 sequentially completes the operations of stripping the busbar wire and installing the clamp 53 onto the busbar M, thereby realizing the live-line connection between the lead-in line and the busbar. Through the above process, a smooth transition is achieved between the pre-treatment state of the lead-in line and the busbar connection operation, ensuring the continuity and safety of the operation.

[0134] In this embodiment of the disclosure, busbar stripping specifically includes the following steps: like Figure 27 As shown, the operation control system first dispatches the wire stripper 32 located at the wire stripping station w1 to perform wire stripping operations on the busbar M within the working range of the machine head 30. Specifically, the wire stripper 32 clamps the busbar M at the wire stripping station w1 and rotates and translates along a preset stripping stroke to peel off the insulation layer of the busbar, forming an exposed stripped section M1. After completing the stripping, the operation control system further controls the wire stripper 32 to translate along the first direction AA' from the wire stripping station w1 to the lateral position w2, so as to exit the space of the wire stripping station w1 and avoid interference with the subsequent rising wire clamping device 33.

[0135] like Figure 28 As shown, during the installation of the online clamp, the operation control system schedules the online clamp contactor 33 to move upward along the first height direction HH', raising it from the starting position s0 to the preset second rising height target position s2. At the second rising height target position s2, the busbar pre-installation position L2 (as shown) Figure 6 As shown, the busbar stripping section M1 is also at the target height position H1. Therefore, the busbar channel 53b of the clamp 53 carried by the clamp connector 33 (as shown) is at the target height position H1. Figure 7 The position shown is aligned with busbar M, so that the stripped section M1 of the busbar (as shown) is aligned with the busbar M. Figure 27 (As shown) The busbar channel 53b enters the clamp 53 (as shown) Figure 7 (as shown) within, and with the drain wire core segment Lm already located in the drain wire channel 53a (as shown) Figure 5 As shown, a corresponding assembly relationship is formed.

[0136] Subsequently, the operation control system dispatches the wire clamp connector 33 to perform a tightening action, driving the bolt 531 on the wire clamp 53 (such as...) Figure 16 The busbar channel 53b and the drain wire channel 53a are rotated to switch from the open state to the closed state, thereby simultaneously clamping and fixing the busbar stripping section M1 and the drain wire core section Lm, completing the electrical connection between the busbar and the drain wire. Through the above steps, continuous operation of busbar stripping and clamp installation is achieved, ensuring the stability and reliability of the connection process.

[0137] In this disclosure, such as Figure 13 As shown, the wire clamp fire connector 33 includes a wire clamp tightening mechanism 333 located outside the wire clamp mounting groove 33a along the second direction BB'. Figure 16 As shown, the wire clamp tightening mechanism 333 includes a plurality of tightening sleeves 3331, which are arranged at intervals along the first direction AA' to correspond to bolts 531 at different positions.

[0138] In this embodiment, the placement of the wire clamp specifically includes the following steps: like Figure 9 and Figure 10 As shown, the dispatching auxiliary robotic arm 40 transfers the wire clamp 53 to the wire clamp mounting slot 33a via the second quick connector 41 (as shown). Figure 13 (As shown) before, as Figure 16 As shown, the operation control system first schedules the wire clamp turning mechanism 333 to move to the open position z1 (as shown). Figure 14 and Figure 16 (As shown). In the open position z1, multiple screw sleeves 3331 are spaced apart from the wire clamp mounting groove 33a to provide sufficient space for the transfer and placement of the wire clamp 53, and to avoid structural interference between the bolt cap 5311 of the pre-installed bolt 531 on the wire clamp 53 and the screw sleeve 3331.

[0139] When the auxiliary robotic arm 40 (e.g.) Figure 9 and Figure 10 (As shown) After the wire clamp 53 is placed, the operation control system schedules the wire clamp turning mechanism 333 to move from the open position z1 to the closed position z2 (as shown). Figure 15 and Figure 17 (As shown) move.

[0140] During the movement, such as Figure 17 As shown, the multiple rotary drive components 33321 (such as...) in the scheduling drive mechanism 3332 of the operation control system Figure 18 As shown), the corresponding multiple screw sleeves 3331 are driven to rotate alternately in the forward and reverse directions at a preset angle θ, where 15°≤|θ|≤30°.

[0141] Taking θ=30° as an example, it means that for each screw sleeve 3331, with its initial position as the reference starting point, it can reciprocate between -30° and 30°, with the rotation range spanning 60°.

[0142] Through this small-angle forward and reverse rotation in conjunction with the overall displacement of the wire clamp tightening mechanism 333, each tightening sleeve 3331 can tighten the bolt cap 5311 (such as...). Figure 16 (As shown) It plays a guiding and self-correcting role, so that multiple bolt caps 5311 can smoothly enter the corresponding screw sleeves 3331, thereby improving the success rate of multiple bolt caps 5311 being aligned.

[0143] Specifically, the aforementioned 15°≤|θ|≤30° is used to achieve small-angle rotation and tightening of the sleeve 3331. This is taken into account that, in the actual wire clamp assembly process, combined with... Figure 16As shown, due to the potential rotation angle changes of the multiple bolt caps 5311 on the wire clamp 53 during manufacturing, tolerance assembly, and handling, it is difficult to pre-adjust the polygonal angles of the multiple bolt caps 5311 to be completely consistent before placing the wire clamp 53. Furthermore, during the automatic gripping, transfer, and placement of the wire clamp 53, the bolt caps 5311 have a certain degree of freedom in the rotation direction, and slight contact or vibration can cause angle changes, resulting in deviations in the polygonal angles of each bolt cap 5311. Additionally, during the assembly of the wire clamp tightening mechanism 333, assemblers sometimes cannot ensure that the rotation angles of each tightening sleeve 3331 are precisely consistent, which may result in angular deviations in the initial positions of the multiple tightening sleeves 3331 before performing the wire clamp placement step.

[0144] In high-altitude live-line working scenarios, the welding robot is usually in a fully automated working state on the insulated bucket or working platform, and cannot rely on manual secondary correction. Under these conditions, if the clamp tightening mechanism 333 is directly driven to move towards the closed position z2 when there is a deviation in the bolt head angle, it is very easy for some bolt heads 5311 to get stuck at the inlet of the tightening sleeve and unable to enter the tightening sleeve, thus causing the clamp to fail to be reliably installed in place.

[0145] Based on this, after placing the wire clamp and aligning the bolt cap 5311 with the corresponding screwing sleeve 3331, this embodiment does not merely move the wire clamp screwing mechanism 333 towards the closed position z2, but rather drives the wire clamp screwing mechanism 333 from the open position z1 to the closed position z2 (e.g., Figure 17 As shown, while moving, each screw sleeve 3331 is controlled to rotate alternately in the forward and reverse directions at a small angle.

[0146] In this embodiment, the bolt cap 5311 has a regular hexagonal cross-section. In other embodiments, the bolt cap 5311 may have a cross-section of other regular polygons.

[0147] First, the small-angle rotation setting has clear geometric rationale. Taking the hexagonal bolt cap 5311 as an example, the maximum misalignment angle between any two regular hexagons in the rotation direction does not exceed 30°. Therefore, by setting 15°≤|θ|≤30° (for example, |θ|=20°, i.e., reciprocating rotation within the range of -20° to 20°), for a single bolt cap 5311, there must be a moment when the bolt cap 5311 and the opening angle of the screw sleeve 3331 are perfectly aligned. By using small-angle forward and reverse rotation covering this range, alignment attempts can be completed in a shorter time without the need for large-angle rotation followed by reverse retraction (the reason for reverse retraction will be explained below), thus effectively reducing alignment time.

[0148] Secondly, using forward and reverse rotation instead of unidirectional rotation has significant advantages. If rotation continues in a single direction, once a bolt cap 5311 enters the corresponding tightening sleeve 3331 first, that bolt cap 5311 will rotate synchronously with the tightening sleeve 3331. If the rotation direction is the tightening direction of the clamp, some bolts 531 may have already begun to tighten, while the remaining bolt caps 5311 have not yet entered the tightening sleeve 3331, leading to uneven stress on the two halves of the clamp 53 structure, affecting the drain cable channel 53a or the busbar channel 53b (e.g., Figure 17 (As shown) Inconsistent closure increases the risk of uneven pressure, jamming, or breakage during subsequent tightening.

[0149] By controlling the forward and reverse rotation at small angles, even if individual bolt caps 5311 enter the screw sleeve 3331 first, they will only be tightened briefly and then loosened in the opposite direction. This ensures that all bolts 531 are in a basically consistent initial state before the subsequent clamp installation steps are officially carried out and tightened continuously, thus providing a balanced starting condition for subsequent synchronous tightening.

[0150] Furthermore, during this process, the wire clamp tightening mechanism 333, under the action of the bottom elastic structure, continuously applies a closing tendency towards the bolt cap 5311. Each tightening sleeve 3331 continuously attempts to match the corresponding bolt cap 5311 during small-angle forward and reverse rotation. Regardless of the initial angle of the bolt cap 5311, during small-angle forward and reverse rotation, the tightening sleeve 3331 and the bolt cap 5311 will inevitably have a momentary state of alignment and engagement. Once aligned, the bolt cap 5311 can enter the corresponding tightening sleeve 3331 and rotate synchronously with the sleeve. As this process continues, multiple bolt caps will successively or simultaneously enter their respective tightening sleeves, ultimately achieving complete entry of all bolt caps 5311 into the tightening sleeve 3331, completing the adjustment of the wire clamp tightening mechanism 333 to the closed position z2.

[0151] A position detection sensor, such as a microswitch or optocoupler, is installed at the closed position z2. When the clamp tightening mechanism 333 completes the closing and detects the corresponding position detection signal, the small-angle forward and reverse rotation stops. Through the above control strategy, the success rate of assembling multi-bolt clamps with automatic alignment and multi-tightening sleeves 3331 can be significantly improved under unattended conditions, reducing the risk of jamming and ensuring the stability and consistency of the welding operation process.

[0152] During the clamp installation step in the busbar connection operation, the operation control system further schedules multiple rotary drive components 33321 (such as...). Figure 18 As shown), each screw-tightening sleeve 3331 is driven to tighten the bolt 531. Each screw-tightening sleeve 3331 can simultaneously output tightening torque, thereby tightening the lead wire channel 53a and busbar channel 53b of the clamp 53 (as shown). Figure 17 As shown, the circuit gradually closes until the set locking state is reached, and all bolt caps 5311 break, thus completing the reliable connection between the drain line L and the busbar M.

[0153] In this embodiment, continue to refer to Figure 9 and Figure 10 As shown, a binocular camera 42 is integrated at the end of the auxiliary robotic arm 40. Figure 13 As shown, a QR code label 3333 is affixed to the top of the wire clamp screwing mechanism 333. The QR code label 3333 and the wire clamp mounting groove 33a have a pre-calibrated fixed spatial pose relationship, which is used as a visual positioning reference.

[0154] In this embodiment, the placement of the wire clamp specifically includes the following steps: Combination Figure 9 , Figure 10 and Figure 13 As shown, the binocular camera 42 is scheduled to acquire and recognize the QR code label 3333 on the top of the wire clamp screwing mechanism 333. Through binocular vision ranging and attitude calculation algorithm, the position and pose information of the QR code label 3333 in the camera coordinate system is obtained, including position coordinates and attitude angle. Subsequently, based on the pre-stored preset pose relationship between the wire clamp mounting slot 33a and the QR code identifier 3333, the pose of the QR code identifier 3333 in the camera coordinate system is converted into the target pose of the wire clamp mounting slot 33a in the base coordinate system. The base coordinate system can be the world coordinate system corresponding to the base platform 10 of the fire-fighting robot 100, or a global coordinate system uniformly defined by the operation control system.

[0155] After obtaining the target pose of the wire clamp mounting slot 33a in the base coordinate system, the operation control system further combines the current pose, kinematic model, and obstacle avoidance constraints of the auxiliary robotic arm 40 to calculate the movement path of the auxiliary robotic arm 40. The movement path includes a spatial translation path and a pose adjustment path, which are used to guide the auxiliary robotic arm 40 to transfer the wire clamp 53 to the predetermined position aligned with the wire clamp mounting slot 33a while ensuring the stability of the wire clamp's pose.

[0156] After alignment is completed, the scheduling auxiliary robotic arm 40 moves the wire clamp 53 toward the wire clamp mounting slot 33a (e.g., Figure 11 As shown), the wire clamp 53 is gradually inserted into the wire clamp mounting slot 33a. During this process, multiple microswitches 33a1 (such as those shown) located at the bottom of the wire clamp mounting slot 33a are activated. Figure 11 (As shown) are triggered sequentially. When it is detected that all microswitches 33a1 at the bottom of the clamp mounting slot 33a have been triggered, the operation control system determines that the clamp 53 has been reliably placed in place and completes the clamp transfer step.

[0157] Through the above implementation method, by using the QR code 3333 as a unified visual reference, combined with the three-dimensional pose perception capability of the binocular camera 42 and the end position detection of the micro switch 33a1, the wire clamp 53 can be automatically positioned, aligned and placed with high precision under unmanned conditions. This effectively avoids assembly deviations caused by mechanical cumulative errors or single visual judgment, and significantly improves the reliability and success rate of the wire clamp placement process in high-altitude live-line connection operations.

[0158] Combination Figure 18 As shown, in the clamp installation steps of the busbar connection operation, the above-mentioned dispatch clamp connection device 33 tightens the bolt 531, specifically including the following steps: Driven by the rotary drive assembly 33321 (i.e., the transmission gear 333211), the screw sleeve 3331 tightens the bolt cap 5311 (as shown in the image). Figure 16 (As shown) Apply a preset torque to perform a tightening operation until all bolt caps 5311 are dislodged, thereby achieving the connection of the busbar channel 53b and the drain line channel 53a (as shown). Figure 17 (As shown) the closed and fixed mechanism. During the tightening process, all tightening sleeves 3331 rotate synchronously to ensure that each bolt 531 is evenly stressed and the channel is reliably closed.

[0159] After completing the installation of the aforementioned wire clamp 53, the main robotic arm 20 will move the machine head 30 (e.g., Figure 3 As shown) from bus M (e.g. Figure 28 Remove the bolt cap 5311 that broke inside the sleeve 3331, maintaining a safe distance, to allow for subsequent processing. Figure 16 (As shown). The broken bolt cap 5311 is temporarily held in place by multiple elastic steel balls located on the inner wall of the screw-on sleeve 3331. Subsequently, the dispatching auxiliary robotic arm 40 switches to the installation of the wire-retrieving clamp tool 51 via the second quick connector 41 (as shown). Figure 9 As shown), and clamp the bolt cap collection box 54 (in conjunction with) Figure 20 As shown), the bolt cap collection box 54 is transferred and placed in the predetermined position within the clamp mounting slot 33a.

[0160] Next, the auxiliary robotic arm 40 uses the wire clamp tool 51 (such as...) Figure 9 (As shown) Gently push the elastic push rod 3334, and the elastic push rod 3334 will release the bolt cap 5311 (as shown) that is broken inside the screw sleeve 3331. Figure 16 (As shown) The screw-on sleeve 3331 is pushed out and into the bolt cap collection box 54. In this way, even in high-altitude working environments, the broken bolt caps 5311 can be safely and efficiently collected, preventing them from scattering and falling from heights.

[0161] Finally, the auxiliary robotic arm 40 (such as...) Figure 9(As shown) Remove the bolt cap collection box 54 containing the bolt cap 5311 from the clamp mounting slot 33a and put it back into the base platform 10 to complete the bolt cap cleaning operation and provide conditions for the next phase lead connection.

[0162] Through the above implementation method, combined with the setting of elastic push rod 3334 and bolt cap collection box 54, the safe recycling and centralized management of bolt caps in a fully automatic high-altitude operation environment is realized, improving the reliability of operation and the engineering scalability.

[0163] Combination Figure 21 and Figure 23 As shown, after completing the drain wire cutting step, the dispatching auxiliary robotic arm 40 uses the wire cutting tool 52 to clamp the cut-off waste drain wire segment Lf. Subsequently, the dispatching head 30, near the wire stripper 32 (at this time in the side position w2), uses the cable clamp 34 (as shown in the image) at one end. Figure 4 (As shown) Loosen the abandoned drain line segment Lf to make the abandoned drain line segment movable.

[0164] Next, the auxiliary robotic arm 40 moves the wire cutting tool 52 and the waste drain line segment Lf to the top of the waste bin 60, and puts the waste drain line segment Lf into the waste bin 60, realizing the centralized collection and management of waste.

[0165] Through the above implementation methods, the safe collection of abandoned drain line segments Lf can be achieved in an unmanned high-altitude operation environment, avoiding falls from heights and complying with the safety regulations for live-line work.

[0166] like Figure 3 As shown, the main robotic arm 20, carrying the head 30, grips the guide wire L. The guide wire L enters the stripping space 32a through the cable inlet 32b of the wire stripper 32. The specific operation process is as follows: Rotate the machine head 30 and adjust the orientation of both ends of the machine head 30 so that the cable clamps 34 at both ends of the machine head 30 are in the state of clamping the guide wire L, and the through groove 31b (in conjunction with) Figure 25 The outer side of the cable clamp 34 above (inside and outside relative to the receiving space 31a, inside refers to being inside the receiving space 31a) is a bracket 2 fixed to the utility pole 1 (as shown). Figure 1 The drain line body La at the starting end (as shown); near the lateral position w2 (as shown) Figure 5 The cable clamp 34 (in conjunction with) on the side plate 312 at the position shown) Figure 25 The outer side (as shown) is the free end of the drainage line body La.

[0167] Furthermore, combined Figure 24 and Figure 25 As shown, after the lead wire L is stripped and the clamp 53 is placed, the operation control system controls the cable clamp 34 to release its grip on the lead wire L.

[0168] Subsequently, the dispatching clamp receiver 33 carries the assembled clamp 53 and the lead wire core segment Lm (such as...). Figure 5 As shown) from the first ascent target position s1 (as shown) Figure 5 As shown, the drain line L descends along the first height direction HH', and is placed at the bottom of the drain line 31b or roughly flush with the bottom, ensuring that the drain line L is placed stably.

[0169] Combination Figure 25 and Figure 26 As shown, during the process of the online clamping firearm 33 rising and falling along the first height direction HH', if the online clamping firearm 33 is in the starting position s0, the spring piece fixed on the online clamping firearm 33 blocks the beam of the first optocoupler sensor P1, triggering the first optocoupler sensor P1 to generate a position detection signal, which is fed back to the operation control system to indicate that the online clamping firearm 33 has reached the starting position.

[0170] When the wire clamp fire connector 33 rises to the first rising height target position s1 (e.g. Figure 8 When the spring 31 blocks the beam of the third optocoupler sensor P3 (as shown), the third optocoupler sensor P3 generates a position detection signal. Based on this, the operation control system determines that the wire clamp connector 33 has reached the first rising height target position s1, and can determine that the guide wire core segment Lm has entered the guide wire pre-installation position L1 (as shown). Figure 7 (As shown) and perform the clamping operation of the drainage line fixing clamp 332.

[0171] When the wire clamp fire connector 33 rises to the second rising height target position s2 (e.g.) Figure 28 When the spring sheet blocks the beam of the second optocoupler sensor P2, it triggers the second optocoupler sensor P2 to generate a signal. Based on this, the operation control system determines that the wire clamp connector 33 has reached the second rising height target position s2 and can perform the wire clamp installation operation.

[0172] In this disclosure, such as Figure 29 and Figure 30 As shown, before stripping the drain line, the connection operation method further includes: scheduling the main robotic arm 20 to install the wire gripper 13 through the first quick connector 21; scheduling the main robotic arm 20 to use the wire gripper 13 to grip the drain line L to be operated; optionally, the gripping posture can be adjusted by force control or visual feedback to ensure that the drain line L can be dragged smoothly; the main robotic arm 20 drags the gripped drain line L along the planned trajectory to the drain line placement rack 11 on the base platform 10; scheduling the main robotic arm 20 to guide the drain line L into the drain line shaping clamps 12 at both ends of the drain line placement rack 11 in sequence; scheduling the drain line shaping clamps 12 at both ends to clamp the drain line L in sequence, keeping it straight along the length direction, and positioning it in the clamping space of the drain line shaping clamp 12, thus fixing the spatial position of the drain line 10.

[0173] Optionally, before the drainage line shaping fixtures 12 at both ends clamp the drainage line L, the main robotic arm 20 is driven to perform at least one straightening action (i.e., apply tension or straightening action along the direction of the line) along the length of the drainage line, so that the drainage line L is evenly spread out and straightened between the drainage line shaping fixtures 12 at both ends.

[0174] Furthermore, during the stripping process of the drainage line, the main robotic arm 20 removes the wire gripper 13 and switches the installation head 30 via the first quick connector 21 (e.g., Figure 3 (as shown), and combined with Figure 3 As shown, the main robotic arm 20 moves the head 30 to the drain line L between the drain line shaping fixtures 12 at both ends, and clamps the drain line L.

[0175] Through the above implementation method, by using the drainage line placement frame 11 to fix the drainage line L, it can be ensured that the drainage line L remains stable during the process of the main robotic arm 20 switching to the mounting head 30 to grip the drainage line L. At the same time, the line gripper 13 (such as...) can be used to secure the drainage line L. Figure 30 As shown, it can automatically grab the drain line in any position and any shape, providing a reliable and repeatable operating basis for fully automatic fire connection operations.

[0176] In this embodiment of the disclosure, combined with Figure 2 As shown, a screw-tightening tool 55 is pre-positioned on the base platform 10. At this time, the first quick-connector 21 is switched to install either the wire gripper 13 or the machine head 30 (e.g., Figure 30 The steps (as shown) specifically include: scheduling the auxiliary robotic arm 40 to install the screw-tightening tool 55 (such as...) via the second quick connector 41. Figure 2 (As shown); the dispatching auxiliary robotic arm 40 uses the screw-tightening tool 55 to tighten the screw 211 on the first quick connector 21 to drive the first quick connector 21 to complete the removal or installation of the wire gripper 13 or the machine head 30.

[0177] Using the screw-tightening tool 55 and the auxiliary robotic arm 40, the first quick connector 21 can be safely switched in a high-altitude environment where no one is needed to accompany the climber.

[0178] In this disclosure, such as Figure 2 and Figure 33 As shown, a wire stripping tool 56 is pre-positioned on the base platform 10. At this time, after the drain wire stripping step or the busbar stripping step is completed, the connection operation method further includes: scheduling the auxiliary robotic arm 40 to switch and install the wire stripping tool 56 via the second quick connector 41; scheduling the wire stripping tool 56 into the take-up box 321 of the wire stripper 32 (e.g., ...). Figure 5 (As shown) The stripped waste wire sheath is clamped inside; the auxiliary robotic arm 40 moves the waste wire sheath to the waste bin 60 on the base platform 10 and discards it.

[0179] In this embodiment, the cooperation between the auxiliary robotic arm 40 and the wire stripping tool 56 enables fully automated recycling of wire stripping waste, solving the problem of waste disposal in high-altitude or unattended environments. Simultaneously, the coordination between the wire collection box 321 and the waste bin 60 ensures safe, centralized, and orderly waste disposal, reducing human error risks and improving the efficiency of the wire stripping cycle. Through the above implementation, the safe and automated recycling of lead wire and busbar stripping waste is further achieved, providing technical support for the unmanned and highly reliable operation of the entire connection process.

[0180] In summary, in this embodiment, the machine head 30 (e.g.) Figure 2 The structure (as shown) is highly integrated, including the head base 31, wire stripper 32, and wire clamp flame arrester 33 (as shown). Figure 4 As shown), the top of the two end side plates 312 of the machine head base 31 along the first direction AA' are provided with cable clamps 34 (as shown). Figure 4 As shown), used to clamp the drain line L or busbar M (such as... Figure 1 (As shown).

[0181] The stripping space 32a of the wire stripper 32 communicates with the first clamping space 34a of the cable clamp 34 along the first direction AA', and is relative to the base plate 311 (e.g. Figure 4 As shown) at the target height position H1 (e.g.) Figure 5 (As shown). After the cable clamp 34 clamps the lead wire L, the lead wire L enters the stripping space 32a of the wire stripper 32, and its height is at the target height position H1 relative to the base plate 311. Subsequently, the wire stripper 32 moves along the first direction AA' at the stripping position w1 and the side position w2 (as shown). Figure 5 The drain line L is stripped between the two points shown in the figure.

[0182] After the drain wire L is stripped, the wire stripper 32 retracts to the side position w2, freeing up the stripping station w1 and creating space for the wire clamp fire connector 33 to rise. The wire clamp fire connector 33, originally located below the stripping station w1, rises to the drain wire pre-installation position L1 (e.g., Figure 6 (As shown) Stop at the target height position H1, at which point the stripped drainage wire core segment Lm (as shown) Figure 5 (As shown) Located on the pre-installation position L1 of the guide wire, the guide wire fixing clamp 332 on the wire clamp connector 33 (as shown) Figure 4 (As shown) clamp the drain wire L on one side of the drain wire core segment Lm. Then, the auxiliary robotic arm 40 uses the wire-retrieving tool 51 (such as...) Figure 2 (As shown) clamp 53 (as shown) Figure 7 (As shown) clamp and place in the wire clamp mounting slot 33a (as shown) Figure 4 As shown), this allows the core segment Lm of the drain wire to smoothly enter the drain wire channel 53a of the clamp 53 (as shown). Figure 7 (As shown)

[0183] Next, the auxiliary robotic arm 40 passes through the wire-cutting tool 52 (such as... Figure 2 (As shown) Cut the guide wire L between the wire stripper 32 and the wire clamp fire connector 33, and let the wire clamp fire connector 33 drag the guide wire L down to the starting position s0 (as shown). Figure 5 (As shown) Prepare for the process. Then, the cable clamp 34 at the end of the machine head 30 away from the wire stripper 32 releases the lead wire L, and the wire clamp receiver 33 carries the wire clamp 53 and the lead wire L down to the starting position s0, making room for the subsequent stripping of the busbar M.

[0184] During the stripping step of busbar M, the main robotic arm 20 (e.g.) Figure 2 (As shown) The machine head 30 is raised to the position of busbar M, and the cable clamp 34 clamps busbar M, so that busbar M enters the stripping space 32a of the wire stripper 32, and its height is at the target height position H1 relative to the base plate 311. After the busbar M is stripped, the wire stripper 32 retracts to the side position w2, making room again for the wire clamp connector 33 to rise. The wire clamp connector 33 rises to the busbar pre-installation position L2 (as shown). Figure 6 (As shown) Stop at the target height position H1, and strip the busbar segment M1 (as shown). Figure 27 (As shown) The busbar channel 53b enters the clamp 53 (as shown) Figure 7 (As shown) then connect the wire clamp to the firearm 33 and tighten the wire clamp 53 bolt 531 (as shown). Figure 7 As shown), close the busbar channel 53b and the drain line channel 53a to complete the installation of the clamp 53.

[0185] This technical solution has the following advantages: (1) In this technical solution, the machine head 30 can automatically strip the lead wire L, and the auxiliary robotic arm 40 assists in cutting the lead wire L, thereby realizing the full automation of lead wire stripping and cutting, and improving the reliability of the operation.

[0186] (2) In this technical solution, the cable clamps 34 at both ends of the machine head 30 clamp the lead wire L to complete the online connection preparation, including the pre-processing steps such as stripping the lead wire L, placing the cable clamp 53, cutting the lead wire L, and online connection preparation, all of which are completed on the machine head 30. The connection is made via the cable clamp 33 along the first height direction HH' (e.g., ...). Figure 6 As shown) at the starting position s0, the first ascent height target position s1 (as shown) Figure 5 (as shown) and the second ascent target position s2 (as shown) Figure 5The wires move up and down between the stripped drain wire L and the stripped main wire M, allowing them to enter their respective channels within the clamp 53 and merge spatially. This eliminates the need for the "threading" step, saving operation time. The drain wire L is clamped during stripping and placement in the clamp 53, reducing bending and ensuring smooth placement of the clamp 53. The stripped drain wire L easily enters the clamp 53 channel, facilitating fixed-point operation of the auxiliary robotic arm 40 and improving operational accuracy and efficiency.

[0187] (3) In this technical solution, after the main robotic arm 20 completes the online connection preparation, it can drag the lead wire L to complete the busbar M online operation in one go. The busbar M stripping and wire clamp 53 installation can be completed in one busbar M online operation, which improves the work efficiency and reduces the time spent on repeated busbar M online operation.

[0188] This technical solution enables fully automated lead wire splicing operations, including lead wire pretreatment and busbar connection, eliminating the need for operators to climb to heights to strip and cut the lead wires, and also eliminating the need for operators to accompany the connection robot (e.g., 100). Figure 1 (As shown) Working together at height significantly improves the safety of the operation.

[0189] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A welding operation robot supporting fully automated pre-processing of the discharge line, characterized in that, Includes a base platform (10), an operation control system, a main robotic arm (20), a machine head (30), an auxiliary robotic arm (40), and multiple collaborative tools (50); The machine head (30) and multiple cooperating tools (50) are pre-mounted on the base platform (10). The multiple cooperating tools (50) include at least a wire clamp tool (51), a wire cutting tool (52), and several wire clamps (53). The main robotic arm (20) is fixed to the base platform (10), and its end is provided with a first quick connector (21) that is detachably connected to the machine head (30). The auxiliary robotic arm (40) is fixed to the base platform (10), and its end is provided with a second quick connector (41) for switching the installation of the multiple cooperating tools (50). The head unit (30) includes: a head unit base (31), the head unit base (31) includes a base plate (311) and side plates (312) located at both ends along a first direction (AA'), the top of the side plates (312) is provided with a cable clamp (34), the base plate (311) and the side plates (312) form an accommodating space (31a); a wire stripper (32) and a wire clamp fire catcher (33) are located in the accommodating space (31a) and are separately arranged. The stripping space (32a) of the wire stripper (32) communicates with the first clamping space (34a) of the cable clamp (34) along the first direction (AA') and is located at a target height position (H1) relative to the base plate (311). The stripping space (32a) has a cable inlet (32b) facing away from the base plate (311). The wire stripper (32) is configured to reciprocate between the stripping station (w1) and the lateral position (w2) in the receiving space (31a) along the first direction (AA'). The wire clamp fire receiver (33) includes: a mounting base (331); a lead wire fixing clamp (332) and a wire clamp mounting groove (33a) arranged on the mounting base (331) along the first direction (AA'), the wire clamp mounting groove (33a) having a lead wire pre-installation position (L1) arranged along a first height direction (HH') perpendicular to the base plate (311) and a busbar pre-installation position (L2) above it, the second wire clamping space (332a) of the lead wire fixing clamp (332) communicating with the lead wire pre-installation position (L1) along the first direction (AA'); The wire clamp fire connector (33) is configured to move up and down along the first height direction (HH') between the starting position (s0), the first rising height target position (s1), and the second rising height target position (s2). The starting position (s0) is located below the wire stripping station (w1). The first rising height target position (s1) corresponds to the pre-installation position of the lead wire (L1) at the target height position (H1), and the second rising height target position (s2) corresponds to the pre-installation position of the busbar (L2) at the target height position (H1). The clamp (53) includes: a drain wire channel (53a) and a busbar channel (53b) arranged in parallel; and a plurality of bolts (531) arranged in parallel between the drain wire channel (53a) and the busbar channel (53b). The clamp (53) is adapted to the clamp mounting groove (33a) such that, when the clamp (53) is inserted into the clamp mounting groove (33a), the drain wire channel (53a) is located in the drain wire pre-installation position (L1), and the busbar channel (53b) is located in the busbar pre-installation position (L2). The operation control system is configured to schedule the main robotic arm (20), the auxiliary robotic arm (40) and the machine head (30) according to preset program instructions, so as to sequentially perform the following on the machine head (30) at the end of the main robotic arm (20): stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the upper wire connection and connecting the busbar to the power supply.

2. The welding operation robot supporting fully automated pre-processing of the drainage line according to claim 1, characterized in that, The wire clamp mounting groove (33a) is fixed on the mounting base (331); The wire clamp fire receiver (33) further includes: a wire clamp screwing mechanism (333), which is located on the mounting base (331) and outside the wire clamp mounting groove (33a) along a second direction (BB'), the second direction (BB') being perpendicular to both the first direction (AA') and the first height direction (HH'); the wire clamp screwing mechanism (333) is configured to move along the second direction (BB') relative to the wire clamp mounting groove (33a) between a closed position (z2) and an open position (z1). The wire clamp tightening mechanism (333) includes: a plurality of tightening sleeves (3331), the number of which is the same as the number of bolts (531) on the wire clamp (53), the plurality of tightening sleeves (3331) being arranged at intervals along the first direction (AA'), and the bolts (531) having bolt caps (5311); and a drive mechanism (3332) cooperating with the tightening sleeves (3331), the drive mechanism (3332) including a plurality of rotary drive components (33321), each of the tightening sleeves (3331) being driven by one of the rotary drive components (33321); The screwing sleeve (3331) is configured to be driven by the corresponding rotary drive assembly (33321) to rotate in both directions at an angle θ during the process of the wire clamp screwing mechanism (333) moving from the open position (z1) to the closed position (z2), so as to guide the screwing sleeve (3331) to be fitted onto the bolt cap (5311), wherein 15°≤|θ|≤30°; the wire clamp screwing mechanism (333) screws the bolt (531) in the closed position (z2) to close the busbar channel (53b) and the drain line channel (53a).

3. The welding robot supporting fully automated pre-processing of the drainage line according to claim 2, characterized in that, The auxiliary robotic arm (40) is equipped with a binocular camera (42) at its end, and the top of the wire clamp screwing mechanism (333) is affixed with a QR code label (3333); the bottom of the wire clamp mounting slot (33a) is equipped with several micro switches (33a1). The binocular camera (42) is used to acquire the pose of the QR code identifier (3333); the operation control system is configured to: Calculate the target pose of the wire clamp mounting slot (33a) based on the pose of the QR code identifier (3333), and calculate the movement trajectory of the auxiliary robotic arm (40) to guide the auxiliary robotic arm (40) to put the wire clamp (53) into the wire clamp mounting slot (33a) until all the micro switches (33a1) are triggered.

4. The welding operation robot supporting fully automated pre-processing of the drainage line according to claim 2, characterized in that, The wire clamp screwing mechanism (333) also includes the same number of elastic push rods (3334) as the screwing sleeve (3331). One end of the elastic push rod (3334) is located inside the screwing sleeve (3331), and the other end protrudes through the side wall of the wire clamp screwing mechanism (333). The plurality of collaborative tools (50) also include: a bolt cap collection box (54); The screwing sleeve (3331) is configured to apply a preset torque to the bolt cap (5311) and screw it until the bolt cap (5311) is broken, so as to close the busbar channel (53b) and the drain line channel (53a). The operation control system is configured as follows: After the bolt cap (5311) is disconnected, the auxiliary robotic arm (40) is controlled to install the wire clamp tool (51) through the second quick connector (41), clamp the bolt cap collection box (54) and place it into the wire clamp mounting slot (33a); The auxiliary robotic arm (40) is controlled to push the elastic push rod (3334) using the wire clamp tool (51) to push out the bolt cap (5311) that is broken in the screw sleeve (3331) and let it fall into the bolt cap collection box (54); The auxiliary robotic arm (40) removes the bolt cap collection box (54) from the clamp mounting slot (33a).

5. The welding robot supporting fully automated pre-processing of the discharge line according to claim 1, characterized in that, The base platform (10) is provided with a drainage line placement rack (11), and the drainage line placement rack (11) is provided with drainage line shaping clamps (12) located at both ends. The drainage line shaping clamps (12) are configured to movably clamp the drainage line in order to position and shape the drainage line. The fire-receiving robot also includes a wire gripper (13), which is pre-installed on the base platform (10). The first quick connector (21) at the end of the main robotic arm (20) is used to switch between the wire gripper (13) and the machine head (30). The wire gripper (13) is configured to grip the drain line. The operation control system is configured as follows: Control the main robotic arm (20) to switch and install the wire gripper (13), grab the drain wire and guide it to the drain wire placement frame (11), so that the drain wire shaping clamp (12) clamps the drain wire; as well as Control the main robotic arm (20) to switch and install the machine head (30), and move the machine head (30) to the drain line (L) fixed by the drain line shaping fixture (12), and clamp the drain line with the machine head (30) to perform the stripping operation.

6. The welding operation robot supporting fully automated pre-processing of the drainage line according to claim 5, characterized in that, The main robotic arm (20) includes: Support base (29) is fixedly connected to the base platform (10); The movable seat (22) is rotatably connected to the support seat (29) via a first rotating shaft (23). The first rotating shaft (23) passes through the support seat (29) and the movable seat (22) along a second height direction (CC') perpendicular to the base platform (10), and is configured to drive the main robotic arm (20) to rotate around the first rotating shaft (23). The lifting push rod (25) is rotatably connected to the movable seat (22) at its bottom via a second rotating shaft (24). The lifting push rod (25) includes a fixed sleeve section (251) and a telescopic section (252) above it. The telescopic section (252) can retract into the fixed sleeve section (251) to form a retracted state. An angle adjustment mechanism (26) is connected to the lifting push rod (25). The angle adjustment mechanism (26) is configured to controllably drive the lifting push rod (25) to rotate about the center line of the second rotating shaft (24) to adjust the angle of the lifting push rod (25). The second rotating shaft (24) extends in the horizontal direction (LL') of the horizontal plane. The insulating rod (28) is rotatably connected to the top of the lifting push rod (25) via a third rotating shaft (27), which is parallel to the second rotating shaft (24). The first quick connector (21) is assembled at the top of the insulating rod (28); Wherein, the bottom of the support base (29) is flush with the bottom of the base platform (10), and the top of the lifting push rod (25) in the retracted state is higher than the top of the base platform (10); The third pivot (27) is configured to adjust the first quick connector (21) to the base platform (10) facing downward for quick connection with the head (30) or the wire gripper (13), and to move the head (30) to the drain line (L) between the drain line shaping fixture (12) for operation.

7. The welding operation robot supporting fully automated pre-processing of the drainage line according to claim 1, characterized in that, The base platform (10) has a waste bin (60) for collecting waste generated during the operation; the operation control system is configured to: After the drain line cutting step is completed, the auxiliary robotic arm (40) is controlled to move the cutting tool (52) to pick up the cut waste drain line segment (Lf). Control the cable clamp (34) to release the discarded drain segment (Lf); The auxiliary robotic arm (40) is controlled to move the waste drain line segment (Lf) above the waste bin (60) and discard it; The wire stripper (32) has a wire collection box (321) for collecting the waste wire sheaths removed during the stripping of the drain wire and the busbar; the plurality of cooperating tools (50) also include: a wire sheath removal tool (56). The operation control system is configured as follows: After completing a stripping operation of a drain line or busbar, the auxiliary robotic arm (40) is controlled to switch and install the wire stripping tool (56) via the second quick connector (41). Control the wire sheathing tool (56) to enter the wire take-up box (321) and clamp the waste wire sheath; The auxiliary robotic arm (40) is controlled to move the waste wire sheath above the waste bin (60) and discard it.

8. The welding operation robot supporting fully automated pre-processing of the discharge line according to claim 1, characterized in that, In the side plates (312) at both ends of the machine head base (31), the side plate (312) located at the wire stripping station (w1) has a through groove (31b), and a cable clamp (34) is set at the upper opening position of the through groove (31b). The through groove (31b) communicates with the receiving space (31a) along the first direction (AA') and is opposite to the starting position (s0) of the wire clamp fire connector (33), which is used to provide clearance space for the drain wire body (La) during the process of the drain wire body (La) moving down along the first height direction (HH') after wire cutting.

9. The welding operation robot supporting fully automated pre-processing of the drainage line according to claim 1, characterized in that, A first optocoupler sensor (P1), a second optocoupler sensor (P2), and a third optocoupler sensor (P3) are arranged sequentially from bottom to top along the first height direction (HH') on the inner side of the side plate (312) near the wire stripping station (w1). A spring is fixed on the wire clamp fire receiver (33). The position of the spring is configured such that when the wire clamp fire receiver (33) is located at the starting position (s0), the first rising height target position (s1), and the second rising height target position (s2), respectively, it blocks the beam paths of the first optical coupler sensor (P1), the third optical coupler sensor (P3), and the second optical coupler sensor (P2) to trigger the corresponding optical coupler sensor to generate a position detection signal.

10. A fire-receiving operation method based on the fire-receiving robot supporting fully automated pre-processing of the lead wire as described in claim 1, characterized in that, The operation control system schedules the main robotic arm (20), the auxiliary robotic arm (40) and the machine head (30) according to the preset program instructions, so as to sequentially perform the following on the machine head (30) at the end of the main robotic arm (20): stripping the lead wire, placing the wire clamp, cutting the lead wire, preparing for the upper wire connection and connecting the busbar to the live wire. The stripping of the drainage wire includes: The main robotic arm (20) is scheduled to install the head (30) through the first quick connector (21), move the head (30) to the drain line (L), and guide the drain line (L) through the cable inlet (32b) of the wire stripper (32) into the stripping space (32a), and schedule the cable clamp (34) to clamp the drain line (L); The wire stripper (32) located at the wire stripping station (w1) is scheduled to move along the first direction (AA') toward the side position (w2) to strip the wire until the core segment of the drain wire (Lm) is exposed. Then the wire stripper (32) is scheduled to move from the wire stripping station (w1) to the side position (w2) along the first direction (AA'). The placement of the wire clamp includes: The wire clamp fire receiver (33) is moved up to the first rising height target position (s1), so that the core segment (Lm) of the drain wire enters the drain wire pre-installation position (L1), and the drain wire (L) on one side of the core segment (Lm) enters the drain wire fixing clamp (332), and the drain wire fixing clamp (332) clamps the drain wire (L). The auxiliary robotic arm (40) is scheduled to install the wire clamp tool (51) through the second quick connector (41), and the wire clamp tool (51) is used to clamp the wire clamp (53). The auxiliary robotic arm (40) is directed to transfer the wire clamp (53) into the wire clamp mounting slot (33a), so that the drain wire core segment (Lm) enters the drain wire channel (53a) of the wire clamp (53); The drain wire cutting includes: The auxiliary robotic arm (40) is scheduled to switch and install the wire cutting tool (52) through the second quick connector (41), and the wire cutting tool (52) is moved to the drain line (L) between the wire stripper (32) and the wire clamp fire connector (33) to cut the drain line (L). The online connection preparation includes: The cable clamp (34) at the end of the head (30) away from the wire stripper (32) releases the lead wire (L); The wire clamp receiver (33) is dispatched to carry the wire clamp (53) and the drain line (L) in the wire clamp mounting slot (33a) down to the starting position (s0). After the above-line connection preparation is completed, the main robotic arm (20) is scheduled to lift the machine head (30) to the bus (M) for bus energization connection, including bus stripping and clamp installation; The busbar stripping includes: scheduling the stripper (32) to strip the busbar (M) at the stripping station (w1) to expose the stripped section (M1) of the busbar, and controlling the stripper (32) to move along the first direction (AA') to the side position (w2). The installation of the clamp includes: scheduling the clamp receiver (33) to rise to the second rising height target position (s2), so that the busbar stripped section (M1) enters the busbar channel (53b). The line clamp fire connector (33) is used to tighten the bolt (531) to close the busbar channel (53b) and the drain line channel (53a).

11. The fire connection operation method according to claim 10, characterized in that, The wire clamp mounting groove (33a) is fixed on the mounting base (331); the wire clamp fire receiver (33) further includes: a wire clamp screwing mechanism (333), the wire clamp screwing mechanism (333) is located on the mounting base (331) and is located outside the wire clamp mounting groove (33a) along the second direction (BB'), the second direction (BB') is perpendicular to the first direction (AA') and the first height direction (HH'); The wire clamp tightening mechanism (333) includes: a plurality of tightening sleeves (3331), the number of which is the same as the number of bolts (531) on the wire clamp (53), the plurality of tightening sleeves (3331) being arranged at intervals along the first direction (AA'), and the bolts (531) having bolt caps (5311); and a driving mechanism (3332) cooperating with the tightening sleeves (3331), the driving mechanism (3332) including a plurality of rotary driving components (33321), each of the tightening sleeves (3331) being driven by one of the rotary driving components (33321); The placement of the wire clamp includes: Before the auxiliary robotic arm (40) is scheduled to transfer the wire clamp (53) into the wire clamp mounting slot (33a), the wire clamp screwing mechanism (333) is scheduled to move to the open position (z1). After the auxiliary robotic arm (40) is scheduled to transfer the wire clamp (53) into the wire clamp mounting slot (33a), the wire clamp screwing mechanism (333) is scheduled to move from the open position (z1) to the closed position (z2). During the movement, multiple rotary drive components (33321) are scheduled to drive the corresponding multiple screwing sleeves (3331) to rotate in both directions at an angle θ, so as to guide all the screwing sleeves (3331) to be fitted onto the bolt caps (5311), wherein 15°≤|θ|≤30°, so that all the bolt caps (5311) are entered into the corresponding screwing sleeves (3331). The installation of the wire clamp specifically includes: Multiple rotary drive components (33321) are scheduled to drive the corresponding screwing sleeves (3331) to screw the bolts (531) until the drain line channel (53a) and the busbar channel (53b) are closed.

12. The fire connection operation method according to claim 11, characterized in that, The auxiliary robotic arm (40) is equipped with a binocular camera (42) at its end, and the top of the wire clamp screwing mechanism (333) is affixed with a QR code label (3333); the bottom of the wire clamp mounting slot (33a) is equipped with several micro switches (33a1). The process of scheduling the auxiliary robotic arm (40) to transfer the wire clamp (53) into the wire clamp mounting slot (33a) includes: The binocular camera (42) is scheduled to identify the QR code (3333) on the top of the wire clamp screwing mechanism (333) to obtain the pose of the QR code (3333) in the camera coordinate system; Based on the preset pose relationship between the wire clamp mounting slot (33a) and the QR code identifier (3333), calculate the target pose of the wire clamp mounting slot (33a) in the base coordinate system; Based on the target pose of the wire clamp mounting slot (33a) in the base coordinate system, the movement path of the auxiliary robotic arm (40) is calculated, and the auxiliary robotic arm (40) is guided to transfer the wire clamp (53) to a predetermined position aligned with the wire clamp mounting slot (33a) based on the movement path. The auxiliary robotic arm (40) is directed to move the wire clamp (53) until all the microswitches (33a1) at the bottom of the wire clamp mounting slot (33a) are triggered.

13. The fire connection operation method according to claim 10, characterized in that, The base platform (10) is provided with a drain line placement rack (11), and the drain line placement rack (11) is provided with drain line shaping clamps (12) located at both ends. The fire-fighting robot also includes a wire gripper (13), which is pre-installed on the base platform (10); Before stripping the drain wire, the connection method further includes: The main robotic arm (20) is scheduled to install the wire gripper (13) through the first quick connector (21), and the main robotic arm (20) uses the wire gripper (13) to grab the drain line and drag the drain line (L) onto the drain line placement rack (11); The main robotic arm (20) is directed to allow the drainage line (L) to enter the drainage line shaping fixtures (12) at both ends in sequence, and the drainage line shaping fixtures (12) at both ends are directed to clamp the drainage line (L) in order to position and shape the drainage line (L); During the stripping process of the drain line, the main robotic arm (20) is scheduled to remove the wire gripper (13) and switch to install the machine head (30) through the first quick connector (21). The main robotic arm (20) is then scheduled to move the machine head (30) to the drain line (L) between the drain line shaping clamps (12) at both ends and to clamp the drain line (L).

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