A strand splitting robot with adaptive cross-section form

Abstract

The application belongs to the technical field of suspension bridge dismantling, and particularly relates to a cable strand dispersing robot with self-adaptive cross-section form, which comprises a main cable core, a dispersing mechanism is sleeved on the surface of the main cable core, a traction mechanism is also sleeved on the surface of the main cable core, and an extension mechanical arm is arranged between the dispersing mechanism and the traction mechanism. The disperser can automatically adapt to the irregular cross-section form of the cable strand caused by the parallel steel wire relaxation and cross winding, always keep close contact with the cable strand, avoid dislocation slip or snap ring phenomenon in the dispersing process, greatly improve the precision and efficiency of the cable strand carding compared with the traditional manual dispersing method, effectively solve the problem of dismantling progress lag caused by the cable strand dispersion winding in the dismantling of the main cable of the suspension bridge, and lay a smooth foundation for the subsequent cable strand dismantling operation.

Description

Technical Field

[0001] This invention relates to the field of suspension bridge demolition technology, and in particular to a cable strand splitting robot with adaptive cross-sectional shape. Background Technology

[0002] A self-anchored suspension bridge is a suspension bridge system that does not have gravity-type ground anchors. Instead, the main cable is anchored at the end of a stiffening girder, which bears the horizontal and vertical components of the main cable end force. The main cable dismantling operation requires the use of specialized equipment such as industrial robots and special operation robots to sort and comb the cable strands before carrying out the strand dismantling operation. The sorting and dismantling of the cable strands are the core procedures of the main cable strand dismantling construction of a suspension bridge.

[0003] Currently, during the dismantling of the main cables of suspension bridges using the aforementioned specialized equipment, it is common for the parallel steel wires within the cable strands to scatter and become entangled with each other. This problem has become a key obstacle to the strand dismantling operation using specialized equipment, which not only seriously affects the overall construction progress of the main cable dismantling but also significantly reduces the operating efficiency of the specialized equipment, thus restricting the application effect of industrial robots and special operation robots in the field of suspension bridge main cable dismantling.

[0004] To address the above problems, this invention proposes a cable strand splitting robot with adaptive cross-sectional shape. Summary of the Invention

[0005] To address the technical problem of strand separation and dismantling caused by the scattering and tangling of existing parallel steel wire strands, this invention proposes a strand splitting robot with adaptive cross-sectional shape.

[0006] The present invention proposes a cable strand splitting robot with adaptive cross-sectional shape, comprising a main cable core, a splitting mechanism being sleeved around the surface of the main cable core, a traction mechanism being sleeved on the surface of the main cable core, and a telescopic robotic arm being provided between the splitting mechanism and the traction mechanism.

[0007] The beam splitting mechanism is designed to achieve adaptive adaptation and precise beam splitting of cables with different cross-sectional shapes.

[0008] The traction mechanism is used to move the bundle splitting mechanism on the surface of the main cable core.

[0009] Preferably, the beam splitting mechanism includes symmetrically arranged U-shaped steel plates, with high-strength screws at both ends of the U-shaped steel plates. The symmetrically arranged U-shaped steel plates are fixedly connected by the high-strength screws. Anchor nuts are threaded onto the surface of the high-strength screws. A steel base is fixedly connected to the inner side of the U-shaped steel plates. A spring array is arranged on the surface of the steel base. One end of each spring is fixedly connected to a U-shaped steel groove. A steel shaft is rotatably connected to the end of the U-shaped steel groove. A polytetrafluoroethylene roller is fixedly sleeved on the outer surface of the steel shaft.

[0010] Preferably, the U-shaped steel plate is evenly divided, and each segment of the U-shaped steel plate is provided with an arc-shaped groove. An arc-shaped main rod is slidably connected to the inner wall of each arc-shaped groove. A spring is fixedly connected to the inner wall of one end of the arc-shaped main rod. An arc-shaped secondary rod is slidably connected to the inner wall of the arc-shaped main rod. One end of the arc-shaped secondary rod is fixedly connected to the inner wall of the arc-shaped groove, and the inner wall of the arc-shaped secondary rod is fixedly connected to one end of the spring.

[0011] Preferably, the traction mechanism includes symmetrically arranged auxiliary traction blocks, with motors symmetrically embedded in the upper end of the auxiliary traction blocks, and fixing rings arranged in an array on the outer surface of the auxiliary traction blocks. The output shaft of the motor passes through the side of the auxiliary traction blocks, and a main traction block is arranged on one side of the auxiliary traction blocks.

[0012] Preferably, the lower ends of the symmetrically arranged main traction block and the lower ends of the symmetrically arranged auxiliary traction block are both symmetrically arranged with threaded posts. The symmetrical threaded posts are connected by a threaded pipe, and the thread of the threaded pipe is adapted to the surface thread of the two symmetrical threaded posts. The upper outer surface of the main traction block is arranged with clamping blocks adapted to the surface of the telescopic robotic arm. The upper end of the main traction block is symmetrically arranged with gears adapted to the motor output shaft.

[0013] Preferably, the main traction block and the main cable core contact surface array has a mounting groove, and the inner wall of the mounting groove is arrayed with Mehm wheels. Adjacent Mehm wheels are fixedly connected by a shaft, and the surface of the shaft is rotatably connected to the body of the main traction block through a bearing. The end of the main traction block near the auxiliary traction block has a gear cavity, and the inner wall of the gear cavity is fixedly connected to the inner wall of the mounting groove located at the edge. The inner wall of the gear cavity is provided with a main drive gear, and the surface of the main drive gear meshes with the surface of the gear. Each Mehm wheel at the end is provided with an auxiliary drive gear on its side, and an auxiliary gear meshes between two adjacent auxiliary drive gears. The two sides of the auxiliary gear are rotatably connected to the inner wall of the gear cavity.

[0014] Preferably, the telescopic robotic arm includes a telescopic rod, with hanging rings fixedly connected to both ends of the telescopic rod. One end of one hanging ring is attached to a hook, and one end of the hook is fixedly connected to the side of the U-shaped steel plate. The other hanging ring is fixedly attached to the fixed ring.

[0015] Preferably, the outer surface of the polytetrafluoroethylene roller is provided with an annular groove, and the inner wall of the annular groove is smooth and conforms to the surface curvature of the main cable core.

[0016] Preferably, the hook is made of high-strength alloy steel and is fixedly welded to the side of the U-shaped steel plate. The opening of the hook is provided with a flip-out anti-detachment buckle, which is automatically reset by a torsion spring.

[0017] Preferably, a waterproof current collector mounting base is fixedly connected to the outer side of the main traction block, and an IP67-rated sliding brush is detachably installed on the mounting base. The sliding brush slides in contact with a high-strength sliding contact line laid along the extension direction of the main cable core.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. By setting up a bundle-splitting mechanism, the elastic synergy of the spring assembly, the arc-shaped main rod, and the arc-shaped secondary rod, combined with the fitting design of the PTFE rollers, can automatically adapt to the irregular cross-sectional shape formed by the slack and cross-entanglement of the cable strands, always maintaining a tight fit with the cable strands. This avoids misalignment, slippage, or jamming during the bundle-splitting process. Compared with the traditional manual bundle-splitting method, this significantly improves the accuracy and efficiency of cable strand sorting, effectively solving the problem of delayed dismantling progress caused by the dispersed entanglement of cable strands during the dismantling of the main cable of the suspension bridge, and laying a smooth foundation for subsequent strand dismantling operations.

[0020] 2. By setting up a traction mechanism, the bundle splitter can move smoothly and linearly along the main cable core; the power supply scheme with waterproof current collector, IP67-rated sliding brush and high-strength sliding contact line not only meets the waterproof and corrosion-resistant requirements of harsh working environments such as high altitude and water, but also ensures the continuous and stable power supply during the movement, avoiding the risk of equipment shutdown or loss of control due to power outage. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a cable-strand splitting robot with adaptive cross-sectional shape proposed in this invention;

[0022] Figure 2 A three-dimensional view of the beam-splitting mechanism of a cable-strand beam-splitting robot with adaptive cross-sectional shape proposed in this invention;

[0023] Figure 3This is a cross-sectional view of a U-shaped steel plate segment of a cable-strand splitting robot with adaptive cross-sectional shape proposed in this invention;

[0024] Figure 4 This is a cross-sectional view of the arc-shaped main rod of a cable-strand splitting robot with adaptive cross-sectional shape proposed in this invention;

[0025] Figure 5 A perspective view of the traction mechanism of a cable-strand splitting robot with adaptive cross-sectional shape proposed in this invention;

[0026] Figure 6 This is a cross-sectional view of the main traction block of a cable-strand splitting robot with adaptive cross-sectional shape proposed in this invention.

[0027] In the diagram: 1. Main cable core; 2. Bundle mechanism; 21. U-shaped steel plate; 22. High-strength screw; 23. Anchor nut; 24. Steel base; 25. Spring assembly; 26. U-shaped steel channel; 27. Steel shaft; 28. PTFE roller; 29. ​​Arc-shaped main rod; 210. Spring 1; 211. Arc-shaped auxiliary rod; 3. Traction mechanism; 31. Auxiliary traction block; 32. Motor; 33. Fixing ring; 34. Main traction block; 35. Clamping block; 36. Gear; 37. Main drive gear; 38. Auxiliary gear; 39. Mehm wheel; 310. Auxiliary drive gear; 4. Telescopic robotic arm; 41. Telescopic rod; 42. Hook. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] Reference Figures 1-6 A cable-splitting robot with adaptive cross-sectional shape includes a main cable core 1, a splitting mechanism 2 wrapped around the surface of the main cable core 1, a traction mechanism 3 wrapped around the surface of the main cable core 1, and a telescopic robotic arm 4 disposed between the splitting mechanism 2 and the traction mechanism 3.

[0030] The beam splitting mechanism 2 is designed to achieve adaptive adaptation and precise beam splitting of cables with different cross-sectional shapes.

[0031] The traction mechanism 3 is used to enable the splitting mechanism 2 to move on the surface of the main cable core 1.

[0032] In this embodiment, the beam splitting mechanism 2 includes symmetrically arranged U-shaped steel plates 21. High-strength screws 22 are respectively provided at both ends of the U-shaped steel plates 21. The symmetrically arranged U-shaped steel plates 21 are fixedly connected by the high-strength screws 22. Anchor nuts 23 are threadedly connected to the surface of the high-strength screws 22. A steel base 24 is fixedly connected to the inner side of the U-shaped steel plates 21. A spring assembly 25 is arranged in an array on the surface of the steel base 24. A U-shaped steel groove 26 is fixedly connected to one end of the spring assembly 25. A steel shaft 27 is rotatably connected to the end of the U-shaped steel groove 26. A polytetrafluoroethylene roller 28 is fixedly sleeved on the outer surface of the steel shaft 27.

[0033] Specifically, the U-shaped steel plate 21 is made of Q460C high-strength steel, and is divided into 3-6 arc-shaped grooves of equal diameter according to the main cable core 1. The inner wall roughness Ra ≤ 0.8μm, and the contact error with the surface of the main cable core 1 is ≤ 1mm; the high-strength screw 22 is of M24-M30 specification, made of 40CrNiMoA material, with a tensile strength ≥ 1200MPa. Two sets are set at each end of each U-shaped steel plate 21, for a total of 4 sets symmetrically distributed. The anchoring nut 23 adopts a double nut anti-loosening design, and the pre-tightening force is controlled at 200-300kN; the steel base 24 is a rectangular steel plate, one side of which is fixedly connected to the inner side of one end of the steel plate segment of the U-shaped steel plate 21; the spring group 25 consists of parallel cylindrical helical springs made of 60Si2Mn material. The components include: a steel wire with a diameter of 6-8mm, a free height of 80-100mm, an elastic modulus of 20-30N / mm, and a compression stroke of 0-50mm; both ends are fully welded and reinforced with additional pads; a U-shaped steel channel 26 is a stainless steel bent part, with a channel width 2-3mm larger than the thickness of the PTFE roller 28; a steel shaft 27 is made of No. 45 steel, with a clearance of 0.1-0.3mm between it and the roller, and axial movement ≤0.5mm after being locked by the anchor nut 23; and an annular groove with a width of 20-30mm that matches the curvature of the main cable core 1 on the surface of the PTFE roller 28, a surface roughness Ra≤0.5μm, a friction coefficient ≤0.1, and the ability to withstand 10-30N pressure and produce 0-5mm of minute deformation.

[0034] In this embodiment, the U-shaped steel plate 21 is evenly divided, and each U-shaped steel plate 21 has an arc-shaped groove. An arc-shaped main rod 29 is slidably connected to the inner wall of each arc-shaped groove. A spring 210 is fixedly connected to the inner wall of one end of the arc-shaped main rod 29. An arc-shaped secondary rod 211 is slidably connected to the inner wall of the arc-shaped groove. One end of the arc-shaped secondary rod 211 is fixedly connected to the inner wall of the arc-shaped groove, and the inner wall of the arc-shaped secondary rod 211 is fixedly connected to one end of the spring 210.

[0035] Specifically, both the arc-shaped main rod 29 and the arc-shaped secondary rod 211 are made of 6061-T6 aluminum alloy, and their arc curvature is consistent with the arc groove of the U-shaped steel plate 21; the spring 210 is made of 50CrVA, with a wire diameter of 4-5mm, an elastic coefficient of 15-25N / mm, and a pre-compression of 5-10mm, ensuring that the arc-shaped main rod 29 and the arc-shaped secondary rod 211 can extend and retract in tandem, so that the U-shaped steel plate 21 can adapt to the changes in the cross-section of the cable strands within a range of ±15°, thereby improving the adaptive fitting effect.

[0036] In this embodiment, the traction mechanism 3 includes symmetrically arranged auxiliary traction blocks 31, with motors 32 symmetrically embedded in the upper end of the auxiliary traction blocks 31. Fixing rings 33 are arranged in an array on the outer surface of the auxiliary traction blocks 31, and the output shaft of the motor 32 passes through the side of the auxiliary traction blocks 31. A main traction block 34 is arranged on one side of the auxiliary traction blocks 31.

[0037] Specifically, the auxiliary traction block 31 is a box-shaped steel structure made of Q355B steel, with a pre-reserved mounting cavity for the motor 32 inside. The cavity wall is equipped with shock-absorbing rubber pads with a thickness of 5-8mm. The motor 32 is a DC servo motor with a power of 5-10kW, a rated speed of 1500rpm, an output torque of 50-100N・m, and an IP65 protection rating, suitable for high-altitude and humid environments. The output shaft is connected to the gear 36 through a flexible coupling, with a transmission efficiency of ≥90%. The fixing ring 33 is a forged alloy steel part, with 3-4 rings arranged in an array on the outer surface of each auxiliary traction block, spaced 50mm apart. After welding, the rated load-bearing capacity is ≥30kN, used to stably connect the telescopic robotic arm 4.

[0038] In this embodiment, threaded posts are symmetrically arranged at the lower ends of the main traction block 34 and the secondary traction block 31. The symmetrical threaded posts are connected by threaded pipes, and the threads of the threaded pipes are adapted to the surface threads of the two symmetrical threaded posts. Clamping blocks 35 adapted to the surface of the telescopic robotic arm 4 are arranged in an array on the outer side of the upper end of the main traction block 34. Gears 36 adapted to the output shaft of the motor 32 are symmetrically arranged on the upper end of the main traction block 34.

[0039] Specifically, the threaded column is M36-M42, made of 45# steel, with galvanized anti-rust treatment and a thread precision of 6H; the threaded tube is a double-helix design, the length of which can be selected according to the diameter of the cable strands, adapting to cable strands of any diameter, with a wall thickness of 12-15mm, and the internal thread is compatible with the threaded column. When rotating, the distance between the two traction blocks can be adjusted synchronously, adapting to main cable cores 1 of different diameters; the clamping block 35 is a rubber-coated steel structure with a rubber layer thickness of 8-10mm, a Shore A hardness of 85, and anti-slip texture on the inner side. The clearance between it and the hanging ring of the telescopic robotic arm 4 is ≤2mm, making it easy to retract the telescopic robotic arm 4 when not in use; the gear 36 is a spur gear with a tooth surface hardness of HRC45-50, and the clearance between it and the motor output shaft is 0.1-0.2mm, ensuring smooth transmission.

[0040] In this embodiment, the contact surfaces of the main traction block 34 and the main cable core 1 are arrayed with mounting grooves. The inner wall of the mounting groove is arrayed with Mehmed wheels 39. Adjacent Mehmed wheels 39 are fixedly connected by shafts. The surface of the shafts is rotatably connected to the body of the main traction block 34 through bearings. A gear cavity is opened at one end of the main traction block 34 near the auxiliary traction block 31. The inner wall of the gear cavity is fixedly connected to the inner wall of the mounting groove located at the edge. A main drive gear 37 is provided on the inner wall of the gear cavity. The surface of the main drive gear 37 meshes with the surface of the gear 36. Each Mehmed wheel 39 at the end is provided with an auxiliary drive gear 310 on its side. They are arranged along the symmetry axis of the main traction block 34. Two adjacent auxiliary drive gears 310 in a symmetrical shape mesh with an auxiliary gear 38. The symmetrical auxiliary drive gears 310 have no other transmission components. The two sides of the auxiliary gear 38 are rotatably connected to the inner wall of the gear cavity.

[0041] Specifically, the main traction block 34 is made of Q355B material, with an arc surface contacting the main cable core 1 having an arc error ≤1mm. It has 6-8 evenly distributed mounting slots, each 60-70mm wide and 50-60mm deep. The mech wheel 39 has an outer diameter of 50-60mm, a polyurethane surface with a Shore A85 hardness, and an arc-shaped groove on its surface. Its fit with the main cable core is ≥95%. Adjacent mech wheels are spaced 40-50mm apart and connected in series via a 45# steel shaft with a diameter of 15-18mm. Both ends are connected to the inner wall of the mounting slot via deep groove ball bearings, with a rotational resistance torque ≤5N・m. The main drive gear 37 has the same specifications as gear 36, with a meshing clearance of 0.15-0.25mm. The secondary drive gear 310 is coaxially fixed to the mech wheel 39. The auxiliary gear 38 has the same specifications as the secondary drive gear 310 and serves a reversing function, ensuring all mech wheels... The Mehmed wheels 39 rotate in the same direction, with a moving speed of 0.5-1 m / min and no jamming. The output shafts of the symmetrically arranged motors 32 rotate in opposite directions. When the Mehmed wheels 39 are driven in the opposite direction by the motors 32, the power is transmitted through the gears 36 and the main drive gear 37. The auxiliary drive gear 310 at the drive end of the main drive gear 37 rotates, and then the auxiliary gear 38 reverses the direction, so that the Mehmed wheels 39 rotate in a direction perpendicular to the cable strand axis. That is, the Mehmed wheels 39 rotate symmetrically along the axis of symmetry of the main traction block 34. During rotation, the Mehmed wheels 39 generate traction force along the cable strand axis through the static friction between the wheel surface and the cable strand surface. With the guidance of the arc-shaped groove on the wheel surface, side slip is avoided, and the bundle splitter moves smoothly and linearly along the main cable core 1 at a moving speed of 0.5-1 m / min. There is no jamming or deviation throughout the process, which is suitable for the high-altitude operation requirements of the main cable strand sorting of suspension bridges.

[0042] In this embodiment, the telescopic robotic arm 4 includes a telescopic rod 41, with hanging rings fixedly connected to both ends of the telescopic rod 41. One end of one hanging ring is attached to a hook 42, and one end of the hook 42 is fixedly connected to the side of the U-shaped steel plate 21. The other hanging ring is fixedly attached to a fixing ring 33.

[0043] Specifically, the telescopic rod 41 is made of stainless steel and is fixed by locking bolts after adjustment, with a locking force ≥50N; the hanging ring is made of forged alloy steel with a rated load capacity ≥40kN; the gap between the hook 42 and the hanging ring is ≤1mm to ensure a stable connection, and it can be flexibly adjusted according to the relative position of the splitting mechanism 2 and the traction mechanism 3 to adapt to different operating scenarios.

[0044] In this embodiment, the outer surface of the polytetrafluoroethylene roller 28 is provided with an annular groove, and the inner wall of the annular groove is smooth and conforms to the surface curvature of the main cable core 1.

[0045] Specifically, the radius of the annular groove is adapted to the curvature of the surface of the main cable core 1, and the inner wall roughness Ra≤0.5μm, ensuring close contact with the surface of the main cable core 1 and preventing side slippage during rolling.

[0046] In this embodiment, the hook 42 is made of high-strength alloy steel and is fixedly welded to the side of the U-shaped steel plate 21. The opening of the hook 42 is provided with a flip-out anti-detachment buckle, which is automatically reset by a torsion spring.

[0047] Specifically, the anti-detachment buckle is made of 65Mn spring steel with a thickness of 2mm and a width of 20mm. The torsion spring has an elastic coefficient of 5N / mm, a reset time of ≤0.5s, and a closing gap of ≤0.5mm with the hook 42 after closing. This effectively prevents accidental detachment and improves the safety of high-altitude operations.

[0048] In this embodiment, a waterproof current collector mounting base is fixedly connected to the outer side of the main traction block 34. An IP67-rated sliding brush is detachably installed on the mounting base. The sliding brush slides and adheres to the high-strength sliding contact line laid along the extension direction of the main cable core 1.

[0049] Specifically, the current collector mounting base is made of die-cast aluminum alloy with anodized surface treatment and an IP67 protection rating. It is fixed to the main traction block 34 by four sets of M12 bolts with a bolt preload of 50-80 N·m. The sliding brush is made of carbon brush material with a contact resistance of ≤0.1Ω and a wear resistance of ≥5000h. The sliding contact line is made of copper busbar and is fixed by epoxy resin insulated brackets with a bracket spacing of 2-3m and an insulation resistance of ≥100MΩ. The power supply cable is a waterproof rubber-sheathed cable with specifications of 3×4+1×2.5mm², a rated voltage of 450 / 750V, and can transmit 380V AC power to meet the power requirements of motor 32. The connection between the cable and the current collector and the motor uses a waterproof joint with an IP67 protection rating, suitable for humid working environments at heights and on water.

[0050] Reference Figures 1-6 A construction method for a cable-strand splitting robot with adaptive cross-sectional shape, the specific steps of which are as follows:

[0051] Step 1: According to the diameter of the main cable core 1 to be combed, rotate the threaded tube to adjust the distance between the main traction block 34 and the auxiliary traction block 31. At the same time, use the elastic adjustment of the spring group 25, the arc-shaped main rod 29 and the arc-shaped auxiliary rod 211 to tighten the anchor nut 23 of the high-strength screw 22 so that the U-shaped steel plate 21 clamps the main cable core 1, ensuring that the PTFE roller 28 is fully in contact with the surface of the cable strands. The spring group 25 is in a pre-compressed state. Install the IP67-grade sliding brush on the current collector mounting base, adjust the contact pressure between the brush and the sliding contact line to 10-15N, connect the power supply cable and perform an insulation test. The insulation resistance is ≥10MΩ. Confirm that the motor 32 runs normally in both forward and reverse directions without any jamming.

[0052] Step 2: Connect the two end rings of the telescopic robotic arm 4 to the hooks 42 of the U-shaped steel plate 21 and the fixing rings 33 of the auxiliary traction block 31 respectively, fasten the anti-detachment buckles, adjust the length of the telescopic rod 41 so that the coaxiality error between the splitting mechanism 2 and the traction mechanism 3 is ≤2mm, start the motor 32, and drive the mechatron wheel 39 to rotate through the transmission action of the gear 36, the main drive gear 37, the auxiliary drive gear 310 and the auxiliary gear 38, thereby driving the splitter to move linearly along the main cable core 1, and the polytetrafluoroethylene roller 28 rolls on the surface of the cable strands;

[0053] Step 3: After the splitting mechanism 2 moves to the designated end point of the main cable core 1, turn off the motor 32 and cut off the power supply, loosen the anchor nut 23 and the threaded tube, adjust the distance between the U-shaped steel plate 21 and the traction block, and remove the splitting mechanism 2 from the main cable core 1.

[0054] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A cable-strand splitting robot with adaptive cross-sectional shape, comprising a main cable core (1), characterized in that: A splitting mechanism (2) is sleeved around the surface of the main cable core (1), and a traction mechanism (3) is also sleeved on the surface of the main cable core (1). A telescopic mechanical arm (4) is provided between the splitting mechanism (2) and the traction mechanism (3). The beam splitting mechanism (2) is designed to achieve adaptive adaptation and precise beam splitting of cables with different cross-sectional shapes. The traction mechanism (3) is used to move the bundle splitting mechanism (2) on the surface of the main cable core (1).

2. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 1, characterized in that: The beam splitting mechanism (2) includes symmetrically arranged U-shaped steel plates (21), with high-strength screws (22) at both ends of the U-shaped steel plates (21). The symmetrically arranged U-shaped steel plates (21) are fixedly connected by the high-strength screws (22). Anchor nuts (23) are threaded onto the surface of the high-strength screws (22). A steel base (24) is fixedly connected to the inner side of the U-shaped steel plates (21). A spring assembly (25) is arranged in an array on the surface of the steel base (24). A U-shaped steel groove (26) is fixedly connected to one end of the spring assembly (25). A steel shaft (27) is rotatably connected to the end of the U-shaped steel groove (26). A polytetrafluoroethylene roller (28) is fixedly sleeved on the outer surface of the steel shaft (27).

3. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 2, characterized in that: The U-shaped steel plate (21) is evenly divided, and each U-shaped steel plate (21) has an arc groove. An arc main rod (29) is slidably connected to the inner wall of each arc groove. A spring (210) is fixedly connected to the inner wall of one end of the arc main rod (29). An arc secondary rod (211) is slidably connected to the inner wall of the arc main rod (29). One end of the arc secondary rod (211) is fixedly connected to the inner wall of the arc groove. The inner wall of the arc secondary rod (211) is fixedly connected to one end of the spring (210).

4. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 3, characterized in that: The traction mechanism (3) includes symmetrically arranged auxiliary traction blocks (31), with motors (32) symmetrically embedded in the upper end of the auxiliary traction blocks (31). Fixing rings (33) are arranged in an array on the outer surface of the auxiliary traction blocks (31). The output shaft of the motor (32) passes through the side of the auxiliary traction blocks (31). A main traction block (34) is arranged on one side of the auxiliary traction blocks (31).

5. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 4, characterized in that: The lower ends of the main traction block (34) and the lower ends of the auxiliary traction block (31) are symmetrically arranged with threaded columns. The symmetrical threaded columns are connected by a threaded pipe. The thread of the threaded pipe is adapted to the surface thread of the two symmetrical threaded columns. The upper outer side of the main traction block (34) is arranged with clamping blocks (35) adapted to the surface of the telescopic robotic arm (4). The upper end of the main traction block (34) is symmetrically arranged with gears (36) adapted to the output shaft of the motor (32).

6. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 5, characterized in that: The main traction block (34) and the main cable core (1) have an array of mounting grooves on their contact surfaces. The inner wall of the mounting groove is provided with an array of Mehm wheels (39). The adjacent Mehm wheels (39) are fixedly connected by a shaft. The surface of the shaft is rotatably connected to the body of the main traction block (34) through a bearing. The main traction block (34) has a gear cavity at one end near the auxiliary traction block (31). The inner wall of the gear cavity is fixedly connected to the inner wall of the mounting groove located at the edge. The inner wall of the gear cavity is provided with a main drive gear (37). The surface of the main drive gear (37) meshes with the surface of the gear (36). Each Mehm wheel (39) at the end is provided with an auxiliary drive gear (310) on its side. The two adjacent auxiliary drive gears (310) are meshed with an auxiliary gear (38). The two sides of the auxiliary gear (38) are rotatably connected to the inner wall of the gear cavity.

7. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 6, characterized in that: The telescopic robotic arm (4) includes a telescopic rod (41), with hanging rings fixedly connected to both ends of the telescopic rod (41). One end of one of the hanging rings is attached to a hook (42), and one end of the hook (42) is fixedly connected to the side of the U-shaped steel plate (21). The other hanging ring is fixedly attached to the fixed ring (33).

8. The cable-strand splitting robot with adaptive cross-sectional shape according to claim 7, characterized in that: The outer surface of the polytetrafluoroethylene roller (28) is provided with an annular groove, and the inner wall of the annular groove is smooth and conforms to the surface curvature of the main cable core (1).

9. A cross-sectional shape adaptive cable-strand splitting robot according to claim 8, characterized in that: The hook (42) is made of high-strength alloy steel and is fixedly welded to the side of the U-shaped steel plate (21). The opening of the hook (42) is provided with a flip-out anti-detachment buckle, which is automatically reset by a torsion spring.

10. A cross-sectional shape adaptive cable-strand splitting robot according to claim 9, characterized in that: A waterproof current collector mounting base is fixedly connected to the outside of the main traction block (34). An IP67-rated sliding brush is detachably installed on the mounting base. The sliding brush slides and adheres to the high-strength sliding contact line laid along the extension direction of the main cable core (1).

Images