Cable stripping mechanism, control method and live sparking device

Abstract

The application discloses a cable stripping mechanism, a control method and a live sparking device, and relates to the technical field of live sparking operation. The cable stripping mechanism comprises a rack, a mounting seat, a moving driving element, a driving structure, a longitudinal cutting assembly and two annular cutting assemblies. The rack is used for positioning on a main cable. The mounting seat is movably connected to the rack along a first horizontal direction parallel to the axial direction of the main cable. The moving driving element is arranged on the rack and is used for driving the mounting seat to move. Each annular cutting assembly comprises a first driving element and a first cutting knife. The first driving element is used for driving the first cutting knife to move in the up-down direction. The driving structure is arranged on the mounting seat and is used for driving the first driving elements of the two annular cutting assemblies to move towards or away from each other along a second horizontal direction perpendicular to the first horizontal direction. The longitudinal cutting assembly comprises a second driving element arranged on the mounting seat and a second cutting knife located above the main cable. The second driving element is used for driving the second cutting knife to move in the up-down direction.

Description

Technical Field

[0001] This invention relates to the field of live-line contact operation technology, and in particular to a cable stripping mechanism, control method and live-line contact device. Background Technology

[0002] In scenarios such as adding new loads to distribution network lines and bypassing power transfer, the connection must be completed without interrupting the power supply to the main cable. This involves first stripping a section of the insulation layer from the main cable to expose the internal conductor, and then connecting the lead wire to this stripped section to establish an electrical connection between the main cable and the lead wire. The quality and efficiency of stripping directly affect the overall time of the connection operation and the time that personnel spend near the energized environment. Therefore, the stripping mechanism is a key functional component in live-line connection equipment.

[0003] In related technologies, the stripping mechanism uses a single blade to cut around the entire circumference of the main cable to peel off the insulation layer. The blade needs to complete a full circular stroke along the circumference of the main cable to form a closed cut. The cutting stroke is long, and it takes a long time to complete one circumferential cut. The stripping efficiency is low, which in turn prolongs the overall operation time of live-line connection work. Summary of the Invention

[0004] The main objective of this invention is to provide a cable stripping mechanism, control method, and live-line connection device, which aims to improve the efficiency of live-line connection operations.

[0005] To achieve the above objectives, the present invention provides a cable stripping mechanism comprising: A rack for positioning on the main cable; Mounting base, the mounting base being movably connected to the frame along a first horizontal direction, the first horizontal direction being parallel to the axis of the main cable; A movable drive component, disposed on the frame, is used to drive the mounting base to move; Two circumferential cutting components, each of which includes a first driving member and a first cutting blade, wherein the first driving member is used to drive the first cutting blade to move in the up-down direction; A driving structure, disposed on the mounting base, is used to drive the first driving members of the two circumferential cutting assemblies to move closer to or further away from each other along a second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction; and, The longitudinal cutting assembly includes a second drive member disposed on the mounting base and a second cutting blade located above the main cable, wherein the second drive member is used to drive the second cutting blade to move along the vertical direction.

[0006] The cable stripping mechanism has at least the following technical effects: the first cutting blades of the two circumferential cutting components cut the cable radially from both sides simultaneously under the drive of the drive structure. The feed of the first cutting blades in the vertical direction and the retraction in the second horizontal direction combine to form an arc-shaped trajectory, shortening the single-sided cutting stroke. The two cuts quickly close to form a circumferential cut, which helps to shorten the circumferential cutting time, improve the stripping efficiency, and thus improve the efficiency of live-line connection operations.

[0007] In one embodiment, the driving structure includes: A lead screw, which is rotatably connected to the mounting base; A first drive motor, the first drive motor being mounted on the mounting base and connected to the lead screw drive; and... Two nut seats are movably connected to the mounting base along the second horizontal direction, and their thread engagement with the lead screw is opposite in direction. The first driving component of each of the two circumferential cutting assemblies is connected to the two nut seats in a one-to-one correspondence.

[0008] In one embodiment, the cable stripping mechanism further includes at least two clamping components, each of which is used to clamp the main cable, and the at least two clamping components are disposed on the frame and spaced apart along the first horizontal direction; The mounting base is located between two adjacent clamping components.

[0009] In one embodiment, the first cutting blade is configured as a disc blade, and the axial direction of the disc blade is parallel to the first horizontal direction; The circumferential cutting assembly also includes a second drive motor, the motor housing of which is disposed on the first drive member, and the rotating shaft of the second drive motor is coaxially connected to the disc cutter.

[0010] The present invention also proposes an energized fire-connecting device, characterized in that it comprises: A cable stripping mechanism, as described above, wherein the frame is provided with a lifting ring, which is adapted to be connected to a drone; A wire clamp having two clamping portions, the two clamping portions being respectively used to clamp a main cable and a lead wire, so as to electrically connect the main cable and the lead wire; and... A wiring mechanism, located on the frame, is used to drive the wire clamp to move so that the clamping part for clamping the main cable connects with the main cable.

[0011] This live-line connection device has at least the following technical advantages: the cable stripping mechanism and the wiring mechanism are integrated into the same frame, and the main cable stripping and wire clamp connection can be completed in sequence in one hoisting and positioning of the frame. The process is compact and helps to shorten the total time of live-line connection operation; the lifting ring on the frame is suitable for connection with drones, and the live-line connection device can be hoisted to the high-altitude operation position by drones. The operators do not need to climb the pole to complete the operation, which helps to reduce the safety risks of high-altitude live-line operation; the two clamping parts of the wire clamp clamp the main cable and the drain wire respectively and electrically connect the two. The wiring mechanism drives the wire clamp to move to complete the connection with the main cable. The connection process has a high degree of automation, accurate wiring position, and stable connection quality.

[0012] In one embodiment, the wiring mechanism includes: A wiring assembly, comprising a third drive motor and an adjusting cylinder, wherein the motor housing of the third drive motor is disposed on the frame, and the adjusting cylinder is rotatably connected to the frame and drively connected to the shaft of the third drive motor, the adjusting cylinder being used to position the wire clamp; and... A cable assembly, comprising a winch and a suspension rope, wherein the winch is mounted on the frame, the suspension rope passes through the adjusting drum, one end of which is wound around the winch, and the other end is connected to the cable clamp.

[0013] In one embodiment, one of the adjusting cylinder and the wire clamp is provided with a positioning protrusion, and the other is provided with a positioning groove. The positioning protrusion is adapted to be embedded in the positioning groove so that the wire clamp is positioned on the adjusting cylinder.

[0014] The present invention also proposes a control method for a cable stripping mechanism, characterized in that the cable stripping mechanism is as described above, and the control method includes: During the process of the first cutting blade of the two circumferential cutting assemblies cutting into the insulation layer of the main cable in the up-down direction, the cutting resistance of the first cutting blade is obtained; Calculate the resistance deviation between the cutting resistance and the preset target resistance value; When the resistance deviation is outside the preset deviation range, the first driving parameter of the first driving member and the second driving parameter of the driving structure are adjusted according to the resistance deviation. After the adjustment is completed, the step of obtaining the cutting resistance of the first cutting blade is repeated until the resistance deviation is within the preset deviation range.

[0015] This control method achieves at least the following technical effects: During the process of the first cutting blade cutting into the insulation layer, the cutting resistance is acquired. The resistance deviation between the cutting resistance and a preset target resistance value is used as feedback. When the resistance deviation exceeds the preset deviation range, the first driving parameter of the first driving component and the second driving parameter of the driving structure are simultaneously adjusted. This acquisition and adjustment are cyclically executed until the resistance deviation returns to the preset deviation range, forming a closed-loop control of the cutting load. The feed and retraction of the first cutting blade are dynamically coordinated with the cutting resistance. Fluctuations in cutting resistance caused by uneven insulation layer thickness or changes in cable specifications can be automatically compensated, which helps reduce the risk of blade breakage and damage to the internal conductor, ensures the cutting quality of the circumferential kerf, and improves the automation level of the stripping process.

[0016] In one embodiment, the first driving parameter includes the feed speed of the first driving member driving the first cutting blade along the vertical direction, and the second driving parameter includes the approach speed of the first driving members of the two circumferential cutting assemblies driving each other along the second horizontal direction. Adjusting the first driving parameter of the first driving component and the second driving parameter of the driving structure according to the resistance deviation includes: When the resistance deviation exceeds the upper limit of the preset deviation range, the feed rate is reduced, and the approach speed is also reduced. When the resistance deviation is less than the lower limit of the preset deviation range, the feed speed is increased and the approach speed is increased.

[0017] In one embodiment, before obtaining the cutting resistance of the first cutting blade, the method further includes: The drive structure is controlled to drive the two circumferential cutting components to move closer to each other along the second horizontal direction until both first cutting blades abut against the outer wall of the main cable. The driving displacement of the driving structure is obtained when both of the first cutting blades abut against the outer wall of the main cable, and the wire diameter of the main cable is determined based on the driving displacement. The preset target resistance value is determined based on the wire diameter. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the live fire contact device provided by the present invention; Figure 2 for Figure 1 Front view of the energized contact device; Figure 3 for Figure 1 Right view of the energized contact device; Figure 4 A perspective view of the drone provided by the present invention; Figure 5 A flowchart is provided for the control method of the cable stripping mechanism of the present invention.

[0020] Explanation of icon numbers: 10. Cable stripping mechanism; 1. Frame; 11. Lifting ring; 2. Mounting bracket; 3. Moving drive components; 4. Circumferential cutting assembly; 41. First driving component; 42. First cutting blade; 43. Second drive motor; 5. Drive structure; 51. Lead screw; 52. First drive motor; 6. Longitudinal cutting assembly; 61. Second drive component; 62. Second cutting blade; 7. Clamping components; 20. Wire clamp; 30. Wiring mechanism; 301. Wiring assembly; 3011. Third drive motor; 3012. Adjusting cylinder; 302. Pulling cable assembly; 3021. Winch; 3022. Lifting rope; 100. Electrically connected device; 200. Unmanned aerial vehicle (UAV); 2001. Electric clamp holding ring; 300. Main cable.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] This invention proposes a cable stripping mechanism 10.

[0026] Please see Figures 1-3 In one embodiment of the present invention, the cable stripping mechanism 10 includes a frame 1, a mounting base 2, a moving drive component 3, a drive structure 5, a longitudinal cutting assembly 6, and two circumferential cutting assemblies 4. The frame 1 is positioned on the main cable 300. The mounting base 2 is movably connected to the frame 1 along a first horizontal direction, which is parallel to the axial direction of the main cable 300. The moving drive component 3 is disposed on the frame 1 and is used to drive the mounting base 2 to move. Each circumferential cutting assembly 4 includes a first drive component 41 and a first cutting blade 42. The first drive component 41 is used to drive the first cutting blade 42 to move in the vertical direction. The drive structure 5 is disposed on the mounting base 2 and is used to drive the first drive components 41 of the two circumferential cutting assemblies 4 to move closer to or further away from each other along a second horizontal direction, which is perpendicular to the first horizontal direction. The longitudinal cutting assembly 6 includes a second drive component 61 disposed on the mounting base 2 and a second cutting blade 62 located above the main cable 300. The second drive component 61 is used to drive the second cutting blade 62 to move in the vertical direction.

[0027] The frame 1 can be the supporting frame of the cable stripping mechanism 10, used to install and support components such as the mounting base 2, the moving drive component 3, the drive structure 5, the circumferential cutting assembly 4, and the longitudinal cutting assembly 6. The frame 1 can be positioned on the main cable 300 by clamping, snapping, or hooking. After the frame 1 is positioned on the main cable 300, it remains relatively fixed to the main cable 300, providing a stable working reference for the cutting operation. The main cable 300 can be a cable to be connected to a live wire in an overhead power distribution line. The main cable 300 includes an internal conductor and an insulation layer covering the outer periphery of the internal conductor. Stripping involves removing the insulation layer of the target section to expose the internal conductor. The first horizontal direction is parallel to the axial direction of the main cable 300, which is the direction in which the main cable 300 extends. The mounting base 2 can be a plate-shaped, block-shaped, or frame-shaped seat. The mounting base 2 is movably connected to the frame 1 along the first horizontal direction. The movable connection can be achieved by a sliding groove and slider, a sliding rail and slide block, or a guide rod and guide sleeve, etc. The moving drive component 3 can be a drive element capable of outputting linear motion, such as an electric telescopic rod, a cylinder, a hydraulic cylinder, or a combination of a motor and a transmission mechanism. The moving drive component 3 is mounted on the frame 1 and is used to drive the mounting base 2 to reciprocate along the first horizontal direction, thereby adjusting the working position of each cutting component in the axial direction of the main cable 300. The circumferential cutting component 4 is used to cut the insulation layer along the circumference of the main cable 300 to form a circumferential slit. The first drive component 41 can be a linear drive element such as an electric push rod, a linear motor, or a cylinder. The first cutting blade 42 can be a rotary blade. The first drive component 41 drives the first cutting blade 42 to move in the vertical direction, enabling the first cutting blade 42 to cut into or out of the insulation layer of the main cable 300. The vertical direction can be a vertical direction, perpendicular to both the first and second horizontal directions. The drive structure 5 can be a lead screw 51 nut mechanism, gear and rack mechanism, or synchronous belt mechanism, etc., capable of outputting linear motion along the second horizontal direction. The drive structure 5 drives the first drive members 41 of the two circumferential cutting components 4 to move closer or further apart along the second horizontal direction, thereby driving the two first cutting blades 42 to retract or open on both radial sides of the main cable 300. The second horizontal direction is perpendicular to the first horizontal direction, which is the radial horizontal direction of the main cable 300. The longitudinal cutting component 6 is used to cut the insulation layer along the axial direction of the main cable 300 to form a longitudinal slit. The second drive member 61 can be a linear drive element such as an electric telescopic rod, linear motor, or cylinder. The second cutting blade 62 is located above the main cable 300. The second drive member 61 drives the second cutting blade 62 to move in the up and down direction, so that the second cutting blade 62 can cut into the insulation layer and cut the insulation layer along the axial direction of the main cable 300 when the mounting base 2 moves.

[0028] Understandably, during the operation of the cable stripping mechanism 10, the frame 1 is first positioned on the main cable 300. The drive structure 5 drives the first drive members 41 of the two circumferential cutting components 4 to move closer to each other along the second horizontal direction, so that the two first cutting blades 42 respectively abut against the outer wall of the insulation layer on both radial sides of the main cable 300. Subsequently, the first drive members 41 drive the first cutting blades 42 to move in the vertical direction to cut into the insulation layer. During the cutting process, the drive structure 5 synchronously drives the two first drive members 41 to continue to move closer to each other. The feed motion of the first cutting blades 42 in the vertical direction and the retraction motion in the second horizontal direction are combined, and the first cutting blades 42 walk an arc-shaped cutting trajectory relative to the main cable 300. The two first cutting blades 42 cut towards each other simultaneously on both radial sides of the main cable 300. The first cutting blade 42 on one side only needs to travel about half a circumferential stroke to meet the cut of the first cutting blade 42 on the other side. The cuts of the two first cutting blades 42 form a complete circumferential cut. Then, the moving drive 3 drives the mounting base 2 to move along the first horizontal direction, transferring the two circumferential cutting components 4 to the axial position at the other end of the stripping section, repeating the above circumferential cutting process. The two circumferential cuts define the stripping section to be peeled in the axial direction. Next, the second drive 61 drives the second cutting blade 62 to cut into the insulation layer in the vertical direction. The moving drive 3 drives the mounting base 2 to move along the first horizontal direction. The second cutting blade 62 moves along the axial direction of the main cable 300 with the mounting base 2, cutting the insulation layer between the two circumferential cuts. The insulation layer of the stripping section is divided into two parts, so that it can be separated from the inner conductor. Since the two first cutting blades 42 cut synchronously on both radial sides, the cutting stroke required to form a circumferential cut is greatly shortened. Moreover, the vertical cutting and the horizontal closing are carried out continuously without interruption or repositioning, which helps to shorten the time of a single circumferential cut, improve the stripping efficiency, and thus reduce the overall operation time of live-line connection work. Furthermore, the curvature of the arc-shaped cutting trajectory is determined by the ratio of the feed amount in the vertical direction to the convergence amount in the second horizontal direction. Adjusting the motion parameters in these two directions changes the cutting angle and depth of the first cutting blade 42 relative to the main cable 300. When the circumferential cutting assembly 4 faces main cables 300 with different outer diameters, only the motion parameters need to be adjusted to close the cut. The cable stripping mechanism 10 has strong adaptability to cable specifications. The two circumferential cutting assemblies 4 are respectively located on both radial sides of the main cable 300. During the cutting process, the cutting forces on both sides of the main cable 300 are opposite in direction, and the cutting forces on both sides are balanced. The main cable 300 is not easily pushed off one side during the cutting process, and the closed position of the cut is stable. The first horizontal direction can be Figure 1 The direction perpendicular to the paper, that is Figure 2 The front-back direction, the second horizontal direction can be Figure 1 The left and right directions in the middle.

[0029] In some embodiments, a slide groove extending along a first horizontal direction can be provided on the frame 1. The mounting base 2 can be a slider that slides with the slide groove. The moving drive 3 can be an electric telescopic rod. The cylinder of the electric telescopic rod is fixed to the frame 1, and the telescopic end of the electric telescopic rod is connected to the slider to drive the slider to move smoothly along the slide groove. The position adjustment accuracy of the mounting base 2 is high. The first drive 41 can be a first electric telescopic rod, with the telescopic end of the first electric telescopic rod facing downward and connected to the first cutting blade 42. The second drive 61 can be a second electric telescopic rod, and the second cutting blade 62 is installed on the telescopic end of the second electric telescopic rod. Both the first cutting blade 42 and the second cutting blade 62 can be installed using a quick-release structure for easy maintenance and replacement. The cable stripping mechanism 10 can also include multiple sets of sensors. These sensors are used to monitor the pressure and displacement of the cutting blade and the status of the main cable 300 in real time, providing status feedback for the cutting process and automatically alarming when an abnormality is detected. Two circumferential cutting components 4 can be symmetrically arranged on both sides of the main cable 300 on the mounting base 2 along the second horizontal direction. The longitudinal cutting component 6 can be located in the middle position between the two circumferential cutting components 4 on the mounting base 2. The second cutting blade 62 cuts directly above the main cable 300. After the longitudinal cut intersects with the circumferential cuts at both ends, the insulation layer of the stripped section is symmetrically separated into two halves and falls off. The frame 1 can be constructed as a portal frame. The main cable 300 passes through the inner space of the portal frame. Each cutting component is arranged around the main cable 300 inside the frame, resulting in a compact structure.

[0030] The cable stripping mechanism 10 has at least the following technical effects: the first cutting blades 42 of the two circumferential cutting components 4 are driven by the drive structure 5 to cut the cable 300 radially and synchronously on both sides. The feed of the first cutting blades 42 in the vertical direction and the retraction in the second horizontal direction are combined into an arc-shaped trajectory, which shortens the single-sided cutting stroke and the two cuts quickly close into a circumferential cut, which helps to shorten the circumferential cutting time, improve the stripping efficiency, and thus help to improve the efficiency of live-line contact operations.

[0031] Please see Figure 2 In an embodiment of the present invention, the drive structure 5 includes: a lead screw 51, a first drive motor 52, and two nut seats. The lead screw 51 is rotatably connected to the mounting base 2. The first drive motor 52 is located on the mounting base 2 and is connected to the lead screw 51 in a transmission manner. The two nut seats are movably connected to the mounting base 2 along the second horizontal direction and have a threaded engagement with the lead screw 51 in the opposite direction. The first drive members 41 of the two circumferential cutting components 4 are respectively connected to the two nut seats one by one.

[0032] The lead screw 51 can be a trapezoidal lead screw 51 or a ball screw 51. The lead screw 51 is rotatably connected to the mounting base 2. The rotatable connection can be achieved by supporting both ends of the lead screw 51 on the mounting base 2 through bearings and bearing seats. The first drive motor 52 can be a servo motor or a stepper motor. The first drive motor 52 is connected to the lead screw 51 via a direct coupling, gear drive, or belt drive. The nut seat can be a block-shaped seat with internal threads. The nut seat is movably connected to the mounting base 2 along the second horizontal direction. For example, the mounting base 2 has a guide portion extending along the second horizontal direction, and the nut seat slides into the guide portion. The threads of the nut seat are opposite in direction to the threads of the lead screw 51. This can be achieved by having two external threads with opposite directions on the lead screw 51, with the two nut seats engaging with the two external threads respectively, or by having the internal threads of the two nut seats with opposite directions, so that the two nut seats move in opposite directions when the lead screw 51 rotates. The one-to-one connection can be a fixed connection or a detachable connection, and the two first drive components 41 move synchronously with the two nut seats.

[0033] Understandably, when the first drive motor 52 drives the lead screw 51 to rotate, because the two nut seats have opposite screw threads to the lead screw 51, the two nut seats move synchronously in opposite directions along the second horizontal direction, thereby driving the two first drive components 41 and the two first cutting blades 42 to move closer or further apart at the same speed. A single first drive motor 52 can drive the first cutting blades 42 on both sides to symmetrically close or open. The two first cutting blades 42 are always symmetrical relative to the longitudinal center plane of the main cable 300 axis, and the depth of cutting into the insulation layer on both sides remains consistent. During the cutting process, the force on both sides of the main cable 300 is balanced, which helps reduce the risk of overcutting on one side and damaging the internal conductor, and ensures the closing quality of the circumferential cut. Simultaneously, a single power source, combined with opposite screw threads, achieves bidirectional synchronous drive. The drive structure 5 has fewer components and a compact structure, which helps control the size and weight of the drive structure 5, and the motion load when the mounting base 2 moves along the first horizontal direction is also reduced.

[0034] In some embodiments, the lead screw 51 can be driven by a servo motor. The servo motor, in conjunction with the pitch conversion of the lead screw 51, can adjust the position of the nut seat at the micrometer level, and the retraction position control of the two first cutting blades 42 has high precision. A guide rod or guide rail parallel to the second horizontal direction can be provided on the mounting base 2. The nut seat is sleeved on the guide rod or slides with the guide rail to withstand the overturning moment generated during the cutting process. Limit switches can be provided at both ends of the lead screw 51 to limit the travel limit positions of the two nut seats. The lead screw 51 can traverse the mounting base 2 along the second horizontal direction. Two external threads with opposite directions are respectively provided on the two halves of the lead screw 51. The two nut seats are located on the two halves of the lead screw 51. The first drive motor 52 is provided at one end of the lead screw 51 and is directly connected to the lead screw 51 via a coupling. The nut seat and the first drive member 41 can be detachably connected by bolts, which facilitates the disassembly and maintenance of the circumferential cutting assembly 4. The threaded joint of the lead screw 51 can be self-locking. After the first drive motor 52 stops, the positions of the two nut seats remain unchanged, and the retracted state of the first cutting blade 42 is maintained.

[0035] Please see Figure 3 In an embodiment of the present invention, the cable stripping mechanism 10 further includes at least two clamping components 7, each clamping component 7 being used to clamp the main cable 300, and at least two clamping components 7 being disposed on the frame 1 and spaced apart along the first horizontal direction; the mounting base 2 is located between two adjacent clamping components 7.

[0036] The clamping assembly 7 can be an electric clamp, pneumatic gripper, or hydraulic clamp, capable of opening and closing to clamp the main cable 300. The clamping assembly 7 has two relatively opening and closing clamping arms; when the two clamping arms are closed, they clamp the main cable 300. There can be at least two, three, or more clamping assemblies 7, spaced apart along a first horizontal direction, meaning each clamping assembly 7 is distributed at different positions along the axial direction of the main cable 300. The mounting base 2 is located between two adjacent clamping assemblies 7; that is, viewed along the first horizontal direction, the mounting base 2 and the cutting components it carries are located between the main cable 300 segments clamped by the adjacent clamping assemblies 7.

[0037] Understandably, after the frame 1 approaches the main cable 300, at least two clamping components 7 clamp the main cable 300 at different axial positions, forming a multi-point fixation between the frame 1 and the main cable 300. This prevents the frame 1 from easily swaying or shifting relative to the main cable 300 during the cutting operation. The mounting base 2 is located between two adjacent clamping components 7, and the section to be stripped is within the range defined by the two adjacent clamping points. With both ends of the main cable 300 clamped, this section remains stable. When the first cutting blade 42 cuts into the insulation layer, the main cable 300 is less likely to bounce or twist due to cutting force, and the cutting depth and kerf position are less likely to deviate from the expected values, thus ensuring cutting accuracy. Simultaneously, with both ends of the stripped section held by the clamping components 7, the insulation layer is in a relatively taut state. When the first cutting blade 42 and the second cutting blade 62 cut in, the insulation layer is less likely to wrinkle as the blades move, resulting in a more regular cut. The cutting reaction force and vibration generated during the cutting process are transmitted to the frame 1 by the clamping component 7, and the disturbance of the cutting action to the other sections of the main cable 300 is also reduced.

[0038] In some embodiments, the clamping assembly 7 can be a high-precision electric clamp. Two electric clamps are respectively disposed on both sides of the frame 1 along the first horizontal direction. Insulating pads can be provided on the clamping arms of the electric clamps. The insulating pads contact the insulation layer of the main cable 300 to increase the clamping friction and protect the surface of the insulation layer. The opening and closing of the electric clamps can be controlled by remote control signals. After the frame 1 is hoisted to the main cable 300, the electric clamps automatically open and fit against the main cable 300, and then close and clamp, completing the positioning of the frame 1 on the main cable 300. There can be two clamping assemblies 7. The distance between the two clamping assemblies 7 is greater than the length of the stripped section, and the stripped section is completely located between the two clamping points. The clamping surfaces of the two clamping arms of the electric clamp can be constructed as arc-shaped surfaces that match the outer wall of the main cable 300. The contact area between the clamping surfaces and the insulation layer is large, the clamping is stable, and it is not easy to damage the insulation layer. The electric clamp can have a clamping force holding function, and can maintain the clamping state even after power is cut off after clamping.

[0039] Please see Figure 2 In an embodiment of the present invention, the first cutting blade 42 is configured as a disc blade, and the axial direction of the disc blade is parallel to the first horizontal direction; the circumferential cutting assembly 4 also includes a second drive motor 43, the motor housing of the second drive motor 43 is disposed on the first drive member 41, and the rotating shaft of the second drive motor 43 is coaxially connected to the disc blade for transmission.

[0040] The disc cutter can be a disc-shaped rotary cutter with a cutting edge on its outer edge, such as a circular saw blade or a hob. The axial direction of the disc cutter, i.e., the direction of its rotation axis, is parallel to the first horizontal direction. Therefore, the plane of the disc cutter's disc is parallel to the plane defined by the second horizontal direction and the vertical direction, allowing the disc cutter to radially cut into the insulation layer of the main cable 300 with its disc plane directly facing it. The second drive motor 43 can be a DC motor or a brushless motor. The motor housing of the second drive motor 43 is located on the first drive member 41, meaning the second drive motor 43 moves together with the first drive member 41 in the vertical and second horizontal directions. The coaxial transmission connection can be a direct connection between the shaft of the second drive motor 43 and the disc cutter, or a connection via a coupling or reducer, with the disc cutter rotating synchronously with the shaft.

[0041] Understandably, the first cutting blade 42 is a disc cutter driven to rotate by the second drive motor 43. When the disc cutter cuts into the insulation layer, the cutting edge continuously sweeps across the cutting position as the blade rotates. The cutting process changes from hydrostatic cutting to rotary cutting, reducing the propulsion force required to cut into the insulation layer. The insulation material at the cutting edge is continuously removed, resulting in a relatively smooth cut. The axial direction of the disc cutter is parallel to the first horizontal direction, and the plane of the blade is coplanar with the retraction motion in the second horizontal direction and the feed motion in the vertical direction. When the disc cutter cuts along an arc trajectory, the rotation plane of the cutting edge always adapts to the direction of travel of the cutting trajectory. The cutting resistance is evenly distributed along the trajectory, and the cutting process is continuous and smooth. The motor housing of the second drive motor 43 is located on the first drive component 41 and is coaxially connected to the disc cutter. Power is directly transmitted from the second drive motor 43 to the disc cutter. There are fewer intermediate transmission links and a shorter transmission chain. The disc cutter has a fast speed response, and the cutting state can be easily controlled by speed adjustment. Furthermore, when the first driving component 41 moves in the vertical direction, the second driving motor 43 and the disc cutter move up and down synchronously, and their relative positions remain unchanged, resulting in a stable transmission relationship.

[0042] In some embodiments, the disc cutter can be mounted on the shaft of the second drive motor 43 via a quick-release structure, allowing for rapid disassembly and replacement after cutter wear, making maintenance convenient. The cutting edge of the disc cutter can be constructed in a serrated shape to facilitate chip removal. The second drive motor 43 can be a speed-adjustable brushless motor, adjusting the rotation speed of the disc cutter according to the material and thickness of the insulation layer. The rotation directions of the disc cutters in the two circumferential cutting components 4 can be the same or opposite. The diameter of the disc cutter is larger than the radius of the main cable 300 to ensure that the disc cutter can cut through the full thickness of the insulation layer when moving along an arc trajectory. A protective cover can be installed on the non-cutting side of the disc cutter, taking into account both operational safety and chip guidance.

[0043] Please see Figures 1-4The present invention also proposes a live-line connection device 100, characterized in that it includes: a cable stripping mechanism 10, a wire clamp 20, and a connection mechanism 30. The cable stripping mechanism 10 is as described above. A lifting ring 11 is provided on the frame 1, and the lifting ring 11 is suitable for connecting to the UAV 200. The wire clamp 20 has two clamping parts, which are respectively used to clamp the main cable 300 and the drain line, so that the main cable 300 and the drain line are electrically connected. The connection mechanism 30 is provided on the frame 1 and is used to drive the wire clamp 20 to move so that the clamping part used to clamp the main cable 300 docks with the main cable 300.

[0044] The live-line connection device 100 can be an integrated operation equipment for stripping and connecting wires during live-line work on power distribution networks. The lifting ring 11 can be a ring-shaped connector located at the top of the frame 1. The lifting ring 11 is suitable for connection to the drone 200. It can be an electric clamp located below the drone 200 to hold the lifting ring 2001 and lift the live-line connection device 100 to the working position. The wire clamp 20 can be a connecting hardware capable of achieving mechanical and electrical connection between the main cable 300 and the drain line. The two clamping parts of the wire clamp 20 can be two clamping cavities, slots, or jaws. One clamping part clamps the stripped section of the main cable 300, and the other clamping part clamps the end of the drain line. The two clamping parts are internally connected within the wire clamp 20, and the main cable 300 and the drain line form an electrical connection through the wire clamp 20. The drain line can be a branch cable to be connected to the main cable 300. The wiring mechanism 30 can be a motion mechanism that can drive the wire clamp 20 to lift, rotate or translate. The wiring mechanism 30 drives the wire clamp 20 to move, so as to adjust the spatial position and posture of the wire clamp 20, so that the clamping part of the wire clamp 20 used to clamp the main cable 300 is aligned and connected to the main cable 300.

[0045] Understandably, during live-line connection operations, the drone 200 is connected to the lifting ring 11, which hoists the live-line connection device 100 to the high-altitude operation position where the main cable 300 is located. After the frame 1 is positioned on the main cable 300, the cable stripping mechanism 10 completes the stripping of the insulation layer of the stripped section according to the aforementioned process. One clamping part of the wire clamp 20 is pre-connected or connected to the lead wire during the operation. The wiring mechanism 30 drives the wire clamp 20 to move, so that the clamping part of the wire clamp 20 used to hold the main cable 300 moves to the position of the stripped section and clamps it tightly with the main cable 300. The main cable 300 and the lead wire are connected through the wire clamp 20, and the connection operation is completed. The stripping and connection processes are integrated into the same frame 1. The frame 1 can complete the stripping and connection in sequence in one hoisting and positioning. There is no need to change the work equipment or repeat the positioning during the operation, which reduces the preparation time and total time of high-altitude operations. The connection between the lifting ring 11 and the drone 200 allows the live-line contact device 100 to be transported to work locations that are difficult to reach manually or where the risk of climbing is high. Workers do not need to stay near live objects for extended periods, which helps reduce the safety risks of the operation.

[0046] In some embodiments, the bottom of the unmanned aerial vehicle (UAV) 200 is equipped with an electric clamp. The electric clamp has a quick-connect anti-detachment structure. After the electric clamp holds the lifting ring 2001, the live-line contact device 100 is reliably connected to the UAV 200. After being in position, the UAV 200 can remain in a hovering state, providing a stable lifting platform for stripping and contacting operations. The wire clamp 20 can be a self-locking clamp block. The clamping part of the wire clamp 20 for holding the lead wire can be a first slot, and the clamping part for holding the main cable 300 can be a second slot. Both the first and second slots are provided with a high-elasticity locking structure and a guide slope. When the lead wire and the main cable 300 are inserted into the corresponding slots, they slide in along the guide slope and are locked by the high-elasticity locking structure, ensuring smooth insertion and removal and stable locking. An insulating liner can be provided inside the wire clamp 20 to improve the safety of live-line operations. The functional modules of the cable stripping mechanism 10 can be integrated with the frame 1 through quick-release slide rails or buckles for easy carrying, transportation, maintenance, and replacement. The lifting ring 11 can be configured as a rotatable rotating lifting ring 11, and the posture of the live connection device 100 can be adjusted automatically as the lifting ring 11 rotates during the lifting process. Modular mounting positions can be provided at the bottom of the frame 1, with the cable stripping mechanism 10 and the wiring mechanism 30 respectively installed in their corresponding modular mounting positions. Each module can be independently disassembled and assembled, eliminating the need to disassemble the entire machine for later maintenance and component replacement. The lead wire can be a bypass flexible cable. After the ground operator connects the end of the lead wire to the clamp 20, the clamp 20 is lifted along with the wiring mechanism 30 to complete the connection.

[0047] The live-line connection device 100 has at least the following technical advantages: the cable stripping mechanism 10 and the wiring mechanism 30 are integrated on the same frame 1. The main cable 300 can be stripped and the wire clamp 20 connected in one hoisting and positioning operation. The process is compact and helps to shorten the total time of live-line connection operation. The lifting ring 11 on the frame 1 is suitable for connection with the drone 200. The live-line connection device 100 can be hoisted to the high-altitude operation position by the drone 200. The operator can complete the operation without climbing the pole, which helps to reduce the safety risks of high-altitude live-line operation. The two clamping parts of the wire clamp 20 clamp the main cable 300 and the drain wire respectively and connect the two electrically. The wiring mechanism 30 drives the wire clamp 20 to complete the connection with the main cable 300. The connection process is highly automated, the wiring position is accurate, and the connection quality is stable.

[0048] Please see Figure 2In an embodiment of the present invention, the wiring mechanism 30 includes: a wiring assembly 301 and a wire pulling assembly 302. The wiring assembly 301 includes a third drive motor 3011 and an adjusting cylinder 3012. The motor housing of the third drive motor 3011 is disposed on the frame 1. The adjusting cylinder 3012 is rotatably connected to the frame 1 and is drivenly connected to the rotating shaft of the third drive motor 3011. The adjusting cylinder 3012 is used to position the wire clamp 20. The wire pulling assembly 302 includes a winch 3021 and a suspension rope 3022. The winch 3021 is disposed on the frame 1. The suspension rope 3022 passes through the adjusting cylinder 3012, with one end wound around the winch 3021 and the other end connected to the wire clamp 20.

[0049] The third drive motor 3011 can be a servo motor or a motor with a reducer, and its housing is located on the frame 1. The adjusting cylinder 3012 can be a cylindrical or sleeve-shaped rotating component, rotatably connected to the frame 1. This rotatable connection can be achieved by supporting the adjusting cylinder 3012 on the frame 1 via a slewing bearing or bearings. The adjusting cylinder 3012 is connected to the rotating shaft of the third drive motor 3011 via a transmission method such as gear transmission, belt transmission, or direct coupling. The adjusting cylinder 3012 is used to position the wire clamp 20; the wire clamp 20 can extend at least partially into the adjusting cylinder 3012 or abut against the end of the adjusting cylinder 3012 to achieve a defined position on the adjusting cylinder 3012. The winch 3021 can be an electric winch, and it is located on the frame 1. The hoisting rope 3022 can be a flexible rope. The hoisting rope 3022 is threaded through the adjusting drum 3012, that is, the hoisting rope 3022 passes through the drum cavity of the adjusting drum 3012. One end of the hoisting rope 3022 is wound around the drum of the winch 3021, and the other end is connected to the wire clamp 20. When the winch 3021 retracts or extends the hoisting rope 3022, the wire clamp 20 rises and falls accordingly.

[0050] Understandably, before the connection operation, the winch 3021 releases the hoisting rope 3022, which lowers the wire clamp 20 from below the frame 1 to near the ground. Ground workers then connect the end of the lead wire to the wire clamp 20 to hold it. Subsequently, the winch 3021 winds up the hoisting rope 3022, raising the wire clamp 20 to the frame 1. Since the hoisting rope 3022 passes through the adjusting drum 3012, the wire clamp 20 enters the positioning range of the adjusting drum 3012 and is positioned within it when it rises to the upper end of its stroke. At this time, the lifting and lowering of the wire clamp 20 is constrained by the suspension rope 3022, while the rotation of the wire clamp 20 is controlled by the third drive motor 3011. The third drive motor 3011 drives the adjusting cylinder 3012 to rotate relative to the frame 1. The wire clamp 20, positioned on the adjusting cylinder 3012, rotates synchronously with the adjusting cylinder 3012. The orientation of the clamping part of the wire clamp 20 used to clamp the main cable 300 is adjusted accordingly until the clamping part is aligned with the stripped section of the main cable 300. The wire clamp 20 then connects and clamps with the main cable 300. The cable pulling assembly 302 undertakes the large-stroke lifting and lowering of the wire clamp 20, while the wiring assembly 301 undertakes the posture adjustment of the wire clamp 20 after it is in place. The two work together, and the position and posture of the wire clamp 20 at high altitude can be controlled. The connection action can be completed without manual intervention by climbing to a height.

[0051] In some embodiments, a gear ring can be provided on the outer periphery of the adjusting cylinder 3012, and a gear meshing with the gear ring can be provided on the rotating shaft of the third drive motor 3011. The third drive motor 3011 drives the adjusting cylinder 3012 to rotate through the meshing of the gear and the gear ring, resulting in a stable transmission ratio and facilitating fine-tuning of the angle. The suspension rope 3022 can be made of high-strength insulated rope to ensure insulation safety in a live environment. An electric clamp can be provided at the end of the suspension rope 3022 connected to the wire clamp 20, which holds the top of the wire clamp 20 for easy gripping and release. The winch 3021 can be an electric winch 3021 with a self-locking function, which can self-lock and maintain the suspension position of the wire clamp 20 after the suspension rope 3022 is wound up or down. The adjusting cylinder 3012 can be vertically installed at the bottom of the frame 1, with the cylinder cavity extending vertically. The suspension rope 3022 passes through the cylinder cavity, and after the wire clamp 20 rises to its position, it enters the lower opening of the cylinder cavity for positioning. The winch 3021 can be equipped with a rope arrangement mechanism, so that the hoisting rope 3022 is neatly arranged on the drum, making it less prone to tangling during the winding and unwinding process. Length markers or displacement detection devices can be set on the hoisting rope 3022, which the controller uses to determine the lowering depth and lifting height of the wire clamp 20.

[0052] In an embodiment of the present invention, one of the adjusting cylinder 3012 and the wire clamp 20 is provided with a positioning protrusion, and the other is provided with a positioning groove. The positioning protrusion is adapted to be embedded in the positioning groove so that the wire clamp 20 is positioned on the adjusting cylinder 3012.

[0053] The positioning protrusion can be a protruding structure such as a bump, boss, pin, or hook, while the positioning groove can be a slot, cavity, or latch that matches the contour of the positioning protrusion. One of the adjusting cylinder 3012 and the wire clamp 20 has a positioning protrusion, and the other has a positioning groove; that is, the positioning protrusion and the positioning groove are respectively located on the facing surfaces of the adjusting cylinder 3012 and the wire clamp 20. The positioning protrusion is suitable for being embedded in the positioning groove, allowing it to insert into the positioning groove and abut against the groove wall, thereby restricting the relative movement between the adjusting cylinder 3012 and the wire clamp 20.

[0054] Understandably, when the wire clamp 20 is lifted to the adjusting cylinder 3012 by the suspension rope 3022, the positioning protrusion and the positioning groove gradually align and engage. The position of the wire clamp 20 on the adjusting cylinder 3012 is determined by the engagement relationship between the positioning protrusion and the positioning groove. After engagement, the positioning protrusion and the groove wall of the positioning groove abut against each other, restricting the rotation and sway of the wire clamp 20 relative to the adjusting cylinder 3012. When the third drive motor 3011 drives the adjusting cylinder 3012 to rotate, the wire clamp 20 can rotate synchronously with the adjusting cylinder 3012, and the attitude adjustment of the wire clamp 20 is accurate and controllable. At the same time, the engagement of the positioning protrusion and the positioning groove provides a clear mechanical reference for the positioning of the wire clamp 20. The positioning protrusion embedding into the positioning groove indicates that the wire clamp 20 has reached the predetermined docking position, which facilitates the control system to determine that the wire clamp 20 is in place and initiate subsequent attitude adjustment actions, thus improving the positional accuracy of the wire clamp 20 and the main cable 300 docking.

[0055] In some embodiments, the positioning protrusion can be a hook or protrusion located at the bottom of the adjusting cylinder 3012, and the positioning groove can be a slot located at the top of the wire clamp 20 and matching the hook or protrusion. After the wire clamp 20 rises to its position, the hook engages with the slot, and the wire clamp 20 is suspended and positioned on the adjusting cylinder 3012. A guide slope can be provided at the opening of the positioning groove, and the positioning protrusion slides into the positioning groove along the guide slope, ensuring a smooth engagement process. A position sensor can be provided at the bottom of the positioning groove. After the positioning protrusion is engaged, the position sensor is triggered. Upon receiving the position signal, the controller controls the winch 3021 to stop winding and starts the third drive motor 3011 for attitude adjustment. A guide gap can be reserved between the mating surfaces of the positioning protrusion and the positioning groove, ensuring reliable engagement even when there is slight swaying during the rise of the wire clamp 20.

[0056] In some embodiments, the live-line contact device 100 may also include a remote control system, through which operators can remotely control the operation of the cable stripping mechanism 10 and the wiring mechanism 30. Limit protection devices and status sensors can be installed at key nodes of the device to transmit position information, clamping status, and contact effect in real time, ensuring wiring quality and operational safety. Components on the frame 1 that contact the main cable 300 can be made of insulating material or covered with an insulating layer to improve operational safety in a live environment. The power supply and control cables for each drive motor, electric telescopic pole, and winch 3021 can be integrated into the cable trays inside the frame 1, resulting in a neat wiring layout that minimizes interference with the main cable 300 or cutting tools during high-altitude operations. Status indicator lights or audible and visual prompts can also be installed on the frame 1, allowing operators to identify the overall operating status of the machine from the ground. The frame 1 and all moving parts can be made of lightweight materials such as aluminum alloy, ensuring the overall weight is compatible with the lifting capacity of the UAV 200. Each movement node of the machine can be equipped with limit protection. The travel of the mounting base 2, the feed travel of the first cutting blade 42, and the winding and unwinding travel of the winch 3021 all operate within the limited range, ensuring good safety during operation. The exposed parts of the lifting rope 3022, the clamp 20, and the guide wire can all be equipped with insulation protection, providing complete insulation measures in live environments.

[0057] Please see Figure 5 The present invention also proposes a control method for a cable stripping mechanism, characterized in that the cable stripping mechanism is as described above, and the control method includes: Step S1: During the process of the first cutting blade of the two circumferential cutting components cutting into the insulation layer of the main cable in the up-down direction, obtain the cutting resistance of the first cutting blade; Step S2: Calculate the resistance deviation between the cutting resistance and the preset target resistance value; Step S3: When the resistance deviation is outside the preset deviation range, adjust the first driving parameter of the first driving component and the second driving parameter of the driving structure according to the resistance deviation. After the adjustment is completed, repeat the step of obtaining the cutting resistance of the first cutting tool until the resistance deviation is within the preset deviation range.

[0058] The cutting resistance can be the force that hinders the first cutting blade's advance when it cuts into the insulation layer. This cutting resistance can be directly measured by a pressure sensor located at the first cutting blade or the first driving component, or it can be calculated from operating parameters such as the driving current and driving pressure of the first driving component. The preset target resistance value can be a reference value for maintaining the desired cutting resistance, and this value can be pre-stored in the controller. The resistance deviation can be the difference between the cutting resistance and the preset target resistance value; a positive deviation indicates a large cutting resistance, and a negative deviation indicates a small cutting resistance. The preset deviation range can be an allowable range set around zero deviation; a resistance deviation falling within this range indicates normal cutting conditions. The first driving parameter can be an adjustable parameter characterizing the driving state of the first driving component, such as the feed speed at which the first driving component drives the first cutting blade. The second driving parameter can be an adjustable parameter characterizing the driving state of the driving structure, such as the approach speed at which the driving structure drives the two first driving components closer together. Adjustment can be performed by the controller of the cable stripping mechanism, which is electrically connected to both the first driving component and the driving structure.

[0059] Understandably, during the process of the first cutting blade cutting into the insulation layer in the vertical direction, the magnitude of the cutting resistance directly reflects the cutting state. If the cutting resistance is greater than normal, it indicates that the feed and retraction of the first cutting blade are too fast, the cutting amount per unit time is too large, and the tool load is too heavy. Continuing to cut according to the original parameters is likely to cause blade breakage, and the first cutting blade risks cutting too deeply and damaging the internal conductor. If the cutting resistance is less than normal, it indicates that the first cutting blade is not cutting sufficiently, and the cutting efficiency is low. The control method continuously acquires the cutting resistance during the cutting process and uses the resistance deviation as feedback. When the resistance deviation exceeds the preset deviation range, the first driving parameter of the first driving component and the second driving parameter of the driving structure are adjusted synchronously to coordinate the feed of the first cutting blade in the vertical direction and the retraction in the second horizontal direction, thereby restoring the cutting load on the arc-shaped cutting trajectory to a normal level. After adjustment, the cutting resistance is repeatedly acquired and judged again, forming a closed-loop adjustment until the resistance deviation returns to the preset deviation range. Fluctuations in cutting resistance caused by uneven insulation layer thickness, changes in hardness, or differences in cable specifications can all be automatically compensated by the aforementioned closed-loop adjustment. The first cutting blade completes circumferential cutting under a stable cutting load, which helps protect the internal conductor from damage and ensures the cutting quality of the circumferential cut.

[0060] In some embodiments, the cutting resistance can be obtained by a pressure sensor that monitors the pressure of the cutting tool. The pressure sensor can be installed between the first cutting tool and the first driving component. The controller can stop the cable stripping mechanism and issue an alarm signal when the resistance deviation exceeds a preset deviation range multiple times consecutively and fails to converge after adjustment, prompting the operator to check the status of the cutting tool and cable. The preset target resistance value and preset deviation range can be set or modified via a remote terminal to adapt to different operating conditions. The cutting resistance can be acquired according to a fixed sampling period. The controller completes the calculation and judgment of the resistance deviation once in each sampling period, and the adjustment action is executed continuously with the sampling period, ensuring timely control response. The controller can record the cutting resistance curve during the cutting process and transmit it back to the ground terminal after the operation is completed, allowing the operator to verify the cutting quality.

[0061] This control method achieves at least the following technical effects: During the process of the first cutting blade cutting into the insulation layer, the cutting resistance is acquired. The resistance deviation between the cutting resistance and a preset target resistance value is used as feedback. When the resistance deviation exceeds the preset deviation range, the first driving parameter of the first driving component and the second driving parameter of the driving structure are simultaneously adjusted. This acquisition and adjustment are cyclically executed until the resistance deviation returns to the preset deviation range, forming a closed-loop control of the cutting load. The feed and retraction of the first cutting blade are dynamically coordinated with the cutting resistance. Fluctuations in cutting resistance caused by uneven insulation layer thickness or changes in cable specifications can be automatically compensated, which helps reduce the risk of blade breakage and damage to the internal conductor, ensures the cutting quality of the circumferential kerf, and improves the automation level of the stripping process.

[0062] In an embodiment of the present invention, the first driving parameter includes the feed speed of the first driving member driving the first cutting blade in the vertical direction, and the second driving parameter includes the approach speed of the first driving members of the two circumferential cutting components driving each other in the second horizontal direction. Adjusting the first driving parameters of the first driving component and the second driving parameters of the driving structure according to the resistance deviation includes: Step S31: When the resistance deviation is greater than the upper limit of the preset deviation range, reduce the feed rate and the approach speed; Step S32: When the resistance deviation is less than the lower limit of the preset deviation range, increase the feed speed and the approach speed.

[0063] The feed rate can be the speed at which the first cutting blade cuts into the insulation layer in the vertical direction, and the approach speed can be the speed at which the two first cutting blades converge towards each other in the second horizontal direction. The upper limit of the preset deviation range can be the maximum allowable resistance deviation; a resistance deviation greater than the upper limit indicates that the cutting resistance exceeds the normal level. The lower limit of the preset deviation range can be the minimum allowable resistance deviation; a resistance deviation less than the lower limit indicates that the cutting resistance is lower than the normal level.

[0064] It is understandable that the arc-shaped cutting trajectory of the first cutting tool is formed by a combination of vertical feed and horizontal convergence. The ratio of feed speed to convergence speed determines the shape of the arc-shaped trajectory and the distribution of cutting load. When the resistance deviation exceeds the upper limit of the preset deviation range, the cutting load is too heavy. At this time, the feed speed and convergence speed are reduced simultaneously, and the cutting amount per unit time of the first cutting tool decreases accordingly, releasing the tool load. Since both speeds decrease synchronously, the feed-convexity ratio remains stable, the shape of the arc-shaped trajectory does not become distorted due to adjustment, and the cut is continuous and regular. When the resistance deviation is less than the lower limit of the preset deviation range, the cutting is insufficient. At this time, the feed speed and convergence speed are increased simultaneously, and the cutting efficiency is restored. The synchronous increase of the two speeds also maintains the original speed ratio. Adjusting the two speeds in the same direction according to the direction of the resistance deviation is a simple adjustment logic, and the cutting load and cutting trajectory shape can be maintained simultaneously.

[0065] In some embodiments, the feed rate can be adjusted by regulating the drive current or extension / retraction speed of the first drive component, and the approach speed can be adjusted by regulating the rotational speed of the first drive motor. The adjustment range of the feed rate and approach speed can be related to the absolute value of the resistance deviation; the larger the absolute value of the resistance deviation, the larger the adjustment range, and the faster the cutting resistance can converge to the preset deviation range. The feed rate and approach speed can be adjusted synchronously in a fixed ratio, and the ratio of the adjustment amounts of the two speeds remains constant, maintaining the same shape of the arc trajectory before and after adjustment. Both the feed rate and approach speed have lower limit protection values; the adjusted speed will not be lower than the corresponding lower limit protection value, and the cutting process will not stop due to excessively low speed.

[0066] In an embodiment of the present invention, before obtaining the cutting resistance of the first cutting blade, the method further includes: The control drive structure drives the two circumferential cutting components to approach each other along the second horizontal direction until both first cutting blades abut against the outer wall of the main cable. The driving displacement of the drive structure is obtained when both first cutting blades abut against the outer wall of the main cable, and the wire diameter of the main cable is determined based on the driving displacement. The target resistance value is determined based on the wire diameter.

[0067] The driving displacement can be the total displacement generated when the driving structure drives the two first driving components from their initial positions until both first cutting blades abut against the outer wall of the main cable. This displacement could be the displacement converted from the rotation angle of the lead screw or the movement distance of the nut seat. The wire diameter can be the outer diameter of the main cable, i.e., the overall outer diameter including the insulation layer. The abutment of both first cutting blades against the outer wall of the main cable can be determined by the cutting resistance or a sudden increase in the load on the driving structure.

[0068] Understandably, before the circumferential cutting begins, the drive structure first drives the two circumferential cutting components closer together. The two first cutting blades gradually converge on both radial sides of the main cable until they abut against the outer wall of the main cable. At this point, the relative position between the two first cutting blades is determined by the outer diameter of the main cable. The driving displacement generated by the drive structure during this process, combined with the initial distance between the two first cutting blades, allows the calculation of the main cable diameter. Once the diameter is determined, the radial thickness of the insulation layer, the cutting stroke, and the cutting depth reference are clearly defined. A preset target resistance value is determined based on the diameter, and the target resistance used for closed-loop control matches the actual cable specifications. Main cables of different diameters can obtain a cutting load reference that is appropriate for them. The above measurement process is completed by the opposing convergence of the two first cutting blades, eliminating the need for additional measuring devices and manual measurement. The cable stripping mechanism does not need to be recalibrated when dealing with cables of various specifications, which helps to improve the applicability and automation level of the cable stripping mechanism. At the same time, the position where the two first cutting blades abut against the outer wall is also the starting reference for the subsequent cutting depth, thereby improving the accuracy of cutting depth control. The wire diameter measurement is completed before the circumferential cutting begins. In addition to determining the preset target resistance value, the measured wire diameter can also be used to set the retraction stroke of the circumferential cutting. The displacement of the first cutting blade from the outer wall contact position to continue retraction corresponds to the radial thickness of the insulation layer. The cutting endpoint position is clear, and the first cutting blade is not likely to continue to penetrate the insulation layer and touch the internal conductor.

[0069] In some embodiments, the drive displacement can be calculated from the number of rotations of the lead screw and the pitch, or it can be directly measured by a displacement sensor mounted on the mounting base. The controller can pre-store a table of correspondence between wire diameter and a preset target resistance value. The preset target resistance value is determined by looking up the table based on the calculated wire diameter. This table can be established based on cutting test data of different insulation materials. The initial distance between the two first cutting blades can be pre-calibrated and stored in the controller. The wire diameter is obtained by subtracting twice the drive displacement from the initial distance and then converting it through the transmission relationship. Contact determination can be based on the load current of the drive structure exceeding a preset threshold. A sudden increase in load current indicates that both first cutting blades have contacted the outer wall of the main cable. The determination process does not require additional detection elements. The wire diameter measurement results can be displayed on the ground terminal for operators to verify cable specifications.

[0070] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A cable stripping mechanism, characterized in that, include: A rack for positioning on the main cable; Mounting base, the mounting base being movably connected to the frame along a first horizontal direction, the first horizontal direction being parallel to the axis of the main cable; A movable drive component, disposed on the frame, is used to drive the mounting base to move; Two circumferential cutting components, each of which includes a first driving member and a first cutting blade, wherein the first driving member is used to drive the first cutting blade to move in the up-down direction; A driving structure, provided on the mounting base, is used to drive the first driving members of the two circumferential cutting assemblies to move closer to or further away from each other along a second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction; as well as, The longitudinal cutting assembly includes a second drive member disposed on the mounting base and a second cutting blade located above the main cable, wherein the second drive member is used to drive the second cutting blade to move along the vertical direction.

2. The cable stripping mechanism as described in claim 1, characterized in that, The driving structure includes: A lead screw, which is rotatably connected to the mounting base; A first drive motor, the first drive motor being mounted on the mounting base and connected to the lead screw drive; and... Two nut seats are movably connected to the mounting base along the second horizontal direction, and their thread engagement with the lead screw is opposite in direction. The first driving component of each of the two circumferential cutting assemblies is connected to the two nut seats in a one-to-one correspondence.

3. The cable stripping mechanism as described in claim 1, characterized in that, The cable stripping mechanism further includes at least two clamping components, each of which is used to clamp the main cable. The at least two clamping components are disposed on the frame and spaced apart along the first horizontal direction. The mounting base is located between two adjacent clamping components.

4. The cable stripping mechanism as described in claim 1, characterized in that, The first cutting blade is constructed as a disc blade, and the axial direction of the disc blade is parallel to the first horizontal direction; The circumferential cutting assembly also includes a second drive motor, the motor housing of which is disposed on the first drive member, and the rotating shaft of the second drive motor is coaxially connected to the disc cutter.

5. A live-line contact device, characterized in that, include: A cable stripping mechanism, wherein the cable stripping mechanism is as described in any one of claims 1 to 4, and a lifting ring is provided on the frame, the lifting ring being adapted to be connected to a drone; A wire clamp having two clamping portions, the two clamping portions being respectively used to clamp a main cable and a lead wire, so as to electrically connect the main cable and the lead wire; and... A wiring mechanism, located on the frame, is used to drive the wire clamp to move so that the clamping part for clamping the main cable connects with the main cable.

6. The live fire-connecting device as described in claim 5, characterized in that, The wiring mechanism includes: A wiring assembly, comprising a third drive motor and an adjusting cylinder, wherein the motor housing of the third drive motor is disposed on the frame, and the adjusting cylinder is rotatably connected to the frame and drively connected to the shaft of the third drive motor, the adjusting cylinder being used to position the wire clamp; and... A cable assembly, comprising a winch and a suspension rope, wherein the winch is mounted on the frame, the suspension rope passes through the adjusting drum, one end of which is wound around the winch, and the other end is connected to the cable clamp.

7. The live contact device as described in claim 6, characterized in that, One of the adjusting cylinder and the wire clamp is provided with a positioning protrusion, and the other is provided with a positioning groove. The positioning protrusion is adapted to be embedded in the positioning groove so that the wire clamp is positioned on the adjusting cylinder.

8. A control method for a cable stripping mechanism, characterized in that, The cable stripping mechanism is the cable stripping mechanism as described in any one of claims 1 to 4, and the control method includes: During the process of the first cutting blade of the two circumferential cutting assemblies cutting into the insulation layer of the main cable in the up-down direction, the cutting resistance of the first cutting blade is obtained; Calculate the resistance deviation between the cutting resistance and the preset target resistance value; When the resistance deviation is outside the preset deviation range, the first driving parameter of the first driving member and the second driving parameter of the driving structure are adjusted according to the resistance deviation. After the adjustment is completed, the step of obtaining the cutting resistance of the first cutting blade is repeated until the resistance deviation is within the preset deviation range.

9. The control method for the cable stripping mechanism as described in claim 8, characterized in that, The first driving parameter includes the feed speed of the first driving member driving the first cutting blade along the vertical direction, and the second driving parameter includes the approach speed of the first driving members of the two circumferential cutting components driving each other along the second horizontal direction. Adjusting the first driving parameter of the first driving component and the second driving parameter of the driving structure according to the resistance deviation includes: When the resistance deviation exceeds the upper limit of the preset deviation range, the feed rate is reduced, and the approach speed is also reduced. When the resistance deviation is less than the lower limit of the preset deviation range, the feed speed is increased and the approach speed is increased.

10. The control method for the cable stripping mechanism as described in claim 8, characterized in that, Before obtaining the cutting resistance of the first cutting tool, the process also includes: The drive structure is controlled to drive the two circumferential cutting components to move closer to each other along the second horizontal direction until both first cutting blades abut against the outer wall of the main cable. The driving displacement of the driving structure is obtained when both of the first cutting blades abut against the outer wall of the main cable, and the wire diameter of the main cable is determined based on the driving displacement. The preset target resistance value is determined based on the wire diameter.

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