A power line distribution live working platform based on a collaborative robot

Abstract

The application discloses a power distribution live working platform based on a collaborative robot and belongs to the technical field of electric power robots. The power distribution live working platform based on the collaborative robot comprises a mechanical arm fixedly connected to the upper surface of a mounting table, the working end of the mechanical arm is detachably provided with a transposition assembly, wire stripping devices and wiring assemblies are arranged on the surface of the transposition assembly respectively, the transposition assembly is used for quickly replacing the positions of the wire stripping devices and the wiring assemblies, and the transposition assembly comprises a fixing seat connected with the mechanical arm and a fixing shaft rotatably connected to one end of the fixing seat. Through the transposition assembly, the fixing shaft drives the two insulating plates to rotate by 180 degrees, the wire stripping devices and the wiring assemblies are quickly and alternately replaced, at the moment, the positions of the wiring assemblies and the original wire stripping devices are basically consistent, an operator can quickly position and contrast the wiring assemblies and the wire stripping positions of the cables, thereby the time for repositioning the wiring assemblies is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of power robot technology, and in particular to a live-line working platform for power distribution networks based on collaborative robots. Background Technology

[0002] As a critical link in the power system directly facing users, the power distribution network's reliability directly impacts social production and residents' lives. With the increasing demand for uninterrupted power supply driven by economic and social development, live-line working has become an important means of distribution network operation and maintenance. In recent years, live-line working robot technology has developed rapidly, using robotic arms to replace manual labor for high-altitude live-line operations, and has been widely applied in scenarios such as disconnecting live conductors, installing fault indicators, and replacing insulators.

[0003] Currently, live-line working robots for power distribution networks typically employ a step-by-step operation mode when performing live-line wiring work. The robotic arm first strips the insulation layer of the main conductor using a wire stripping tool. After stripping, the arm returns to the tool magazine or rack to remove the stripping tool and replace it with wiring tools (such as C-clamp installation tools or strand clamp loading mechanisms). It then repositions itself to the work point to perform the wiring operation. This process requires repeated disassembly and installation of tools and readjustment of the work position, resulting in a cumbersome operation and long working time.

[0004] Therefore, this application proposes a live-line working platform for power distribution networks that integrates wire stripping and wiring tools, in order to reduce the problems of cumbersome positioning process and long operation time caused by changing tools. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art by proposing a live-line working platform for power distribution networks based on collaborative robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A collaborative robot-based live-line working platform for power distribution includes a robotic arm fixedly connected to the upper surface of an installation platform. A transposition component is detachably mounted on the working end of the robotic arm. A wire stripping device and a wiring component are respectively provided on the surface of the transposition component. The transposition component is used to quickly change the position of the wire stripping device and the wiring component. The transposition component includes a fixed base connected to the robotic arm and a fixed shaft rotatably connected to one end of the fixed base. Two insulating plates are provided on the surface of the fixed shaft for respectively mounting the wire stripping device and the wiring component.

[0007] In some embodiments, the wiring assembly includes a support fixedly connected to the surface of a second fixed platform and two clamping plates for holding C-type wire clamps, both of which are slidably connected to the surface of the support.

[0008] In some embodiments, the C-type clamp holds the cable with a locking head, which is rotatably connected to the middle of the support base and is driven to rotate by a drive motor.

[0009] In some embodiments, two guide frames are fixedly connected to both sides of the support base, and each of the two guide frames corresponds to one of the wire grooves of the C-type wire clamp. The guide frames are Y-shaped.

[0010] In some embodiments, a first movable ring is fixedly connected to the surface of one of the clamps, and a first fixed ring is fixedly connected to the upper surface of the support base. Both the first movable ring and the first fixed ring are semi-circular, and the first movable ring and the first fixed ring correspond to another groove of the C-type wire clamp.

[0011] In some embodiments, a reinforcing component is installed on one side of the wiring assembly via a lifting component. The reinforcing component is used to fix the main cable and the branch cable. The reinforcing component includes a connecting plate and two second fixed rings and two second movable rings disposed on the upper surface of the connecting plate. The two second fixed rings are fixedly connected to the upper surface of the connecting plate, and the two second movable rings are slidably connected to the inner wall of the slide groove via sliders.

[0012] In some embodiments, both second movable rings move toward the two second fixed rings via a clamping assembly, the clamping assembly including a lifting block vertically slidably connected to the surface of a guide rod, the lifting block being hinged to the surfaces of the two second movable rings via multiple connecting arms, a spring for pushing the lifting block downwards being sleeved on the surface of the guide rod, and the lifting block being vertically slidably connected to the surface of a connecting plate via a top rod.

[0013] In some embodiments, a ratchet is fixedly connected to the surface of the slider, and a limiting rack that cooperates with the ratchet is fixedly connected to the inner wall of the groove. The ratchet and the limiting rack are used to prevent the second moving ring from sliding away from the second fixed ring.

[0014] In some embodiments, the lifting assembly includes a mounting plate fixedly connected to the upper end of an electric push rod. The connecting plate is inserted into the surface of the mounting plate via two positioning rods, and slots that mate with the positioning rods are respectively provided at both ends of the surface of the mounting plate.

[0015] In some embodiments, a wedge block is fixedly connected to one side of the slider, and an anti-disengagement rod that cooperates with the wedge block is fixedly connected to the upper surface of the mounting plate. Both the anti-disengagement rod and the wedge block are located between the two sliders.

[0016] Compared with the prior art, the present invention provides a live-line working platform for power distribution networks based on collaborative robots, which has the following beneficial effects.

[0017] 1. This invention, by setting a switching component, causes the fixed shaft to drive the two insulating plates to rotate 180 degrees, allowing the wire stripping device and the wiring assembly to quickly and alternately change positions. At this time, the position of the wiring assembly is basically consistent with the original position of the wire stripping device. The operator can quickly align the wiring assembly with the stripped position of the cable, thereby reducing the time required to reposition the wiring assembly and improving work efficiency.

[0018] 2. In this invention, two insulating plates rotate on the surface of a fixed shaft, causing an electric push rod to drive a limiting block to insert into a corresponding limiting groove, thus limiting the insulating plates. This causes the insulating plates to drive the wire stripping device to rotate, while the wiring assembly rotates on the surface of the fixed shaft via the insulating plates. Under the action of gravity, the wiring assembly is always kept at a vertically downward angle, preventing the wiring assembly from rotating with the wire stripping device, thereby reducing the overall volume.

[0019] 3. This invention improves the service life of the cables by clamping the insulation layers of the branch cables and the main cables with a reinforcing component. After the two cables are connected by the C-type clamp, the connection component is moved away from the reinforcing component. The reinforcing component can then be installed on the surface of the two cables by the lifting component. The operation is convenient and does not require repeated positioning.

[0020] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0021] Figure 1 This is a front view structural diagram of the present invention.

[0022] Figure 2 This is a schematic diagram of the transposition component in this invention.

[0023] Figure 3 This is a schematic diagram of the structure of the fixing base in this invention.

[0024] Figure 4 This is a schematic diagram of the axial structure of the wiring assembly in this invention.

[0025] Figure 5 This is an exploded view of the wiring assembly in this invention.

[0026] Figure 6 This is a schematic diagram of the locking head in this invention.

[0027] Figure 7 This is a top view of the wiring assembly in this invention.

[0028] Figure 8This is a schematic diagram of the location and structure of the reinforcement component in this invention.

[0029] Figure 9 This is a schematic diagram of the reinforcement component in this invention.

[0030] Figure 10 This is a schematic diagram of the position and structure of the lifting component in this invention.

[0031] Figure 11 This is a schematic diagram of the installation state of the reinforcement component in this invention.

[0032] Figure 12 This is a top view cross-sectional structural diagram of the connecting plate in this invention.

[0033] Figure 13 For the present invention Figure 12 Enlarged structural diagram at point A in the middle.

[0034] Figure 14 For the present invention Figure 11 Enlarged structural diagram at point B.

[0035] In the picture: 1. Robotic arm; 101. Mounting platform; 2. Wire stripping device; 3. Wiring assembly; 301. Support base; 302. Clamping plate; 303. Moving block; 304. Positive and negative threaded post; 305. C-type wire clamp; 306. Locking head; 3061. First synchronous pulley; 3062. First synchronous belt; 307. Guide frame; 308. First moving ring; 3081. First fixed ring; 4. Transposition assembly; 401. Fixed base; 402. Fixed shaft; 403. Insulating plate; 404. First fixed platform; 405. Second fixed platform; 4 06. Limiting block; 4061. Limiting groove; 5. Reinforcing component; 501. Connecting plate; 502. Second fixing ring; 503. Second moving ring; 5031. Slider; 5032. Slide groove; 5033. Ratchet; 5034. Limiting rack; 504. Clamping component; 5041. Lifting block; 5042. Connecting arm; 5043. Guide rod; 5044. Spring; 5045. Top rod; 505. Positioning rod; 506. Inclined block; 6. Lifting component; 601. Mounting plate; 602. Slot; 603. Anti-detachment rod. Detailed Implementation

[0036] 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.

[0037] Reference Figure 1-14A collaborative robot-based live-line working platform for power distribution includes a robotic arm 1 fixedly connected to the upper surface of an installation platform 101. A transposition component 4 is detachably installed at the working end of the robotic arm 1. A wire stripping device 2 and a wiring component 3 are respectively provided on the surface of the transposition component 4. The transposition component 4 is used to quickly change the position of the wire stripping device 2 and the wiring component 3. The method of disassembling the transposition component 4 at the working end of the robotic arm 1 is existing technology and will not be described in detail. The wire stripping device 2 also adopts existing technology and will not be described in detail. refer to Figure 2-4 The transposition component 4 includes a fixed base 401 connected to the robotic arm 1 and a fixed shaft 402 rotatably connected to one end of the fixed base 401. Two insulating plates 403 are provided on the surface of the fixed shaft 402. The wire stripping device 2 is fixedly connected to the end of one of the insulating plates 403 via a first fixed platform 404, and the wiring component 3 is fixedly connected to the end of the other insulating plate 403 via a second fixed platform 405. The two insulating plates 403 are perpendicular to the fixed base 401. The wire stripping device 2 and the wiring component 3 are located at the ends of the two insulating plates 403 that are far apart from each other. The fixed shaft 402 is driven to rotate by a synchronous belt and a synchronous pulley. One synchronous pulley is fixedly connected to one end of the fixed shaft 402, and the other synchronous pulley is fixedly connected to one end of the output shaft of the drive motor. Both synchronous pulleys are connected by a synchronous belt drive. The drive motor is fixedly connected to the upper surface of the fixed base 401.

[0038] Understandably, the robotic arm 1 drives the wire stripping device 2 and the wiring assembly 3 to perform stripping and wiring work. By setting up the switching component 4, after the wire stripping device 2 strips the insulation layer on the surface of the cable, the robotic arm 1 drives the wire stripping device 2 to descend to a certain height and away from the cable. This causes the drive motor to drive the fixed shaft 402 to rotate through the synchronous belt and synchronous pulley, causing the two insulation plates 403 to rotate 180 degrees. This causes the wire stripping device 2 and the wiring assembly 3 to quickly switch positions. At this time, the position of the wiring assembly 3 is basically consistent with the original position of the wire stripping device 2. The operator can quickly locate and compare the wiring assembly 3 with the stripped position of the cable, thereby reducing the time for repositioning the wiring assembly 3 and improving work efficiency.

[0039] For details, please refer to Figure 1-4 Both insulating plates 403 are rotatably connected to the surface of the fixed shaft 402. The two insulating plates 403 are vertically slidably connected to the side away from each other by a limiting block 406. The limiting block 406 is driven to slide by an electric push rod. The surface of the fixed shaft 402 has two limiting grooves 4061 that cooperate with the limiting block 406. The included angle between the two limiting grooves 4061 is 180 degrees.

[0040] Understandably, due to the small distance between distribution network cables, and the relatively large size of the stripping device 2 and the wiring assembly 3 after being connected to the transposition assembly 4, the wiring assembly 3, when adjusting the position of the stripping device 2, swings or even rotates along with the stripping device 2 via the transposition assembly 4, which could easily touch other cables. Therefore, to rotate the two insulating plates 403 on the surface of the fixed shaft 402, and to allow the fixed shaft 402 to drive the stripping device 2 to rotate, the electric push rod drives the limiting block 406 to insert into the corresponding limiting groove 4061, limiting the insulating plate 403, thereby allowing the insulating plate 403 and the stripping device 2 to rotate. The wire stripping device 2 rotates while the wiring assembly 3 rotates on the surface of the fixed shaft 402 via the insulating plate 403. Under the action of gravity, the wiring assembly 3 always maintains a vertical downward angle, preventing the wiring assembly 3 from rotating with the wire stripping device 2, thereby reducing the overall volume. When it is necessary to replace the positions of the wire stripping device 2 and the wiring assembly 3, both limit blocks 406 are inserted into the two limit slots 4061, so that the fixed shaft 402 can drive the two insulating plates 403 to rotate. After the positions are changed, the wire stripping assembly also swings freely below, preventing it from rotating with the wiring assembly 3, thereby reducing the space required for movement and realizing wire stripping or wiring work in a narrow area.

[0041] For details, please refer to Figure 4-7 The wiring assembly 3 includes a support base 301 fixedly connected to the surface of the second fixed platform 405 and two clamping plates 302 for clamping the C-type wire clamp 305. Both clamping plates 302 are slidably connected to the surface of the support base 301. Movable blocks 303 are fixedly connected to the lower surface of the two clamping plates 302. Positive and negative threaded columns 304 are rotatably connected to the bottom of the support base 301. The two movable blocks 303 are respectively threaded to the surface of the positive and negative threaded columns 304. The positive and negative threaded columns 304 are driven to rotate by a drive motor. The drive motor is fixedly connected to one side of the support base 301. The C-type cable clamp 305 clamps the cable through the locking head 306, which is rotatably connected to the middle of the support base 301. The locking head 306 is driven to rotate through the first synchronous pulley 3061 and the first synchronous belt 3062. One of the first synchronous pulleys 3061 is fixedly connected to the bottom of the locking head 306, and the other first synchronous pulley 3061 is fixedly connected to one end of the output shaft of the drive motor. Both first synchronous pulleys 3061 are connected by the first synchronous belt 3062. The drive motor is fixedly connected to the top of the support base 301.

[0042] It is understandable that the branch cable and the main cable are connected by the C-type clamp 305. After the C-type clamp 305 is installed between the two clamping plates 302, the drive motor drives the positive and negative threaded post 304 to rotate, thereby driving the moving block 303 and the two clamping plates 302 to clamp and fix the C-type clamp 305. At the same time, the bolt head of the C-type clamp 305 is inserted into the locking head 306 to complete the initial positioning, which facilitates the subsequent rotation of the bolt head by the locking head 306, so that the C-type clamp 305 can clamp and fix the cable.

[0043] For details, please refer to Figure 7 The support base 301 has two guide frames 307 fixedly connected to both sides. Each guide frame 307 corresponds to one of the wire grooves of the C-type wire clamp 305. The guide frame 307 is Y-shaped. One of the clamps 302 has a first movable ring 308 fixedly connected to its surface, and the support base 301 has a first fixed ring 3081 fixedly connected to its upper surface. Both the first movable ring 308 and the first fixed ring 3081 are semi-circular, and the first movable ring 308 and the first fixed ring 3081 correspond to another wire groove of the C-type wire clamp 305.

[0044] Understandably, by setting two guide frames 307, it is convenient to fit the C-type clamp 305 onto the surface of the main cable. Since the branch cable needs to be placed in one of the slots of the C-type clamp 305 first, and the C-type clamp 305 clamps two cables at the same time, a first moving ring 308 and a first fixed ring 3081 are set. After the branch cable is placed in the slot, the clamp plate 302 drives the first moving ring 308 to engage with the first fixed ring 3081, so that the first moving ring 308 and the first fixed ring 3081 clamp and fix the branch cable, preventing the cable from coming out of the C-type clamp 305.

[0045] For details, please refer to Figure 8-9 A reinforcing component 5 is installed on one side of the second fixed platform 405 via the lifting component 6. The reinforcing component 5 is used to fix the main cable and the branch cable to prevent the branch cable from bending excessively. The reinforcing component 5 includes a connecting plate 501 and two second fixed rings 502 and two second moving rings 503 disposed on the upper surface of the connecting plate 501. The two second fixed rings 502 are fixedly connected to the upper surface of the connecting plate 501. The two second moving rings 503 are slidably connected to the inner wall of the slide groove 5032 via the slider 5031. The slide groove 5032 is opened on the upper surface of the connecting plate 501. The two second moving rings 503 are symmetrical to each other. Both second moving rings 503 move closer to the two second fixed rings 502 via the clamping assembly 504. The clamping assembly 504 includes a lifting block 5041 that is vertically slidably connected to the surface of the guide rod 5043. Multiple connecting arms 5042 are hinged to the surface of the lifting block 5041. The other ends of the multiple connecting arms 5042 are respectively hinged to the surface of the two second moving rings 503. A spring 5044 for pushing the lifting block 5041 to slide downward is sleeved on the surface of the guide rod 5043. A top rod 5045 is fixedly connected to the surface of the lifting block 5041. The top rod 5045 is vertically slidably connected to the surface of the connecting plate 501. The guide frame 307, which is close to the reinforcement component 5, is rotatably connected to the side of the support base 301. A torsion spring is sleeved on the rotating shaft surface of the guide frame 307 to keep the guide frame 307 vertical.

[0046] Understandably, since the C-type clamp 305 can only clamp the conductive core of the cable, the branch cable is prone to bending under gravity, which affects the cable's service life over time. Therefore, the reinforcement component 5 is set to clamp the insulation layer of the branch cable and the main cable, thereby improving the cable's service life. First, the reinforcement component 5 is installed on the surface of the lifting component 6. After the two cables are connected by the C-type clamp 305, the connection component 3 is moved away from the reinforcement component 5, and the C-type clamp 305 disengages from the connection component 3. At this time, the guide frame 307 near the reinforcement component 5, after contacting the C-type clamp 305, pushes the guide frame 307 to rotate to a horizontal position, avoiding the C-type clamp 305. The guide frame 307 and the first moving ring 308 and the first fixed ring 3081 then clamp the main cable. The cables and branch cables are combed and spaced, so that each cable is aligned with the two sets of second moving rings 503 and second fixed rings 502 respectively. The lifting assembly 6 pushes the top rod 5045 upward. Under the action of the spring 5044, the connecting plate 501 is first driven to rise, so that the second fixed ring 502 and the second moving ring 503 are fitted onto the surface of the two cables. After the cables are limited, the connecting plate 501 can no longer move up and down. At this time, the thrust is greater than the elastic force of the spring 5044, so the lifting block 5041 slides on the surface of the guide rod 5043. Under the action of the connecting arm 5042, the two second moving rings 503 are pushed away from each other and closer to the second fixed ring 502, thereby completing the clamping action of the cable insulation layer. The reinforcement assembly 5 is installed on the surface of the two cables to improve their service life.

[0047] For details, please refer to Figure 12-13 The surface of the slider 5031 is fixedly connected with a ratchet 5033, and the inner wall of the slide groove 5032 is fixedly connected with a limiting rack 5034 that cooperates with the ratchet 5033. The ratchet 5033 and the limiting rack 5034 are used to prevent the second moving ring 503 from sliding away from the second fixed ring 502.

[0048] It is understandable that by setting the ratchet 5033 and the limiting rack 5034, and then pushing the second moving ring 503 closer to the second fixed ring 502 by the clamping assembly 504, the ratchet 5033 and the limiting rack 5034 can limit the position of the slider 5031 and the second moving ring 503, preventing the clamping force from loosening.

[0049] For details, please refer to Figure 10-11 The lifting assembly 6 includes a mounting plate 601 fixedly connected to the upper end of the electric push rod, and the electric push rod is fixedly connected to the side of the second fixed platform 405.

[0050] It is understandable that by setting the mounting plate 601, the electric push rod drives the mounting plate 601 to rise, causing the mounting plate 601 to push the top rod 5045 to slide upward, thereby moving the reinforcing component 5 upward.

[0051] For details, please refer to Figure 10 , 11 14. The connecting plate 501 is inserted into the surface of the mounting plate 601 by two positioning rods 505. The positioning rods 505 are fixedly connected to the lower surface of the connecting plate 501. The mounting plate 601 has slots 602 at both ends that cooperate with the positioning rods 505. A wedge block 506 is fixedly connected to one side of the slider 5031, and an anti-detachment rod 603 that cooperates with the wedge block 506 is fixedly connected to the upper surface of the mounting plate 601. Both the anti-detachment rod 603 and the wedge block 506 are located between the two sliders 5031.

[0052] Understandably, during the installation of the reinforcement component 5, initial positioning is achieved by inserting two positioning rods 505 and slots 602 into the surface of the mounting plate 601; the cooperation between the inclined block 506 and the anti-detachment rod 603 prevents the reinforcement component 5 from detaching from the mounting plate 601; after the second moving ring 503 and the slider 5031 slide, the inclined block 506 and the anti-detachment rod 603 automatically separate, and the electric push rod drives the mounting plate 601 to descend, thereby separating the reinforcement component 5 from the lifting component 6.

[0053] In this invention, when on the ground, the C-type wire clamp 305 is placed between two clamping plates 302. Simultaneously, the threaded head is inserted into the locking head 306 to complete the installation of the C-type wire clamp 305. Then, the branch cable is placed into one of the slots of the C-type wire clamp 305. The drive motor then rotates the positive and negative threaded post 304, thereby causing the moving block 303 and the two clamping plates 302 to clamp and fix the C-type wire clamp 305. At the same time, the clamping plates 302 cause the first moving ring 308 to engage with the first fixed ring 3081. This allows the first moving ring 308 and the first fixed ring 3081 to clamp and fix the branch cable, preventing the cable from detaching from the C-type clamp 305; then, the reinforcement component 5 is installed, which is inserted into the surface of the mounting plate 601 through two positioning rods 505 and slots 602 to achieve initial positioning; the cooperation between the inclined block 506 and the anti-detachment rod 603 prevents the reinforcement component 5 from detaching from the mounting plate 601; the initial preparation work is completed; the mounting platform 101 and the robotic arm 1 are transported to the cable height by a bucket truck, and the workers... The operator remotely controls the robotic arm 1 on the ground to position the wire stripping device 2, placing it on the surface of the main cable for automatic stripping. During this process, the wiring assembly 3 rotates on the surface of the fixed shaft 402 via the insulating plate 403. Under the action of gravity, the wiring assembly 3 maintains a vertical downward angle, preventing it from rotating with the wire stripping device 2 and thus reducing the overall size. Then, the robotic arm 1 lowers the wire stripping device 2 to a certain height, away from the cable. The electric push rod drives the limit block 406 to insert into the limit groove 4061, limiting the insulating plate 403 of the wiring assembly 3. The drive motor drives the fixed shaft 402 to rotate via the synchronous belt and synchronous pulley, causing the two insulating plates 403 to rotate 180 degrees. This causes the wire stripping device 2 and the wiring assembly 3 to quickly alternate positions. At this point, the wiring assembly 3 is basically in the same position as the original wire stripping device 2. The operator can quickly compare the position of the wiring assembly 3 with the stripped position of the cable, thereby reducing the time for repositioning the wiring assembly 3 and improving work efficiency.Under the action of the two guide frames 307, the C-type wire clamp 305 is easily fitted onto the surface of the main cable. The locking head 306 drives the bolt head to rotate, causing the C-type wire clamp 305 to clamp and fix the two cables, completing the wiring work. Then, the clamp plate 302 releases its grip on the cable, and simultaneously, the first moving ring 308 and the first fixed ring 3081 release their grip on the branch cable, causing the wiring assembly 3 to move away from the reinforcing assembly 5. The C-type wire clamp 305 disengages from the wiring assembly 3. At this time, the guide frame 307 near the reinforcing assembly 5, after contacting the C-type wire clamp 305, pushes the guide frame 307 to rotate to a horizontal position, avoiding the C-type wire clamp 305. The guide frame 307, the first moving ring 308, and the first fixed ring 3081 comb through the main cable and branch cable, maintaining their spacing, so that the two cables are respectively aligned with the two sets of second moving rings 503 and second fixed rings 502, and lifted... The lowering component 6 pushes the top rod 5045 upward, causing the second fixed ring 502 and the second moving ring 503 to fit onto the surfaces of the two cables. Then, the lifting block 5041 slides on the surface of the guide rod 5043. Under the action of the connecting arm 5042, the two second moving rings 503 are pushed away from each other and closer to the second fixed ring 502, thereby completing the clamping action on the cable insulation layer. The ratchet 5033 and the limiting rack 5034 can limit the position of the slider 5031 and the second moving ring 503 to prevent the clamping force from loosening, thus installing the reinforcing component 5 on the surfaces of the two cables and improving their service life. At this time, the inclined block 506 and the anti-detachment rod 603 automatically separate, and the electric push rod drives the mounting plate 601 to descend, realizing the separation of the reinforcing component 5 and the lifting component 6, completing the wiring work. Moreover, the robotic arm 1 can change other tool heads on the storage rack on the side of the mounting platform 101 to perform other types of live-line work.

[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.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A live-line working platform for power distribution networks based on collaborative robots, characterized in that, The system includes a robotic arm (1) fixedly connected to the upper surface of the mounting platform (101). The working end of the robotic arm (1) is detachably equipped with a switching component (4). The switching component (4) is used to quickly change the position of the wire stripping device (2) and the wiring component (3). The switching component (4) includes a fixed base (401) connected to the robotic arm (1) and a fixed shaft (402) rotatably connected to one end of the fixed base (401). The surface of the fixed shaft (402) is provided with two insulating plates (403) for respectively installing the wire stripping device (2) and the wiring component (3).

2. The live-line working platform for power distribution networks based on collaborative robots according to claim 1, characterized in that, The wiring assembly (3) includes a support base (301) fixedly connected to the surface of the second fixed platform (405) and two clamping plates (302) for clamping the C-type wire clamp (305), both of which are slidably connected to the surface of the support base (301).

3. A live-line working platform for power distribution networks based on a collaborative robot according to claim 2, characterized in that, The C-type cable clamp (305) clamps the cable through the locking head (306), which is rotatably connected to the middle of the support base (301) and is driven to rotate by a drive motor.

4. A live-line working platform for power distribution networks based on a collaborative robot according to claim 2, characterized in that, The support base (301) has two guide frames (307) fixedly connected to both sides. The two guide frames (307) correspond to one of the wire grooves of the C-type wire clamp (305). The guide frame (307) is Y-shaped.

5. A live-line working platform for power distribution networks based on a collaborative robot according to claim 2, characterized in that, One of the clamps (302) has a first movable ring (308) fixedly connected to its surface, and the support base (301) has a first fixed ring (3081) fixedly connected to its upper surface. Both the first movable ring (308) and the first fixed ring (3081) are semi-circular. The first movable ring (308) and the first fixed ring (3081) correspond to another wire groove of the C-type wire clamp (305).

6. A live-line working platform for power distribution networks based on a collaborative robot according to claim 1, characterized in that, The wiring assembly (3) is equipped with a reinforcing assembly (5) on one side via a lifting assembly (6). The reinforcing assembly (5) is used to fix the main cable and the branch cable. The reinforcing assembly (5) includes a connecting plate (501) and two second fixed rings (502) and two second moving rings (503) disposed on the upper surface of the connecting plate (501). The two second moving rings (503) are slidably connected to the inner wall of the slide groove (5032) via a slider (5031).

7. A live-line working platform for power distribution networks based on a collaborative robot according to claim 6, characterized in that, Both of the second moving rings (503) move closer to the two second fixed rings (502) via the clamping assembly (504). The clamping assembly (504) includes a lifting block (5041) that is vertically slidably connected to the surface of the guide rod (5043). The lifting block (5041) is hinged to the surface of the two second moving rings (503) via multiple connecting arms (5042). The surface of the guide rod (5043) is fitted with a spring (5044) for pushing the lifting block (5041) to slide downward. The lifting block (5041) is vertically slidably connected to the surface of the connecting plate (501) via a top rod (5045).

8. A live-line working platform for power distribution networks based on a collaborative robot according to claim 6, characterized in that, The slider (5031) is fixedly connected with a ratchet (5033), and the inner wall of the groove (5032) is fixedly connected with a limiting rack (5034) that cooperates with the ratchet (5033). The ratchet (5033) and the limiting rack (5034) are used to prevent the second moving ring (503) from sliding away from the second fixed ring (502).

9. A live-line working platform for power distribution networks based on a collaborative robot according to claim 6, characterized in that, The lifting assembly (6) includes a mounting plate (601) fixedly connected to the upper end of the electric push rod. The connecting plate (501) is inserted into the surface of the mounting plate (601) by two positioning rods (505). The mounting plate (601) has slots (602) at both ends of its surface that cooperate with the positioning rods (505).

10. A live-line working platform for power distribution networks based on a collaborative robot according to claim 9, characterized in that, A wedge block (506) is fixedly connected to one side of the slider (5031), and an anti-detachment rod (603) that cooperates with the wedge block (506) is fixedly connected to the upper surface of the mounting plate (601). The anti-detachment rod (603) and the wedge block (506) are both located between the two sliders (5031).

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