Wire sheath girdling and stripping device for distribution network operation robot

Abstract

The utility model provides a wire skin girdling and stripping device for a distribution network operation robot. The wire skin girdling and stripping device comprises a rotary driving module, a clamping jaw module, a camera vision fixing module and a laser wire stripping module, the camera vision fixing module is used for identifying the position of the lead; the clamping jaw module is used for clamping the lead according to the position of the lead; the laser wire stripping module is used for cutting the lead wire; and the rotation driving module is used for controlling the laser wire stripping module to rotate, so that the laser wire stripping module annularly moves around the lead. According to the utility model, the technical problems of low cutting precision and tedious process when the existing distribution network operation robot is used for cutting the lead are solved.

Description

Technical Field

[0001] The utility model relates to the field of live working robots, and particularly relates to a wire skin circumcision and stripping device for a distribution network operation robot. Background Art

[0002] At present, traditional distribution network operations are mainly carried out manually. Most of the time, workers wear insulating clothing and stand in the high-altitude insulating bucket to carry out wire stripping and wiring operations. In some areas, live working on the distribution network has also been carried out using insulating operating rods. However, the distribution network lines are usually very compact, the distance between phases is small, and it is easy to cause short circuits and trigger accidents such as personal injuries and deaths when operating personnel carry out live working. At the same time, this operation method mostly has a large labor intensity, low work efficiency and high operation risk. In some areas, the distribution of distribution network lines and geographical conditions are harsh, and it is difficult to carry out relevant live working. Therefore, it is necessary to cut off the power supply of the lines for maintenance and repair, which seriously affects the continuous and stable operation of the distribution network. Therefore, in order to ensure the safety of live working personnel on the distribution network, improve the efficiency of live working on the distribution network, and make the distribution network operate continuously and stably, it is becoming more and more important to use robots to replace humans for distribution network operations. In distribution network operations, the first main process in traditional manual operations is to circumferentially cut and strip the main wire skin, so that there is an exposed part of the metal wire about 10 cm long on the wire. In the existing robot operations, due to the differences in the wire diameters and wire skin materials used on different lines, it is difficult to standardize the circumferential cutting and stripping of the wire skin, and there are problems such as not being able to cut through, jamming the tool, and damaging the wire core.

[0003] For example, in the process of cutting and stripping the lead wire of the existing distribution network operation robot, a metal tool is used for contact cutting, and the tool is embedded in the rubber wire skin for cutting. On the one hand, if the tool is embedded too deeply, it will cause the cutting tool to touch the metal wire core part of the wire, damaging the wire and affecting the wire life. On the other hand, if the tool is embedded too shallowly, the wire skin will not be completely cut, and the requirement for circumferential cutting and stripping of the wire skin cannot be achieved, affecting the next step of continuous operation. This will have a greater impact on on-site construction and line operation and maintenance.

[0004] The existing distribution network operation robots use fixed metal tools in the process of cutting and stripping the lead wire. The metal tool is a fixed-size tool, which has high requirements for the wire diameter. On the one hand, too thick a wire will cause the wire to not enter the wire stripping tooling, resulting in inability to operate. On the other hand, too thin a wire will cause the wire to shake in the tooling, and the cutting operation cannot be completed. This will result in very poor operation effects. During the operation process, it is often necessary to pre-judge the wire diameter and replace the tooling to make it meet the current wire diameter, which is a relatively cumbersome and complex process with poor adaptability. Summary of the Utility Model

[0005] The purpose of the present utility model is to provide a wire skin circumcision and stripping device for a distribution network operation robot, so as to solve the technical problems of low cutting accuracy and cumbersome process when the existing distribution network operation robot cuts the lead wire.

[0006] A wire skin circumcision and stripping device for a distribution network operation robot provided by the present utility model specifically includes:

[0007] A rotation drive module, a jaw module, a camera vision fixing module, and a laser wire stripping module;

[0008] The camera vision fixing module is used to identify the position of the lead wire;

[0009] The jaw module clamps the lead wire according to the position of the lead wire;

[0010] The laser wire stripping module is used to cut the lead wire;

[0011] The rotation drive module is used to control the rotation of the laser wire stripping module to realize the circular motion of the laser wire stripping module around the lead wire.

[0012] The beneficial effects of the present utility model are:

[0013] 1. The tooling adopts a modular design, is small in size, light in weight, and low in cost, and can be used for installation at the end of the robotic arm to achieve automated operation.

[0014] 2. Abandon the previous method of using a mechanical cutter to complete wire stripping, and use 3 laser generators to achieve non-contact wire stripping of the target main wire, with high efficiency and no damage to the wire.

[0015] 3. Good adaptability. The present utility model can complete the efficient stripping work of main wires of various sizes.

[0016] 4. The laser can be used for a long period. The present utility model adopts a laser protective cover to solve the problem of reduced wire stripping efficiency caused by lens contamination in previous laser ablation.

[0017] 5. The tooling has good stability. The square gear is combined with the square rotating shaft to ensure that during multiple operations, the problem of relative sliding between the gear and the shaft caused by excessive torque, which leads to reduced wire stripping efficiency, will not occur.

[0018] 6. Using the stripping method of rectangular wire skin segments, the stripped wire skin is not easy to entangle and collide with the tooling, improving the stability of the system.

[0019] 7. Using a limiting device reduces the shaking degree of the wire in the tooling and improves the operation efficiency of the wire stripping operation. Description of the Drawings

[0020] The accompanying drawings, which form a part of the specification of this utility model, depict embodiments of this utility model and, together with the specification, are used to explain the principles of this utility model.

[0021] Figure 1 It is a schematic diagram of the overall structure of the device of this utility model;

[0022] Figure 2 It is a schematic diagram of the operation of the device of this utility model;

[0023] Figure 3 It is a schematic diagram of the laser wire stripping module of this utility model;

[0024] Figure 4 It is a schematic diagram of the rotary drive module;

[0025] Figure 5 It is a schematic diagram of the camera vision positioning module;

[0026] Figure 6 It is a schematic diagram of the gripper module;

[0027] Figure 1-6 In which:

[0028] 1. Laser wire stripping module; 2. Rotary drive module; 3. Camera vision positioning module; 4. Gripper module;

[0029] 1-1. Circular laser angle fixing plate with U-shaped groove; 1-2. Laser focal length adjustment base (3 pieces); 1-3. Laser generator (3 pieces); 1-4. Laser generator protective cover (3 pieces); 1-5. Integrated air blowing nozzle (3 pieces); 1-6. Wire groove (2 pieces); 1-7. Stripping blade mounting plate (1 piece); 1-8. Cylinder (3 pieces); 1-9. Blade mounting base (3 pieces); 1-10. Stripping blade (3 pieces);

[0030] 2-1. Rotary drive module housing (1 piece); 2-2. Rotary drive module cover plate (1 piece); 2-3. Limit pulley (13 pieces); 2-4. U-shaped gear shaft - module 1, number of teeth 83 (1 piece); 2-5. Square gear - module 1, number of teeth 20 (1 piece); 2-6. Motor gear - module 1, number of teeth 20 (1 piece); 2-7. 42aim motor (1 piece); 2-8. Motor fixing bracket (1 piece); 2-9. Motor fixing plate (1 piece); 2-10. End connecting plate of the robotic arm (1 piece);

[0031] 3-1. Camera fixing plate;

[0032] 4-1. Finger cylinder (1 piece); 4-2. Centering gripper (1 pair). Detailed implementation

[0033] The various exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present invention.

[0034] At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in accordance with actual proportional relationships.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present invention or its application or use.

[0036] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0037] Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and devices should be regarded as part of the authorization specification.

[0038] In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0039] It should be noted that: similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0040] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the overall wire skin circumferential cutting and peeling device of the present invention; the present invention provides a wire skin circumferential cutting and peeling device for a distribution network operation robot, including:

[0041] A rotation drive module 2, a jaw module 4, a camera vision fixing module 3, and a laser wire stripping module 1;

[0042] The camera vision fixing module 3 is used to identify the position of the lead wire;

[0043] The jaw module 4 clamps the lead wire according to the position of the lead wire;

[0044] The laser wire stripping module 1 is used to cut the lead wire;

[0045] The rotation drive module 2 is used to control the rotation of the laser wire stripping module to realize the circular motion of the laser wire stripping module around the lead wire.

[0046] Please refer to Figure 2 ,Figure 2 It is a schematic diagram of the operation of the wire sheath circumcision and peeling device.

[0047] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the laser wire stripping module of the present utility model; it should be noted that the laser wire stripping module 1 includes: a circular laser angle fixing disk 1-1 with a U-shaped groove, a laser focal length adjusting base 1-2, a laser generator 1-3, a laser generator protective cover 1-4, a cylinder 1-8, and a stripping blade 1-10.

[0048] Three long strip-shaped through grooves are arranged on the circular laser angle fixing disk with a U-shaped groove at intervals of 120°, and the three laser focal length adjusting bases are fixed by using screws and nuts through the barrel grooves; the laser focal length adjusting base has a directional protrusion, and the pointing direction is the center direction of the circular laser angle fixing disk with a U-shaped groove.

[0049] It is easy to understand that this laser wire stripping tool uses a mixed drive mode of electric and pneumatic. The laser generator 1-3 is driven by a 24V power supply to generate three laser beams with a light power of 20W to irradiate the wire for cutting. During operation, the main wire is embedded in the U-shaped groove of the circular laser angle fixing disk 1-1 with a U-shaped groove, and at the same time, the central axis of the wire coincides with the central axis of the circular laser angle fixing disk 1-1 with a U-shaped groove. Three long strip-shaped through grooves are respectively arranged on the circular laser angle fixing disk 1-1 with a U-shaped groove at intervals of 120 degrees. The laser focal length adjusting base 1-2 is fixed by using screws and nuts through the through grooves. There is a directional groove on the circular laser angle fixing disk 1-1 with a U-shaped groove, and the laser focal length adjusting base 1-2 has a directional protrusion. The two can be assembled in cooperation to make the laser focal length adjusting base 1-2 point to the center direction of the circular laser angle fixing disk 1-1 with a U-shaped groove.

[0050] The long strip-shaped through groove can make the laser focal length adjusting base 1-2 move back and forth in the diameter direction of the circular laser angle fixing disk 1-1 with a U-shaped groove along the directional protrusion. There is also a mounting scale on the circular laser angle fixing disk 1-1 with a U-shaped groove, which can determine the distance between the laser focal length adjusting base 1-2 and the center of the circular laser angle fixing disk 1-1 with a U-shaped groove.

[0051] Three laser generators 3 are respectively installed on the three laser focal length adjusting bases 1-2 by screws. The laser output direction points to the center of the circular laser angle fixing disk 1-1 with a U-shaped groove. The output end of the laser generator 3 uses a convex lens to focus the parallel output laser to a point. Through the design of the long strip-shaped through groove and the directional groove of the circular laser angle fixing disk 1-1 with a U-shaped groove, the position of the laser generator relative to the center can be conveniently adjusted, so that the laser focus point is near the wire sheath position, accelerating the cutting speed.

[0052] A laser protective cover 1-4 is designed on the laser emission path. Inside the protective cover is a transparent glass sheet, which is fixed on the laser focal length adjustment base 1-2 with screws to prevent the flying objects generated during cutting from adhering to the light outlet of the laser generator 1-3, facilitating cleaning. During cutting, the laser shoots at the wire to be cut from three angles with an interval of 120 degrees, moves axially along the wire driven by the robotic arm, and moves radially along the wire driven by the rotation drive module. A circular wire skin can be cut out from a continuous wire and divided into three mutually continuous wire skin segments. The three segments can be peeled off from the wire surface respectively to complete the circumferential cutting and peeling of the wire skin. Since laser cutting will locally melt the surface wire skin, there will be a situation of adhesion between the wire skin segments and between the wire skin segments and the wire after cutting is completed.

[0053] The laser wire stripping module 1 further includes: an integrated air blowing nozzle 1-5, a wire groove 1-6; a stripping blade mounting plate 1-7 and a blade mounting base 1-9;

[0054] The integrated air blowing nozzle 1-5 is integrated in the laser protective cover 1-4 and blows the ablation melt away when the laser works, improving the wire stripping efficiency.

[0055] The wire groove 1-6 is fixed on the circular laser angle fixing disc 1-1 with a U-shaped groove for burying the power cord of the laser generator 1-3. The stripping blade mounting plate 1-7 is fixed on three laser generators. The blade mounting base 1-9 is installed on the cylinder 1-8 and is used to fix the stripping blade 1-10.

[0056] In the present utility model, applying a small force to the adhered wire skin segments with the stripping blade 1-10 fixed at the front end of the cylinder 1-8 can make the wire skin segments fall off. The direction of the stripping blade 1-10 is the same as the light emission direction of the laser generator 1-3. After laser cutting is completed, the cylinder 1-8 can be directly used to drive the stripping blade 1-10 to insert into the cutting gap and rotate left and right driven by the rotation drive module, and the wire skin segments can be stripped.

[0057] Please refer to Figure 4 , Figure 4 for the schematic diagram of the rotation drive module;

[0058] The rotation drive module 2 includes: a rotation drive module housing 2-1, a rotation drive module cover plate 2-2, a limit pulley 2-3, a U-shaped gear shaft 2-4, a square gear 2-5, a motor gear 2-6 and a motor 2-7;

[0059] When using the present utility model for distribution network wire stripping operation, the laser needs to be used to perform straight cutting and circumferential cutting in sequence to ensure that the target area is cut into three insulating outer skins of the same size. The straight cutting is realized by the robotic arm driving the tooling, and the circular cutting is realized by the rotation drive module 2 of the tooling itself.

[0060] As an embodiment, the housing 2-1 of the rotary drive module and the cover plate 2-2 of the rotary drive module function to fix various components. All components of the rotary drive module are installed between the housing 2-1 of the rotary drive module and the cover plate 2-2 of the rotary drive module, and a limiting pulley 2-3 is used to reduce the resistance when the U-shaped gear shaft rotates on the housing 2-1 and the cover plate 2-2.

[0061] At the same time, to prevent relative sliding between the gear and the shaft due to excessive torque during rotation, square gears 2-5 and 2-6 are used to replace the round-hole gears, and they are fixed on the rotating shaft with screws.

[0062] Among them, the square gear 2-5 meshes with the motor gear 2-6, and the square gear 2-5 meshes with the U-shaped gear shaft 2-4.

[0063] During the laser ring cutting operation, the 42aim motor 2-7 works to drive the motor gear 2-6 to rotate, thereby driving the square gear 2-5 to rotate and driving the U-shaped gear shaft 2-4 to rotate. Since the U-shaped gear shaft 2-4 is connected to the U-shaped groove circular laser angle fixing plate 1-1 in the laser wire stripping module by screws, the laser wire stripping module 1 rotates accordingly. Thus, the rotary cutting operation of the three laser generators is realized through the motor.

[0064] It should be noted that the rotary drive module 2 further includes a motor fixing bracket 2-8, a motor fixing plate 2-9, and a connecting plate 2-10 at the end of the robotic arm. The motor fixing bracket 2-8 is installed on the motor fixing plate 2-9 with screws; the motor fixing bracket is used to fix the motor 2-7; the connecting plate 2-10 at the end of the robotic arm is used to connect with the end of the robotic arm.

[0065] Please refer to Figure 5 , Figure 5 which is a schematic diagram of the camera vision positioning module;

[0066] The camera vision fixing module 3 includes a camera fixing plate 3-1; a binocular depth camera is installed on the camera fixing plate;

[0067] Among them, the binocular depth camera is fixed by the camera fixing plate 3-1. To enable the robotic arm of this tooling to obtain the specific position of the target main line, the present utility model collects color and depth images through this binocular depth camera, and at the same time combines recognition and positioning algorithms to finally achieve rapid and accurate recognition and positioning of the target main line, laying a foundation for subsequent wire stripping operations. It should be noted that this recognition and positioning can adopt a pre-trained object detection model, such as the YOLO model, for main line recognition and detection.

[0068] The detected image coordinates can be converted into the end - effector coordinate system of the robotic arm through hand - eye calibration, enabling the robotic arm to hold this device close to the main wire and using the jaw module to clamp the main wire.

[0069] Of course, as another embodiment, the camera vision fixing module can also be removed, and the main wire can be aligned and fixed manually or remotely.

[0070] Finally, please refer to Figure 6 , Figure 6 which is a schematic diagram of the jaw module;

[0071] The jaw module 4 includes: a finger cylinder 4 - 1 and a centering jaw 4 - 2.

[0072] During the wire stripping operation, different positions of the main wire on the tooling will result in different sizes of the three cut insulation layers, which will increase the difficulty and time of laser wire stripping to a certain extent. Therefore, a jaw module is used to keep the wire in the center of the U - shaped groove of the tooling during the operation.

[0073] The centering jaw 4 - 2 is installed at the end of the finger cylinder 4 - 1 and can be clamped and relaxed under the drive of the finger cylinder 4 - 1. After completing the recognition and positioning of the main wire and controlling the robotic arm to place the main wire in the U - shaped groove, the solenoid valve is used to control the movement of the finger cylinder, thereby driving the jaw to clamp and keeping the main wire in the center of the U - shaped groove to ensure the cutting efficiency during straight cutting and circular cutting.

[0074] The beneficial effects of the present utility model are as follows:

[0075] 1. The tooling adopts a modular design, with a small volume, light weight, and low cost, and can be used for installation at the end of the robotic arm to achieve automated operations.

[0076] 2. Abandon the previous method of using a mechanical cutter to complete wire stripping, and use 3 laser generators to achieve non - contact wire stripping of the target main wire, with high efficiency and no damage to the wire.

[0077] 3. Good adaptability. This utility model can efficiently strip main wires of various sizes.

[0078] 4. The laser can be used for a long period. This utility model uses a laser protective cover to solve the problem of reduced wire stripping efficiency caused by lens contamination in previous laser ablation.

[0079] 5. The tooling has good stability. By using a square gear combined with a square rotating shaft, it is ensured that during multiple operations, there will be no problem of relative sliding between the gear and the shaft due to excessive torque, resulting in reduced wire stripping efficiency.

[0080] 6. The stripping method uses rectangular wire skin segments, which makes it less likely for the tool tooling to get entangled or collided, thus improving the stability of the system.

[0081] 7. The use of limit devices reduces the shaking of the wire in the tooling and improves the efficiency of the wire stripping operation.

[0082] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. A wire skin circumcision and stripping device for a network distribution operation robot, characterized in that: include: Rotary drive module, gripper module, camera vision fixing module and laser wire stripping module; The camera vision fixing module is used to identify the lead position; The clamping claw module clamps the lead wire according to the position of the lead wire; The laser wire stripping module is used to cut the leads; The rotation drive module is used to control the rotation of the laser stripping module to achieve circular movement of the laser stripping module around the lead wire.

2. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 1, characterized in that: The laser wire stripping module comprises: a circular laser angle fixing plate with a U-shaped groove, a laser focus adjustment base, a laser generator, a laser protective cover, a cylinder, and a stripping blade.

3. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 2, characterized in that: The circular laser angle fixing plate with a U-shaped groove is provided with three long through grooves at intervals of 120°, and the three laser focus adjustment bases are fixed by screws and nuts through barrel grooves; the laser focus adjustment base has a directional protrusion, and the pointing direction is the center direction of the circular laser angle fixing plate with a U-shaped groove.

4. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 2, characterized in that: The laser generator is installed on the laser focal length adjustment base by screws; a convex lens is used at the output end of the laser emitter to focus the parallel emitted laser to one point.

5. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 2, characterized in that: A laser protection cover is designed on the laser emission path, and the laser protection cover is also fixed on the laser focus adjustment base by screws; the cylinder is fixed on the laser focus adjustment base by screws, and a stripping blade is fixed on the front end of the cylinder. The direction of the stripping blade is the same as the light emission direction of the laser, and the cylinder is used to drive the metal blade to be inserted into the cutting gap.

6. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 2, characterized in that: The rotary drive module comprises: a rotary drive module housing, a rotary drive module cover plate, a limit pulley, a U-shaped gear shaft, a square gear, a motor gear and a motor; The limiting pulley, U-shaped gear shaft, square gear, motor gear and motor are all installed between the rotation drive module housing and the rotation drive module cover; the limiting pulley is used to reduce the resistance of the U-shaped gear shaft when it rotates on the rotation drive module housing and the rotation drive module cover.

7. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 6, characterized in that: The square gear meshes with the motor gear, and the square gear meshes with the U-shaped gear shaft; the motor drives the motor gear to rotate, thereby driving the square gear and the U-shaped gear shaft to rotate; the U-shaped gear is connected to the circular laser angle fixing plate with a U-shaped groove through screws.

8. The wire skin circumcision and stripping device for a network distribution operation robot according to claim 1, characterized in that: The camera vision fixing module includes a camera fixing plate; a binocular depth camera is installed on the camera fixing plate.

9. A wire skin circumcision and stripping device for a network distribution operation robot as claimed in claim 1, characterized in that: The gripper module comprises a finger cylinder and a center gripper.

10. A wire sheath circumcision and stripping device for a network distribution operation robot as claimed in claim 9, characterized in that: The center clamp is installed at the end of the finger cylinder and is clamped and released under the drive of the finger cylinder.

Images