Horizontal section high-voltage cable pretreatment mechanical device

Abstract

The utility model belongs to the technical field of cable processing devices in the power industry, and particularly relates to a horizontal section high-voltage cable preprocessing mechanical device. The device comprises a weldment base, a cable fixing clamp used for clamping one end of a horizontal cable and a cable end support used for fixing the other end of the horizontal cable are fixed on the weldment base, a translation system is installed on the weldment base, and the output end of the translation system is connected with a rotary supporting base. A rotation system is installed on the rotation supporting base, the output end of the rotation system is connected with a robot base, a six-axis robot is installed on the robot base, the output end of the six-axis robot is connected with a quick change device, and the quick change device is connected with a force control belt sander used for grinding and polishing a horizontal cable. According to the horizontal section high-voltage cable pretreatment mechanical device provided by the utility model, the surface of a cable joint is ground and polished mechanically instead of manually, a uniform and stable joint terminal is formed, and stable operation of a power transmission line is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of cable processing devices in the electric power industry, and in particular relates to a mechanical device for preprocessing horizontal high-voltage cables. Background Art

[0002] In power systems, generator sets typically rely on ultra-high voltage cross-linked polyethylene (XLPE) cables for power transmission. The safety and reliability of these cables are crucial to the stable operation of power stations. Due to long-term use and the unique effects of high-voltage environments, high-voltage cables require regular replacement. High-voltage cables are arranged vertically or horizontally. Due to their length, their position cannot be changed on-site. During replacement, new cable connectors must be fabricated on-site. Limited space and transportation access preclude the use of large-scale equipment, necessitating the use of compact, modular processing equipment.

[0003] Currently, pretreatment of high-voltage cable joints relies primarily on manual labor, lacking standardized appearance standards. The quality of the joint surface polishing depends primarily on the worker's individual experience and skills, leading to inconsistent quality standards. Substandard polishing can impact the safe operation of transmission lines.

[0004] At the same time, since the cable connector in the horizontal section is too long and has natural curvature, the cable interface is not a standard cylindrical shape and will be deformed due to gravity. Traditional turning processing cannot be used and the corresponding processing method needs to be matched according to the actual cable shape.

[0005] At present, cable pretreatment mainly adopts two methods: manual production and large-scale equipment processing, each of which has the following disadvantages:

[0006] First, the quality of handmade cable joints is unstable, and it is difficult to form a unified standard. There are certain safety hazards, which may affect the normal operation of the transmission line.

[0007] Second, manual labor is labor-intensive and inefficient, and in some scenarios, there are risks associated with working at heights.

[0008] Third, large machining equipment cannot be transported to the site for maintenance due to limited space conditions.

[0009] Fourth, traditional turning processing equipment cannot cope with the winding deformation of the horizontal section cable and cannot perform adaptive processing. Utility Model Content

[0010] In order to solve the above-mentioned problems existing in the prior art, the purpose of this utility model is to provide a horizontal section high-voltage cable pretreatment mechanical device, which replaces manual grinding and polishing operations on the surface of cable joints by machinery to form a unified and stable joint terminal, thereby ensuring the stable operation of the transmission line.

[0011] The technical solution adopted by this utility model is:

[0012] A mechanical device for preprocessing horizontal high-voltage cables includes a weld base, a cable fixing clamp for clamping one end of the horizontal cable and a cable end bracket for fixing the other end of the horizontal cable are fixed on the weld base, a translation system is installed on the weld base, the output end of the translation system is connected to a rotary support base, the rotary support base is installed with a rotary system, the output end of the rotary system is connected to a robot base, a six-axis robot is installed on the robot base, the output end of the six-axis robot is connected to a quick-changing device, and the quick-changing device is connected to a force-controlled sanding belt machine for grinding and polishing the horizontal cable.

[0013] The utility model adopts a six-axis robot in combination with a force-controlled sanding belt machine to perform on-site processing operations for the horizontal section high-voltage cable structure. The translation system drives the six-axis robot to perform translational movement relative to the horizontal section cable, thereby increasing the robot's operating range and meeting the requirements of cable joint production. The slewing system drives the six-axis robot to rotate relative to the horizontal cable, ensuring that the robot can grind and polish the entire circumference when the horizontal cable is fixed. The end of the robot is connected with a quick-change device, and the end tool can be quickly replaced with one click. A force-controlled sanding belt machine is used for grinding and polishing operations. The force control unit is used to ensure that the contact force between the sanding belt machine and the cable surface is constant, thereby controlling the grinding and polishing effect. The utility model generates a robot processing trajectory by obtaining a horizontal section cable model through visual measurement, ensuring that the robot's contour processing is not affected by the cable's winding deformation during processing.

[0014] This new tool replaces manual grinding and polishing of cable connectors with machinery, improving cable surface quality. The entire assembly can be modularized and disassembled for on-site assembly and processing. This tool uses visual measurement to generate a horizontal cable model and generate a robot machining trajectory, ensuring that the robot's machining is unaffected by cable deformation.

[0015] As a preferred embodiment of the present invention, the translation system includes a translation servo motor, the output end of which is connected to a lead screw linear module. The translation servo motor and the lead screw linear module are mounted on a weldment base, and the slewing support base is mounted on the output end of the lead screw linear module. The translation servo motor drives the lead screw in the lead screw linear module to rotate, completing the translation movement, driving the robot processing assembly to translate relative to the horizontal cable, thereby increasing the robot's operating range.

[0016] As a preferred solution of the present invention, a linear guide rail is installed on the weldment base, and the bottom of the rotary support base is sleeved on the linear guide rail. The linear guide rail mainly assists in bearing weight and ensures the stability of the robot's translational movement.

[0017] As a preferred embodiment of the present invention, the slewing system includes a slewing servo motor, the output end of which is connected to a slewing gear. A slewing bearing is rotatably connected to the slewing support base. The slewing bearing is provided with an outer ring gear. The slewing gear meshes with the outer ring gear of the slewing bearing. The robot base is mounted on the slewing bearing. The slewing servo motor provides power to drive the slewing gear, which in turn drives the outer ring gear of the slewing bearing, thereby driving the robot processing assembly to rotate relative to the horizontal cable.

[0018] As a preferred embodiment of the present invention, the slewing support base is provided with a slideway, within which a motor mounting plate is mounted. The slewing servo motor is mounted on the motor mounting plate. A tightening block for tightening the motor mounting plate is mounted within the slideway of the slewing support base. Two sets of tightening blocks are provided on the slewing support base. These tightening blocks, via tightening screws, can adjust the relative height of the motor mounting plate, thereby adjusting the tooth clearance between the slewing support bearing and the slewing gear, ensuring stable operation of the equipment.

[0019] As a preferred solution of the present invention, a dust cover is provided above the slewing bearing to prevent powder generated during the grinding and polishing process from entering the slewing system, thereby ensuring the normal operation of the slewing system.

[0020] As a preferred embodiment of the present invention, the quick-change device includes a daughter plate and a mother plate, which are connected and fixed by air pressure. The mother plate is connected to the end of the six-axis robot, and the daughter plate is connected to the force-controlled belt sander. The quick-change device uses air pressure to control the connection and fixation of the mother plate and the daughter plate, thereby achieving rapid tool replacement.

[0021] As a preferred solution of the present invention, a force control unit is provided at the end of the force-controlled sanding belt machine, which can ensure the contact force between the force-controlled sanding belt machine and the horizontal cable surface, thereby controlling the grinding and polishing effect.

[0022] As a preferred solution of the present invention, a Forma wheel is installed at the bottom of the weldment base.

[0023] As a preferred solution of the present invention, the Forma wheel includes wheels and foot cups, which have both moving and fixing functions and are mainly used for transporting and storing the entire equipment. After the equipment arrives at the site, this part is removed and the welding base is directly fixed above the cable steel structure bracket.

[0024] The beneficial effects of the utility model are:

[0025] The utility model adopts a six-axis robot in combination with a force-controlled sanding belt machine to perform on-site processing operations for the horizontal section high-voltage cable structure. The translation system drives the six-axis robot to perform translational movement relative to the horizontal section cable, thereby increasing the robot's operating range and meeting the requirements of cable joint production. The slewing system drives the six-axis robot to rotate relative to the horizontal cable, ensuring that the robot can grind and polish the entire circumference when the horizontal cable is fixed. The end of the robot is connected with a quick-change device, and the end tool can be quickly replaced with one click. A force-controlled sanding belt machine is used for grinding and polishing operations. The force control unit is used to ensure that the contact force between the sanding belt machine and the cable surface is constant, thereby controlling the grinding and polishing effect. The utility model generates a robot processing trajectory by obtaining a horizontal section cable model through visual measurement, ensuring that the robot's contour processing is not affected by the cable's winding deformation during processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the main view of the utility model;

[0027] Figure 2 It is a top view of the utility model;

[0028] Figure 3 It is a left view of the utility model;

[0029] Figure 4 It is a right view of the present utility model.

[0030] In the figure: 1-weldment base; 2-horizontal cable; 3-translation system; 4-slewing support base; 5-slewing system; 6-six-axis robot; 7-quick change device; 8-force-controlled sanding machine; 9-Forma wheel; 11-cable fixing clamp; 12-cable end bracket; 31-translation servo motor; 32-screw linear module; 33-linear guide; 41-slide; 51-slewing servo motor; 52-slewing gear; 53-slewing support bearing; 54-outer gear ring; 55-motor mounting plate; 56-tightening block; 57-dust cover; 61-robot base; 91-wheel; 92-foot cup. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without inventive effort are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0033] like Figures 1 to 4 As shown, the horizontal section high-voltage cable preprocessing mechanical device of this embodiment includes a weld base 1, on which is fixed a cable fixing clamp 11 for clamping one end of the horizontal cable 2 and a cable end bracket 12 for fixing the other end of the horizontal cable 2. A translation system 3 is installed on the weld base 1, and the output end of the translation system 3 is connected to a rotary support base 4, on which a rotary system 5 is installed, and the output end of the rotary system 5 is connected to a robot base 61, on which a six-axis robot 6 is installed, and the output end of the six-axis robot 6 is connected to a quick-changing device 7, and the quick-changing device 7 is connected to a force-controlled sanding belt machine 8 for grinding and polishing the horizontal cable 2.

[0034] This utility model utilizes a six-axis robot 6 in conjunction with a force-controlled belt sander 8 for on-site machining of horizontal high-voltage cables. A translation system 3 drives the six-axis robot 6 in translation relative to the horizontal cable, extending the robot's operating range and meeting the requirements for cable joint fabrication. A rotation system 5 drives the six-axis robot 6 in rotation relative to the horizontal cable 2, ensuring that the robot can polish the entire circumference while the horizontal cable 2 remains stationary.

[0035] The six-axis robot 6 is the main moving part, with six degrees of freedom, which can cover the vertical cable processing surface area. The quick change device 7 is installed at the end of the six-axis robot 6, using air as the power source to hold the end tool tightly, allowing the robot's tools to be quickly changed.

[0036] A force-controlled sanding belt machine 8 is used for grinding and polishing. The force control unit ensures a constant contact force between the sanding belt machine and the cable surface, thereby controlling the grinding and polishing effect. The utility model generates a robot machining trajectory by visually measuring the horizontal cable model, ensuring that the robot's machining is contour-conforming and not affected by cable winding deformation.

[0037] This new tool replaces manual grinding and polishing of cable connectors with machinery, improving cable surface quality. The entire assembly can be modularized and disassembled for on-site assembly and processing. This tool uses visual measurement to generate a horizontal cable model and generate a robot machining trajectory, ensuring that the robot's machining is unaffected by cable deformation.

[0038] Specifically, the translation system 3 includes a translation servo motor 31, the output end of which is connected to a lead screw linear module 32. The translation servo motor 31 and the lead screw linear module 32 are mounted on the weldment base 1, and the rotary support base 4 is mounted on the output end of the lead screw linear module 32. The translation servo motor 31 drives the lead screw in the lead screw linear module 32 to rotate, completing the translation movement, driving the robot processing assembly to translate relative to the horizontal cable 2, thereby increasing the robot's operating range.

[0039] In order to improve the stability during translation, a linear guide rail 33 is installed on the weldment base 1, and the bottom of the rotary support base 4 is sleeved on the linear guide rail 33. The linear guide rail 33 is mainly used for auxiliary load bearing to ensure the stability of the robot's translation movement.

[0040] Specifically, the slewing system 5 includes a slewing servo motor 51, the output end of which is connected to a slewing gear 52. A slewing bearing 53 is rotatably connected to the slewing support base 4. The slewing bearing 53 is provided with an outer ring gear 54. The slewing gear 52 meshes with the outer ring gear 54 of the slewing bearing. The robot base 61 is mounted on the slewing bearing 53. The slewing servo motor 51 provides power to drive the slewing gear 52 to rotate. The slewing gear 52 drives the outer ring gear 54 of the slewing bearing 53 to rotate, thereby driving the robot processing assembly to rotate relative to the horizontal cable 2.

[0041] Furthermore, the slewing support base 4 is provided with a slide 41, within which a motor mounting plate 55 is sleeved. The slewing servo motor 51 is mounted on the motor mounting plate 55. A tightening block 56 is mounted within the slide 41 of the slewing support base 4 for tightening the motor mounting plate 55. Two sets of tightening blocks 56 are provided on the slewing support base. These tightening blocks 56 can adjust the relative height of the motor mounting plate 55 via tightening screws, thereby adjusting the tooth clearance between the slewing support bearing 53 and the slewing gear 52, ensuring stable operation of the equipment.

[0042] A dust cover 57 is provided above the slewing bearing 53 to prevent powder generated during the grinding and polishing process from entering the slewing system 5 , thereby ensuring the normal operation of the slewing system 5 .

[0043] The quick-change device 7 includes a daughter plate and a mother plate, which are connected and fixed by air pressure control. The mother plate is connected to the end of the six-axis robot 6, and the daughter plate is connected to the force-controlled sanding machine 8. The quick-change device 7 uses air pressure to control the connection and fixation of the mother plate and the daughter plate, thereby achieving rapid tool replacement.

[0044] A force control unit is provided at the end of the force-controlled sanding belt machine 8 to ensure the contact force between the force-controlled sanding belt machine 8 and the surface of the horizontal cable 2, thereby controlling the grinding and polishing effect.

[0045] Furthermore, a Forma wheel 9 is installed at the bottom of the weldment base 1.

[0046] The Forma wheel 9 includes wheels 91 and foot cups 92, which have two functions of movement and fixation and are mainly used for transportation and storage of the entire equipment. After the equipment arrives at the site, this part is removed and the welding base is directly fixed above the cable steel structure bracket.

[0047] It should be noted that before processing, a visual camera is installed through the quick-change device 7 to scan the horizontal high-voltage cable, and a corresponding robot processing trajectory is generated and sent to the robot.

[0048] The weldment base 1 is welded from square steel tubes and has multiple sets of threaded holes for mounting the forma wheel 9, cable clamp 11, and cable end bracket 12. The weldment base 1 has the same dimensions as the cable steel structure bracket at the power station site and is fixedly connected to the cable steel structure bracket when used on site.

[0049] The cable fixing clamp 11 and the cable end bracket 12 are fixed to the weldment base 1 by bolts. These two components are used to fix the left and right ends of the horizontal cable 2 to prevent the vibration and displacement of the cable during processing from affecting the processing accuracy.

[0050] The present invention is not limited to the above-mentioned optional implementation methods. Anyone can derive various other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A mechanical device for pre-processing horizontal high-voltage cables, characterized by: The invention comprises a weldment base (1), a cable fixing clamp (11) for clamping one end of a horizontal cable (2) and a cable end bracket (12) for fixing the other end of the horizontal cable (2) are fixed on the weldment base (1), a translation system (3) is installed on the weldment base (1), an output end of the translation system (3) is connected to a rotary support base (4), a rotary system (5) is installed on the rotary support base (4), an output end of the rotary system (5) is connected to a robot base (61), a six-axis robot (6) is installed on the robot base (61), an output end of the six-axis robot (6) is connected to a quick-change device (7), and a force-controlled sanding belt machine (8) for grinding and polishing the horizontal cable (2) is connected to the quick-change device (7).

2. A horizontal section high voltage cable pretreatment mechanical device according to claim 1, characterized in that: The translation system (3) includes a translation servo motor (31), the output end of the translation servo motor (31) is connected to a lead screw linear module (32), the translation servo motor (31) and the lead screw linear module (32) are mounted on a weldment base (1), and the rotary support base (4) is mounted on the output end of the lead screw linear module (32).

3. A horizontal section high voltage cable pretreatment mechanical device according to claim 2, characterized in that: A linear guide rail (33) is installed on the weldment base (1), and the bottom of the rotary support base (4) is sleeved on the linear guide rail (33).

4. The horizontal section high voltage cable pretreatment mechanical device according to claim 1, characterized in that: The rotary system (5) includes a rotary servo motor (51), an output end of the rotary servo motor (51) is connected to a rotary gear (52), a rotary support base (4) is rotatably connected to a rotary support bearing (53), an outer gear ring (54) is provided on the rotary support bearing (53), the rotary gear (52) is meshed with the outer gear ring (54) of the rotary support bearing, and the robot base (61) is mounted on the rotary support bearing (53).

5. A mechanical device for pre-processing a horizontal high-voltage cable according to claim 4, characterized in that: The rotary support base (4) is provided with a slide groove (41), a motor mounting plate (55) is sleeved in the slide groove (41), the rotary servo motor (51) is mounted on the motor mounting plate (55), and a tightening block (56) for tightening the motor mounting plate (55) is installed in the slide groove (41) of the rotary support base (4).

6. A mechanical device for pre-processing a horizontal high-voltage cable according to claim 4, characterized in that: A dust cover (57) is provided above the slewing bearing (53).

7. The horizontal section high voltage cable pretreatment mechanical device according to claim 1, characterized in that: The quick-change device (7) includes a sub-disc and a mother disc, which are connected and fixed by air pressure control. The mother disc is connected to the end of the six-axis robot (6), and the sub-disc is connected to the force-controlled sanding belt machine (8).

8. The horizontal section high voltage cable pretreatment mechanical device according to claim 1, characterized in that: A force control unit is provided at the end of the force control sand belt machine (8).

9. The horizontal section high voltage cable pretreatment mechanical device according to claim 1, characterized in that: A Forma wheel (9) is installed at the bottom of the weldment base (1).

10. The horizontal section high voltage cable pretreatment mechanical device according to claim 9, characterized in that: The Forma wheel (9) comprises a wheel (91) and a foot cup (92).

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