Traveling module for distribution network hot-line work wire stripping tool

Abstract

The utility model relates to the technical field of electric power facility maintenance, in particular to an advancing module for a distribution network hot-line work wire stripping tool, which comprises an advancing base and a sliding block, the advancing base is provided with an adapter port connected with a mechanical arm, the sliding block is used for being connected with a rotating module of the wire stripping tool, and the advancing base is provided with a lead screw driven by an advancing motor to rotate. The sliding block is movably connected with the lead screw, an initial position sensor is arranged at one end of the lead screw, the lead screw is driven to rotate through the advancing motor, and the sliding block is driven to linearly move along with the wire stripping tool. A linear displacement freedom degree with higher precision is provided for the tail end of the mechanical arm, it is ensured that during cutting, the number of times of linear reciprocating motion is as small as possible, so that an insulation segment can be properly separated from a wire core, errors caused when the mechanical arm is independently used for linear movement are avoided, and the number of times of reciprocating linear motion of the mechanical arm is reduced.

Description

Technical Field

[0001] This utility model relates to the field of power facility maintenance technology, specifically to a travel module for a wire stripping tool used in live-line work on distribution networks. Background Technology

[0002] The statements in this section are merely background information related to this utility model and do not necessarily constitute prior art.

[0003] Live-line stripping refers to the removal of the insulation layer from the surface of cables without interrupting power. It is generally performed in conjunction with subsequent operations such as splicing lead wires. When a robotic arm is used to carry tools for live-line stripping, the robotic arm moves the tools along the axial direction of the cable, thereby enabling the tools to cut a slit along the cable axis in the cable insulation layer.

[0004] Live wire stripping operations typically use insulated robotic arms. Although these arms can carry tools and move along the axial direction of the cable, their movement accuracy is not ideal, resulting in uneven depths of the axial cuts and incomplete separation of the cut insulation segments from the wire core. Utility Model Content

[0005] To address the technical problems mentioned above, this utility model provides a travel module for a wire stripping tool used in live-line work on power distribution networks. This module provides a higher degree of linear displacement freedom for the end effector of the robotic arm, ensuring that the insulation fragment can be properly separated from the wire core with as few linear reciprocating movements as possible during cutting. This avoids errors that occur when using the robotic arm for linear movement alone and reduces the number of reciprocating linear movements of the robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical embodiments:

[0007] This utility model provides a traveling module for a wire stripping tool used in live-line work on power distribution networks, including a traveling base and a slider. The traveling base has an interface for connecting to a robotic arm, and the slider is used to connect to the rotation module of the wire stripping tool. The traveling base is provided with a lead screw that is driven to rotate by a traveling motor. The slider is movably connected to the lead screw, and an initial position sensor is provided at one end of the lead screw. The traveling motor drives the lead screw to rotate, driving the slider and the wire stripping tool to achieve linear motion.

[0008] As a further implementation, the lower surface of the travel base is provided with an adapter, and the upper surface is provided with a mounting bracket.

[0009] As a further implementation, the mounting bracket is provided with two sets of bearing seats arranged in parallel, and the bearing seats contain bearings.

[0010] As a further implementation, a lead screw is provided between the two bearing housings, and the two ends of the lead screw are rotatably connected to the bearing housings through bearings.

[0011] As a further implementation, a travel motor is provided on the upper surface of the travel base, and one end of the lead screw is connected to the output shaft of the travel motor.

[0012] As a further implementation, the mounting bracket is provided with two sets of guide shafts arranged in parallel, which are respectively arranged on both sides of the lead screw and parallel to the lead screw.

[0013] As a further implementation, the lead screw is movably connected to the slider via a lead screw nut, and the slider is slidably connected to the guide shaft.

[0014] As a further implementation, buffer pads are provided at both ends of the lead screw.

[0015] As a further implementation, a linear bearing is provided between the slider and the guide shaft, and a retaining ring is provided at one end of the linear bearing.

[0016] As a further implementation, the rotating module of the wire stripping tool includes a motor-driven active tooth that drives a gear ring to rotate. The gear ring is connected to a bracket, which is connected to the slider, the air supply unit of the wire stripping tool, and the wire stripping unit.

[0017] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects:

[0018] During wire stripping, the robotic arm moves the stripping tool along with the travel module to the work area. Since the travel module and the positioning module within the stripping tool are rigidly connected, their relative positions are fixed. When the positioning module clamps the cable in the horizontal plane, the travel module can move the stripping tool linearly in the horizontal plane, while the robotic arm remains stationary. The travel module essentially provides a more precise linear displacement degree of freedom for the robotic arm's end effector, enabling the stripping tool to achieve more precise axial cutting. This ensures that during cutting, the insulation segment is properly separated from the wire core with minimal linear reciprocating motion, avoiding errors that occur when using the robotic arm for linear movement alone and reducing the number of reciprocating linear movements of the robotic arm. Attached Figure Description

[0019] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0020] Figure 1 A schematic diagram of the structure of the live-line stripping tool for power distribution networks with a travel module provided by this utility model;

[0021] Figure 2 A schematic diagram of the traveling module in the wire stripping tool provided by this utility model;

[0022] Figure 3 A cross-sectional view of the traveling module in the wire stripping tool provided by this utility model.

[0023] In the diagram: 1. Guide plate; 2. Positioning module; 3. Rotation module; 4. Observation camera; 5. Air supply unit; 6. Laser module; 7. Depth camera; 8. Adapter; 9. Traveling module; 10. Power module; 11. Initial position sensor; 91. Traveling base; 92. Traveling motor; 93. Mounting bracket; 94. Guide shaft; 95. Lead screw; 96. Lead screw nut; 97. Bearing seat; 971. Bearing; 98. Buffer pad; 99. Slider; 991. Linear bearing; 992. Retaining ring. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0026] As described in the background section, live wire stripping operations generally use insulated robotic arms. Although these arms can carry tools and move along the axial direction of the cable, their movement accuracy is not ideal, resulting in uneven depth of the axial cut and incomplete separation of the cut insulation segments from the wire core.

[0027] Therefore, the following embodiments provide a travel module for a wire stripping tool used in live-line work on power distribution networks, which provides a higher degree of linear displacement freedom for the end effector of the robotic arm, ensuring that the insulation segment can be properly separated from the wire core with as few linear reciprocating movements as possible during cutting, avoiding the errors that occur when the robotic arm moves linearly alone, and reducing the number of reciprocating linear movements of the robotic arm.

[0028] like Figure 1 As shown, the wire stripping tool includes two sets of guide plates 1 arranged side by side, with a rotating module 3 between the two sets of guide plates 1. One side of the rotating module 3 is equipped with an air supply unit 5, and the other side is equipped with a wire stripping unit. The wire stripping unit includes a positioning module 2 and a laser module 6. The bottom of the rotating module 3 is connected to the traveling module 9.

[0029] Positioning module 2 uses a lead screw driven by a motor and two sets of clamping blocks movably connected to the lead screw to generate a certain clamping force on the cable, stabilizing the relative position of the cable and the laser beam without hindering the relative movement between the tool and the cable. At the same time, after clamping the cable, it can determine the outer diameter of the cable and also produce a certain degree of collimation effect on the cable, thus achieving the positioning of the cable.

[0030] The laser module 6 has two sets arranged opposite to each other, which are used to emit lasers to laser cut the cable insulation layer and use the equipped blades to peel the cut insulation sheets off the surface of the wire core.

[0031] One of the laser modules 6 is equipped with an observation camera 4, which is used to observe the position of the overhead cable during tool lifting, so that the staff can accurately place the tool on the overhead cable.

[0032] The gas supply unit 5 includes an air pump connected inside the housing, which generates gas and sends it into the laser module 6 through a pipe. The gas is blown out during laser cutting to blow the molten material away from the cutting point.

[0033] The rotating module 3 includes a motor-driven active gear that drives a gear ring to rotate. The gear ring is connected to a bracket, which is connected to the air supply unit 5 and the wire stripping unit. This allows the rotating module 3 to drive the air supply unit 5 and the wire stripping unit to rotate simultaneously. Combined with the cutting action of the laser module 6, a circumferential cut seam is obtained on the surface of the cable.

[0034] The laser module 6 is equipped with a blade for peeling the cut insulation segments off the wire core.

[0035] The travel module 9 is equipped with a depth camera 7, which measures the relative distance between the tool and the stripping position by observing the position of the cable to be stripped, thus providing data support for the automated and intelligent operation of the tool.

[0036] The travel module 9 is also equipped with a power module 10, which provides energy to support the operation of the wire stripping tool.

[0037] The travel module 9 is connected to the robotic arm via the adapter 8. The robotic arm drives the travel module 9, along with the working tool, to the area to be stripped. The working tool performs insulation cutting at the target location, creating a circumferential cut. The travel module 9 then drives the stripping tool to move linearly to the next stripping position. During this process, the working tool, driven by the travel module 9, cuts axial cuts on the cable surface. When the travel module 9 reaches the next stripping position, the working tool continues to move, creating another set of circumferential cuts. Then, using the cutting blade in the working tool, in conjunction with the rotational motion of the working tool and the linear motion of the travel module 9, the insulation segment between the two sets of circumferential cuts is separated from the wire core.

[0038] In this embodiment, the specific structures of the positioning module 2, rotation module 3, air supply unit 5, laser module 6, and dial knife are not limited.

[0039] like Figures 2-3 As shown, the traveling module 9 includes a slider 99 connected to the rotating module 3 of the working tool, and a traveling base 91 connected to the robotic arm via an adapter 8. A lead screw 95 is provided on the traveling base 91, and the lead screw 95 is movably connected to the slider 99. An initial position sensor 11 is provided at the set position of the lead screw 95. The travel motor 92 drives the lead screw 95 to rotate, which drives the slider 99 and the wire stripping tool to move linearly. The resulting lead screw and slider structure has higher linear displacement accuracy, making the wire stripping tool more stable when performing axial cutting, which is conducive to the complete separation of the insulation layer and the wire core, and meets the requirement of obtaining an axial cut during the wire stripping operation.

[0040] In this embodiment, the lower bottom surface of the traveling base 91 is provided with a converter 8, and the upper surface is provided with a mounting bracket 93; the mounting bracket 93 is provided with two sets of bearing seats 97 arranged in parallel, and the bearing seats 97 are provided with bearings 971; a lead screw 95 is provided between the two bearing seats 97, and the two ends of the lead screw 95 are rotatably connected to the bearing seats 97 through the bearings 971.

[0041] The upper surface of the traveling base 91 is provided with a traveling motor 92, and one end of the lead screw 95 is connected to the output shaft of the traveling motor 92.

[0042] The mounting bracket 93 is also provided with two sets of guide shafts 94 arranged in parallel. The two sets of guide shafts 94 are respectively arranged on both sides of the lead screw 95 and are parallel to the lead screw 95.

[0043] The lead screw 95 is movably connected to the slider 99 via the lead screw nut 96, and the slider 99 is slidably connected to the guide shaft 94; buffer pads 98 are provided at both ends of the lead screw 95.

[0044] like Figure 3 As shown, a linear bearing 991 is provided between the slider 99 and the guide shaft 94. A retaining ring 992 is provided at one end of the linear bearing 991 to prevent the linear bearing 991 from being pushed out of the slider 99 during the linear sliding of the slider 99 along the guide shaft 94.

[0045] When the travel motor drives the lead screw to rotate, the lead screw nut pushes the travel slider to make linear reciprocating motion under the guidance of the guide shaft. The slider is connected to the bracket of the rotating module, thereby driving the wire stripping tool to move along the cable axis to obtain an axial cutting seam.

[0046] Existing technologies typically use a robotic arm to drive a wire stripping tool to perform wire stripping operations. When the robotic arm is at the required height for stripping and drives the wire stripping tool to move linearly, the parameters that need to be controlled are quite complex. For example, when using a six-degree-of-freedom robotic arm, it is necessary to control the parameters of multiple degrees of freedom (generally by controlling the motor speed corresponding to each degree of freedom). Since each degree of freedom is a swing motion rather than a linear motion, the control parameters are quite complex and prone to control errors, resulting in unsatisfactory stability of the linear displacement. This often requires the wire stripping tool to move back and forth linearly along the cable axis several times to obtain an ideal axial cut, thereby completely cutting off the insulation segment.

[0047] With the addition of the travel module, the robotic arm only needs to move the wire stripping tool, along with the travel module, to the work area. Since the positioning module and travel module in the wire stripping tool are rigidly connected, their relative positions are fixed during installation. When the positioning module clamps the cable on the work surface (usually a horizontal plane), the travel module can move the wire stripping tool linearly in the horizontal plane, while the robotic arm remains stationary. The travel module essentially provides a higher-precision linear displacement degree of freedom for the robotic arm's end effector, enabling the wire stripping tool to achieve a higher-precision axial cut. This ensures that during cutting, a completely separated insulation segment can be obtained with minimal reciprocating linear movements, avoiding errors that occur when using the robotic arm for linear movement alone and reducing the number of reciprocating linear movements.

[0048] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A travel module for a wire stripping tool used in live-line work on power distribution networks, characterized in that, It includes a traveling base and a slider. The traveling base has an interface for connecting to the robotic arm. The slider is used to connect to the rotating module of the wire stripping tool. The traveling base is equipped with a lead screw that is driven to rotate by the traveling motor. The slider is movably connected to the lead screw. One end of the lead screw is equipped with an initial position sensor. The traveling motor drives the lead screw to rotate, which in turn drives the slider and the wire stripping tool to achieve linear motion. The bottom surface of the traveling base is provided with a converter, and the upper surface is provided with a mounting bracket; The mounting bracket is provided with two sets of guide shafts arranged in parallel, which are respectively arranged on both sides of the lead screw and parallel to the lead screw; The traveling module and the positioning module in the wire stripping tool are rigidly connected, and their relative positions are fixed.

2. The traveling module for a live-line stripping tool in a distribution network as described in claim 1, characterized in that, The mounting bracket is provided with two sets of bearing seats arranged in parallel, and bearings are installed in the bearing seats.

3. The traveling module for a live-line stripping tool in a distribution network as described in claim 2, characterized in that, A lead screw is provided between the two bearing housings, and the two ends of the lead screw are rotatably connected to the bearing housings through bearings.

4. The traveling module for a live-line stripping tool for distribution networks as described in claim 1, characterized in that, The guide shaft is slidably connected to the slider.

5. The traveling module for a live-line stripping tool in a distribution network as described in claim 1, characterized in that, The upper surface of the traveling base is equipped with a traveling motor, and one end of the lead screw is connected to the output shaft of the traveling motor.

6. The traveling module for a live-line stripping tool for distribution networks as described in claim 1, characterized in that, The lead screw is movably connected to the slider via a lead screw nut.

7. The traveling module for a live-line stripping tool in a distribution network as described in claim 1, characterized in that, The lead screw is equipped with buffer pads at both ends.

8. The traveling module for a live-line stripping tool in a distribution network as described in claim 1, characterized in that, A linear bearing is provided between the slider and the guide shaft, and a retaining ring is provided at one end of the linear bearing.

Images