Intelligent gripping and wire clamp mounting device for fully automatic drainage operation, and operation method

Abstract

The present invention provides an intelligent gripping and wire clamp mounting device for a fully automatic drainage operation, and an operation method. The device comprises: a wire clamp body, used for fixing a drainage wire; a wire clamp fixing mechanism, used for fixing and positioning the wire clamp body; a wire clamp gripper, used for gripping the wire clamp body from the wire clamp fixing mechanism and connecting the wire clamp body to an electrified cable to complete a drainage operation; and an operation platform, connected to the wire clamp gripper and providing electrical power for the wire clamp gripper. According to the present invention, during use, the wire clamp fixing mechanism is mounted on a composite insulator of a cross arm of a 10 kV pole and tower, the design of the wire clamp fixing mechanism can safely fix a drainage wire clamp for a long time, and is suitable for a complex severe weather environment, and manual deployment and automatic robot gripping are facilitated. According to the wire clamp gripper of the present invention, a pneumatic motor serves as a driving force device for tightening a screw, and a pneumatic push rod serves as a power device of the wire clamp gripper. Mutual decoupling is achieved, electromagnetic interference is avoided, the electric insulativity is high, the cost is low, and technical popularization is easy. An operator is far away from an electrified cable, so that the electrical shock risk is reduced. The labor intensity is reduced, and the operation efficiency is improved.

Description

A fully automatic drainage operation intelligent grabbing and wire clamp installation device and operation method Technical Field

[0001] The present invention relates to the technical field of live-line operations with special robots, and in particular to a fully automatic drainage operation intelligent grasping and wire clamp installation device and an operating method. Background Art

[0002] With the rapid development of urbanization, market users have placed higher technical requirements on the reliability, safety and live-line working of power systems. In the field of power distribution operation technology, live-line working places very high demands on the technical level and proficiency of operators, and is relatively inefficient.

[0003] At present, the intermediate potential method is mainly used for live-line operation. The operator stands in the insulated bucket of the insulated boom truck and uses manual tools that comply with safety regulations to complete the live connection task of the drainage line. It has the following defects: (1) The operator is working on the live high-voltage wire, which is at risk of electric shock and poses a great safety hazard; (2) The labor intensity of high-altitude operation is high and the operation efficiency is low. Manual live-line operation has safety issues and limitations, which restricts the high-quality development of the power network.

[0004] Therefore, the use of special robots equipped with corresponding special operating devices to realize the automation of live operations on distribution lines has become the development direction of live operations in power systems.

[0005] Summary of the Invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method.

[0007] According to one aspect of the present invention, there is provided a fully automatic drainage operation intelligent grasping and wire clamp installation device, comprising:

[0008] A wire clamp body, wherein the wire clamp body fixes the drainage wire;

[0009] A wire clamp fixing mechanism, which fixes and positions the wire clamp body;

[0010] A wire clamp gripper, which grabs the wire clamp body from the wire clamp fixing mechanism and connects it to the live cable to complete the drainage operation;

[0011] A working platform is connected to the wire clamp gripper and provides electrical power thereto.

[0012] Preferably, the wire clamp body comprises:

[0013] A wire clamp base, wherein the wire clamp base is provided with a first wire groove and a second wire groove, the first wire groove is used to fix the drainage wire, and the second wire groove is used to fix the live cable;

[0014] a first drainage line fixing block, the first drainage fixing block abutting against the drainage line in the first wire groove;

[0015] a fastener, wherein the fastener pushes the first drainage fixing block to clamp the drainage wire in the first wire groove;

[0016] A second drainage line drainage block, wherein the second drainage line fixing block is arranged in the second wire trough and leaves space for subsequent placement of live cables;

[0017] A hook and ring screw is connected to the second drainage line drainage block, exposed outside the second wire groove, and is used to be grasped by the wire clamp gripper.

[0018] Preferably, the wire clamp fixing mechanism includes:

[0019] A fixed base, which is used to connect to the cross arm to fix the clamp body and initialize its position;

[0020] A fixed shell is connected to the top of the fixed base and is used for waterproofing and dustproofing.

[0021] Preferably, a switch mechanism is provided inside the fixed base;

[0022] The fixed housing comprises:

[0023] A fixing portion, the fixing portion being arranged above the fixing base and covering the wire clamp body;

[0024] The opening and closing portion is movably connected to the fixing portion, and the opening and closing of the opening and closing portion is realized by the switch mechanism.

[0025] Preferably, the fixed base is provided with a drainage wire groove, in which a drainage wire adjustment block is provided; the drainage wire groove opens toward the wire clamp gripper; the drainage wire adjustment block is an adjustable part, which can be adapted to cable diameters of different sizes by replacement.

[0026] Preferably, the wire clamp fixing base is provided with a wire clamp positioning groove, and both sides of the groove have chamfers with an introduction function, which are used to introduce the wire clamp body into the wire clamp fastening mechanism and to guide the wire clamp body out of the wire clamp fastening mechanism.

[0027] Preferably, the wire clamp gripper comprises:

[0028] A gripper fixing frame, wherein the gripper fixing frame is a frame-shaped structure;

[0029] A gripper housing, the gripper housing wrapping the gripper fixing frame;

[0030] A sliding mechanism connected to the lower side of the gripper fixing frame;

[0031] a hook, the hook being connected to the sliding mechanism;

[0032] A rotating mechanism connected to the upper side of the gripper fixing frame;

[0033] A quick-change mechanism is connected to the base plate of the gripper fixing frame, and the robot and the wire clamp gripper are fixed and released through the quick-change mechanism.

[0034] Preferably, the working platform provides drive for the sliding mechanism to enable it to move forward, backward and stop; and provides drive for the rotating mechanism to enable it to rotate and stop.

[0035] According to a second aspect of the present invention, there is provided a method for operating a fully automatic drainage operation intelligent grasping and wire clamp installation device, comprising:

[0036] Pre-drainage treatment: Assemble and fix the wire clamp body, wire clamp fixing mechanism and drainage wire;

[0037] Pre-processing of the working platform: lift the working platform and the wire clamp gripper to the preset position at the same time;

[0038] Wire clamp gripper operation: The robot opens the wire clamp fixing mechanism to expose the wire clamp body; the robot controls the wire clamp gripper to grab the wire clamp body and move the wire stripping part to overlap, completing the drainage operation.

[0039] Preferably, the wire clamp gripper operation includes:

[0040] The robot grabs the wire clamp gripper through a quick mechanism;

[0041] The robot activates the switch mechanism, opens the wire clamp fixing mechanism, and exposes the wire clamp body;

[0042] The robot identifies the wire clamp body and adjusts the position of the wire clamp gripper;

[0043] The robot controls the closing of the claw through the working platform;

[0044] The robot issues a grab command, moves forward with the wire clamp gripper to complete the grab, and moves back to the live wire with the insulation stripped off to complete the splicing.

[0045] The robot issues a tightening command, and the solenoid valve on the work platform switches to the ventilation state, driving the pneumatic motor to rotate, causing the wire clamp gripper to rotate, thereby tightening the live cable;

[0046] The robot issues a release command, and the solenoid valve on the work platform controls the hook to release and the wire clamp gripper to move and reset.

[0047] Compared with the prior art, the embodiment of the present invention has the following beneficial effects:

[0048] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention have a wire clamp fixing mechanism for fixing the wire clamp. When in use, it is installed on the composite insulator of the 10kV pole tower crossarm. Through corresponding design, the drainage wire clamp can be safely fixed for a long time. It is suitable for various complex and harsh environments such as rain, snow, and strong winds, and is convenient for manual deployment and automatic grasping by robots.

[0049] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention can adapt to different cable diameters and operation scenarios, has a simple structure, is firm and reliable, and can achieve rapid deployment and configuration.

[0050] The fully automated drainage operation intelligent gripping and wire clamp installation device and method in this embodiment employs a pneumatic motor as the driving force for tightening the screws, and a pneumatic push rod as the power source for the wire clamp gripper. These two decoupled elements offer simple and reliable operation, eliminate electromagnetic interference, and exhibit high electrical insulation, low cost, and ease of technology adoption.

[0051] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention has a positioning structure fixed to the work platform, which can quickly realize robot positioning and switching between other tools without manual intervention and has a high degree of automation.

[0052] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention provide a technical solution for tightening the wire clamp screws, which keeps the operator away from live cables, reduces the risk of electric shock, reduces labor intensity, and improves work efficiency.

[0053] The fully automated drainage operation intelligent gripping and clamp installation device and method in this embodiment of the present invention secures the drainage clamp to the clamp fixing mechanism, ensuring long-term, stable fixation on the tower crossarm, significantly reducing operational instability. Furthermore, a dedicated robotic gripping tool decouples the rotational and translational degrees of freedom, reducing the robot's operational complexity and improving the efficiency and reliability of automated drainage line splicing.

[0054] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention have a wire clamp fixing base with a wire clamp positioning groove and a bevel chamfer with an introduction function, which makes it easy to fix the wire clamp on the wire clamp fastening device, avoids the fastening device from getting stuck with the wire clamp when detaching from the wire clamp and clamping the wire clamp, and improves the operating efficiency of the wire clamp fastening device.

[0055] The fully automatic drainage operation intelligent grasping and wire clamp installation device and operation method in the embodiment of the present invention improve the automation level and stability of the robot in the live drainage line splicing task. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0057] FIG1 is an overall operation diagram of a wire clamp gripper and a wire clamp fixing device in one embodiment of the present invention;

[0058] FIG2 is a side view of the overall structure of the wire clamp gripper in a preferred embodiment of the present invention;

[0059] FIG3 is a front view of the internal structure of the wire clamp gripper in a preferred embodiment of the present invention;

[0060] FIG4 is a schematic diagram of a wire clamp gripper fixing frame in a preferred embodiment of the present invention, (a) is a side view, and (b) is a partial enlarged view;

[0061] FIG5 is a side view of a wire clamp gripper sliding mechanism in a preferred embodiment of the present invention;

[0062] FIG6 is a half-sectional view of a wire clamp gripper sliding mechanism in a preferred embodiment of the present invention;

[0063] FIG7 is a side view of a wire clamp gripper rotation mechanism in a preferred embodiment of the present invention;

[0064] FIG8 is a partial cross-sectional view of the hook portion of the wire clamp gripper in a preferred embodiment of the present invention;

[0065] FIG9 is an overall front view of a wire clamp fixing mechanism in a preferred embodiment of the present invention;

[0066] FIG10 is an overall side view of a wire clamp fixing mechanism in a preferred embodiment of the present invention, (a) is a schematic diagram when it is open, (b) is a schematic diagram when it is closed, and (c) is a partial enlarged view;

[0067] FIG11 is a side view of the internal structure of the bottom plate of the wire clamp fixing mechanism in a preferred embodiment of the present invention;

[0068] FIG12 is a diagram showing the overall structure of a wire clip drain line in a preferred embodiment of the present invention;

[0069] FIG13 is a diagram showing an automatic control system for a wire clamp gripper operating platform in a preferred embodiment of the present invention;

[0070] FIG14 is a flowchart of the overall drainage operation in a preferred embodiment of the present invention.

[0071] In the figure: the wire clamp gripper 100, the wire clamp fixing mechanism 200, the wire clamp body 300, the robot working platform 400, the gripper fixing frame 101, the hook 102, the sliding mechanism 103, the rotating mechanism 104, the gripper housing 105, the quick change mechanism 106, the gripper base plate 1011, the gripper upper bracket 1012, the front reinforcement frame 1013, the wire clamp fixing frame 1014, the gripper lower bracket 1015, the reinforcement block 1016, the groove 1017, the pull rod 1021, the hook (upper) 1022, the hook (lower) 10 23. Movable hook 1024, hook fixing block 1025, pressure spring 1026, pneumatic slide 1031, slide connecting block 1032, hook connecting block (upper) 1033, hook connecting block (lower) 1034, thrust bearing 1035, pneumatic motor 1041, motor fixing part (lower) 1042, motor fixing part (upper) 1043, rotating shaft (small) 1044, bearing support (small) 1045, bearing (small) 1046, gear (small) 1047, flat key (small) 1048, spring Circlip (small) 1049, Rotating shaft (large) 10410, Bearing support (large) 10410, Bearing support (large) 10411, Bearing (large) 10412, Gear (large) 10413, Flat key (large) 10414, Elastic circlip (large) 10415, Gripper housing (left) 1051, Gripper housing (right) 1052, Fixed base 201, Fixed housing 202, Lower base plate 2011, Upper base plate 2012, Drainage line adjustment block 2013, Drainage line fixing block 2014, Push Rod 2015, fixing device switch 2016, housing switch rod 2017, housing (left) 2021, housing (center) 2022, housing (right) 2023, torsion spring 2024, fixing device switch pin hole 2025, housing opening 2026, 301, protrusion 3011, drainage line fixing block 302, fastener 303, hook and ring screw 304, drainage line 305, compressor 401, pressure regulating valve 402, center-through three-position five-way solenoid valve 403, normally closed two-position three-way solenoid valve 404. DETAILED DESCRIPTION

[0072] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0073] In one embodiment of the present invention, a fully automatic intelligent gripping and clamp installation device for drainage operations is provided, comprising a clamp gripper 100, a clamp fixing mechanism 200, a clamp body 300, and a work platform 400. The clamp body 300 secures the drainage line, while the clamp fixing mechanism 200 secures and positions the clamp body 300. The clamp gripper 100 grasps the clamp body 300 from the clamp fixing mechanism 200 and attaches it to the live cable to complete the drainage operation. The work platform 400 is connected to the clamp gripper 100 and provides it with electrical power.

[0074] In this embodiment, there is a wire clamp fixing mechanism for fixing the wire clamp, which is installed on the composite insulator of the 10kV pole tower crossarm when in use. Through corresponding design, the drainage wire clamp can be safely fixed for a long time. It is suitable for various complex and harsh environments such as rain, snow, and strong winds, and is convenient for manual deployment and automatic grasping by robots.

[0075] In a preferred embodiment of the present invention, a preferred structure of a wire clamp gripper 100 is provided, as shown in Figures 2 and 3, comprising a gripper mounting frame 101, a hook 102, a sliding mechanism 103, a rotating mechanism 104, a gripper housing 105, and a quick-change mechanism 106. The hook 102 is connected to the sliding mechanism 103, which is connected to the bottom side of the gripper mounting frame 101, the rotating mechanism 104 is connected to the top side of the gripper mounting frame 101, the gripper housing 105 is connected to the outside of the gripper mounting frame 101, and the quick-change mechanism 106 is connected to the bottom plate of the gripper mounting frame, thereby enabling rapid replacement and fixation of the robot and the wire clamp gripper.

[0076] A preferred embodiment provides a preferred structure for a gripper fixing frame, as shown in FIG4(a), comprising a gripper base plate 1011, an upper gripper bracket 1012, a front reinforcement frame 1013, a wire clamp fixing frame 1014, a lower gripper bracket 1015, and reinforcement blocks 1016. The gripper base plate 1011 is connected to the quick-change mechanism 106, enabling the robot to quickly switch tools. The upper gripper bracket 1012 and the lower gripper bracket 1015 are secured by three upper and lower reinforcement blocks 1016. The upper gripper bracket 1012 and the wire clamp fixing frame 1014 are screw-connected via the front reinforcement frame 1013, effectively increasing the strength and stability of the overall gripper structure. As shown in FIG4(b), the gripper fixing frame is connected to the protrusion 3011 of the wire clamp body 300 via a groove 1017, securing the wire clamp under the pulling force of the claw. The upper protrusion structure is used to reset the claw 102.

[0077] A preferred embodiment provides a preferred structure of the sliding mechanism 103, as shown in Figures 5 and 6. The sliding mechanism 103 includes a pneumatic slide 1031, a slide connection block 1032, a hook connection block (upper) 1033, a hook connection block (lower) 1034, and a thrust bearing 1035. The pneumatic slide 1031 is connected to the gripper lower bracket 1015 via four hexagon socket screws, and to the slide connection block 1032 via two M4 screws. The slide connection block 1032 is connected to the hook connection block (lower) 1034 via one M4 screw. A 2mm countersunk groove is provided on the slide connection block 1032, and a 2mm protrusion is provided on the hook connection block (lower) 1034, achieving tangential fixation of the entire hook connection block. The hook connecting block (upper) 1033 and the hook connecting block (lower) 1034 are fixed by two M4 screws, wherein a countersunk hole is machined on the hook connecting block (lower) 1034, and the thrust bearing 1035 is placed inside the hook connecting block. The thrust bearing 1035 is axially fixed through the hook connecting block 1033 and the pull rod 1021. This mechanism realizes the decoupling of the two degrees of freedom of tool rotation and movement, avoids the mechanical structure from getting stuck, and serves as the power source for the movement of the hook.

[0078] A preferred embodiment provides a preferred structure of the rotating structure 104, as shown in Figure 7, the rotating mechanism 104 includes: an air motor 1041, a motor fixing part (lower) 1042, a motor fixing part (upper) 1043, a rotating shaft (small) 1044, a bearing support (small) 1045, a bearing (small) 1046, a gear (small) 1047, a flat key (small) 1048, an elastic retaining ring (small) 1049, a rotating shaft (large) 10410, a bearing support (large) 10410, a bearing support (large) 10411, a bearing (large) 10412, a gear (large) 10413, a flat key (large) 10414, and an elastic retaining ring (large) 10415. The pneumatic motor 1041, with an intake pressure of 4-6 kg / cm² and a torque of 60 Nm, provides the power source for the hook's rotation. The motor mount (lower) 1042 is secured to the gripper's upper bracket 1012 with four M4 screws and to the motor mount (upper) 1043 with two M4 screws. The small bearing 1046 nests within the small bearing support 1045, with the two working together to axially secure the small rotating shaft 1044. The small gear 1047 is secured to the gear end face of the small rotating shaft 1044, secured axially with a small circlip 1049 and radially with a small key 1048. The small rotating shaft 1044 has a keyway for the small key 1048, and a hexagonal head is machined on the shaft end to connect to the pneumatic motor 1041, enabling rotational torque transmission. The bearing support (large) 10411 is connected to the bearing (large) 10412 and axially fixes the rotating shaft (large) 10410 with the bearing (large) 10412 at the end of the wire clamp fixing frame 1014. The gear (large) 10413, flat key (large) 10414, and elastic retaining ring (large) 10415 are installed on the rotating shaft (large) 10410 to respectively realize the transmission of small torque to large torque and the tangential and axial fixation of the gear (large) 10410. The rotating shaft (large) 10410 has a central cross hole for accommodating the hook claw 102 and the hook ring screw 304 respectively. The cross side wall realizes the rotation of the wire clamp screw, and the sliding mechanism 103 realizes the closure of the movable hook claw 1024.

[0079] A preferred embodiment provides a preferred structure of hook 102. As shown in FIG8 , hook 102 comprises a pull rod 1021, hook (upper) 1022, hook (lower) 1023, a movable hook 1024, a hook fixing rod 1025, and a pressure spring 1026. The hook (upper) 1022 and hook (lower) 1023 form the hook body, connected by concave-convex grooves on both sides. The movable hook 1024 is installed in the middle and fixed to the two hook fixing rods 1025. The pressure spring is installed in the middle arc groove. The end of the hook (lower) 1023 has a left-hand threaded hole, which connects to the left-hand thread at the front end of the pull rod 1021. It is used to connect to the sliding mechanism 103 through a thrust bearing 1035, achieving decoupling of the two degrees of freedom of rotation and sliding.

[0080] In some implementations, the operation process of closing and opening the claw 102 is provided. Specifically, the claw 102 is driven by air pressure provided by an air compressor on the work platform, which drives the translational cylinder on the wire clamp gripper to achieve translational movement of the claw 102. The claw 102 closes and opens under the restraint of the wire clamp holder 1014. The robot issues commands, and the electromagnetic on the work platform performs corresponding actions, changing the direction of the gas thrust, thereby driving the cylinder on the wire clamp gripper to move. The cylinder is located on 103.

[0081] In one embodiment of the present invention, a preferred structure of a wire clamp fixing mechanism 200 is provided. As shown in FIG9 , the wire clamp fixing mechanism 200 includes a fixed base 201 and a fixed shell 202. The lower surface of the fixed base 201 is used to connect with the cross arm, and the upper surface is connected to the fixed shell 202 by six screws. The fixed shell 202 is mainly used for waterproofing and dustproofing. This wire clamp fixing mechanism realizes the fixing and posture initialization of the wire clamp, which facilitates the rapid grasping of the robot. A preferred embodiment provides a preferred structure of the fixed base 201 and the fixed shell 202, as shown in FIG10 and FIG11 , the fixed base 201 includes: a lower base plate 2011, an upper base plate 2012, a drainage line adjustment block 2013, a drainage line fixing block 2014, a push rod 2015, a fixing device switch 2016 and a shell switch rod 2017. The upper base plate 2012 and lower base plate 2011 are secured by screws, encapsulating and securing the entire switch mechanism. The drain wire adjustment block 2013 is an adjustable component that can be replaced to accommodate different cable diameters. It works in conjunction with the sidewall of the drain wire fixing block 2014 to secure the drain wire. A first spring is positioned toward the push rod 2015, ensuring that the drain wire fixing block 2014 is always positioned rightward. A second spring is also positioned toward the fixture switch 2016. Below the drain wire fixing block 2014 is an open groove, the same size as the fixture switch 2016. Above the fixture switch 2016 is also an open groove within which the drain wire fixing block 2014 moves. Pushing the push rod 2015 drives the drain wire fixing block 2014. When the drain wire fixing block 2014 reaches the inner opening of the groove, the fixture switch 2016 springs open under the pressure of the second spring, closing the wire clamp mechanism.

[0082] As shown in Figure 10(c), the housing switch rod 2017 is connected to the switch pin hole 2025 of the fixing device. It is displaced with the housing opening 2026 of the housing (left) 2021 to enable the housing to be opened and closed. The housing (center) 2022 has shaft connection holes and torsion spring mounting holes on the left and right sides for connecting and securing the housings (left) 2021 and (right) 2023. The lower surface of the housing (left) 2021 is provided with a housing switch hole that cooperates with the housing switch rod 217 to enable the device to be opened and closed. The right inner groove connects to the left protrusion of the housing (right), allowing the left and right doors to intersect. When closed, the housing switch rod 217 can secure the two doors, as shown in Figure 10(b). Both doors are equipped with door handles for easy gripping and an "I"-shaped opening for securing the position of the wire clamp hook screw 304.

[0083] In a preferred embodiment of the present invention, a preferred structure of a wire clamp body 300 is provided. As shown in FIG12 , the wire clamp body 300 includes: a wire clamp body structure 301, a drain wire fixing block 302, a fastener 303, a hook and ring screw 304, and a drain wire 305. The drain wire 305 is clamped by the fastener 303, pushing the drain wire fixing block 302 to cooperate with the wire clamp body structure 301, and is installed manually. The hook and ring screw 304 is connected to another drain wire fixing block 302, and is used for the wire clamp gripper 100 to grab and connect to the live cable to complete the drainage operation. The fastener 303 can be a hexagonal screw or the like.

[0084] In a preferred embodiment of the present invention, a preferred configuration of a work platform 400 is provided. The work platform 400, as a specific electrical device for a wire clamp gripper, comprises, as shown in FIG13 , a compressor 401, a pressure regulating valve 402, a center-through, three-position, five-way solenoid valve 403, and a normally closed, two-position, two-way solenoid valve 404. Compressor 401 serves as the power source, pressure regulating valve 402 controls pressure output, center-through, three-position, five-way solenoid valve 403 connects to a pneumatic slide 1031 to enable forward, reverse, and stop operations, and normally closed, two-position, two-way solenoid valve 404 connects to a pneumatic motor 1041 to enable rotation / stop operations by opening and closing.

[0085] Based on the same inventive concept, another embodiment of the present invention provides an operating method of a fully automatic drainage operation intelligent grasping and wire clamp installation device, as shown in FIG14 , comprising:

[0086] S100, pre-drainage processing: assembling and fixing the wire clamp body, wire clamp fixing mechanism and drainage wire;

[0087] S200, pre-processing of the working platform: lifting the working platform and the wire clamp gripper to the preset position at the same time;

[0088] S300, wire clamp gripper operation: The robot opens the wire clamp fixing mechanism to expose the wire clamp body; the robot controls the wire clamp gripper to grab the wire clamp body and move the wire stripping part to overlap, completing the drainage operation.

[0089] In a preferred embodiment, a preferred process of S100 is provided, which is mainly completed manually. The specific process is as follows:

[0090] S101, installing a wire clamp fixing mechanism on the wire cross arm;

[0091] S102, rotate the hexagonal screw to secure the drainage wire to the wire clamp;

[0092] S103, installing the wire clamp body into the wire clamp fixing mechanism, and closing the left and right housing push rods of the fixing device to fix the wire clamp body.

[0093] In a preferred embodiment, a preferred process of S200 is provided, and the specific process is as follows:

[0094] S201: The wire clamp gripper is placed on the working platform through the positioning structure on the working platform, and the elevator simultaneously lifts the working platform and the wire clamp gripper into the working space;

[0095] S202, observation arm observation, identification, and modeling;

[0096] The robot is equipped with a camera to observe the QR code attached to the surface of the wire clamp fixing mechanism, identify the position and posture of the QR code relative to the robot, establish the point coordinate information and posture coordinate information of the QR code relative to the robot, and realize the precise positioning of the QR code relative to the robot, so that the robot can prepare to operate the wire clamp fixing mechanism.

[0097] S203, the working arm completes positioning, wiring, and stripping of the cable to be connected and drained;

[0098] In a preferred embodiment, a preferred process of S300 is provided, and the specific process is as follows:

[0099] S301, replace the wire clamp gripper tool: the robot automatically grabs the wire clamp gripper through the quick-change mechanism according to the pre-set position; after the quick-change mechanism on the robot end is combined with the wire clamp gripper quick-change mechanism, the air path is automatically opened, and the wire clamp clamping cylinder (the cylinder 103 on the wire clamp gripper that drives the hook 102 to move) is in a retracted state, and the active cylinder of the pneumatic motor must not be in a free state.

[0100] S302, opening the fixing device switch: the robot pushes the wire clamp fixing device switch, the drainage wire fixing block opens under the action of the thrust spring, and the fixing mechanism housing opens under the action of the torsion spring;

[0101] S303, identifying the wire clamp hook and adjusting the gripper posture: The robot identifies the hook and adjusts the hook screw posture to keep it in the same straight line and close to the hook;

[0102] S304, cylinder movement, claw closing: the robot issues a grasping command, and the claw closes;

[0103] S305, continue to move, fix the gripper and the wire clamp: when the claws in S304 are just closed, there is still a certain distance between the wire clamp and 1014, and it is necessary to continue to move forward to make the gripper and the wire clamp firmly contact.

[0104] S306: Move the wire clamp to the wire stripping position to complete the splicing: the three-position five-way solenoid valve is activated, the air circuit is connected, and the pneumatic slide drives the hook claw to move backward to realize the wire clamp grabbing work;

[0105] S307: The pneumatic motor moves to complete the tightening operation: The robot places the wire clamp gripper with the wire clamp on the live wire cable with the insulation stripped off before. The robot issues a wire clamp tightening command. At this time, the solenoid valve is energized, connecting the air circuit of the pneumatic motor. The flow control valve opens the air flow to the maximum value according to the wire clamp tightening command. When the robot confirms that the tightening screw command duration has expired, the robot clears the tightening screw command. At this time, the solenoid valve loses power, closing the air circuit of the pneumatic motor, and the flow control valve switches to the standby state.

[0106] S308, the cylinder moves in the reverse direction, and the hook is separated from the hook ring: after the robot confirms that the electromagnetic valve power-off signal and the flow control valve are in the standby state, the robot sends a wire clamp gripper separation signal command;

[0107] S309: The pneumatic motor continues to move, and the gripper resets: the three-position five-way solenoid valve is connected in reverse, driving the claw to move in the opposite direction, and the robot exits the working position.

[0108] S310, completing the drainage operation.

[0109] Furthermore, the specific control method of S307 is as follows:

[0110] Physical layer: RS485

[0111] Communication protocol: MODBUS protocol

[0112] Transmission format: 8-bit data, 1 stop bit, even parity, RTU mode.

[0113] Baud rate: 9600bps

[0114] First, read the instantaneous flow

[0115] PC sends command TX: 01 03 00 10 00 02 C5 CE

[0116] PC receives the response RX: 01 03 04 XX XX XX XX XX

[0117] Then, set the control mode: a floating point number starting from address 116 represents the control mode (27 for analog mode, 28 for digital mode, default 27). Note: when writing a value, writing 25 for analog mode and 26 for digital mode, the system will automatically add 2.

[0118] PC sends command TX:01 10 00 74 00 02 04 00 00 41 D0 C4 B4

[0119] Finally, set the gas flow rate

[0120] PC sends command TX:01 10 00 6A 00 02 04 XX XX XX XX XX

[0121] The air motor ventilation switch is always closed with a rolling band when assembled on the fastening device, and the air motor will tighten the wire clamp screw at the maximum rotation speed.

[0122] The operating method of the fully automatic drainage operation intelligent grasping and wire clamp installation device in the above embodiment improves the automation level and stability of the robot in the live drainage line splicing task.

[0123] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various modifications or variations within the scope of the claims without affecting the essence of the present invention. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. An intelligent grasping and clamp installation device for fully automatic drainage operation, characterized in that, include: A wire clamp body, wherein the wire clamp body fixes the drainage wire; A wire clamp fixing mechanism, which fixes and positions the wire clamp body; A wire clamp gripper, which grabs the wire clamp body from the wire clamp fixing mechanism and connects it to the live cable to complete the drainage operation; A working platform is connected to the wire clamp gripper and provides electrical power therefor.

2. The intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 1, wherein, The wire clamp body comprises: A wire clamp base, wherein the wire clamp base is provided with a first wire groove and a second wire groove, wherein the first wire groove is used to fix the drainage wire, and the second wire groove is used to fix the live cable; a first drainage line fixing block, the first drainage fixing block abutting against the drainage line in the first line groove; A fastener, wherein the fastener pushes the first drainage fixing block to clamp the drainage line in the first line groove; A second drainage line drainage block, wherein the second drainage line fixing block is arranged in the second wire groove and has a space for subsequently placing the live cable; A hook and ring screw is connected to the second drainage line drainage block and is exposed outside the second wire groove for being grasped by the wire clamp gripper.

3. The fully automatic drainage operation intelligent grasping and clamp installation device according to claim 1, characterized in that, The wire clamp fixing mechanism comprises: A fixed base, which is used to connect with the cross arm to fix the wire clamp body and initialize its position; A fixed shell is connected above the fixed base and is used for waterproofing and dustproofing.

4. An intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 3, characterized in that, A switch mechanism is provided inside the fixed base; The fixed housing comprises: A fixing part, which is arranged above the fixing base and covers the wire clamp body; The opening and closing part is movably connected to the fixing part, and the opening and closing part is opened and closed by the switch mechanism.

5. The intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 3, characterized in that, The fixed base is provided with a drainage wire groove, in which a drainage wire adjustment block is arranged; the drainage wire groove is opened toward the wire clamp gripper; the drainage wire adjustment block is an adjustable part, which can be adapted to cable diameters of different sizes by replacement.

6. The intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 3, characterized in that, The wire clamp fixing base is provided with a wire clamp positioning groove, and its two sides have oblique chamfers with an introduction function, which are used to introduce the wire clamp body into the wire clamp fastening mechanism and to guide the wire clamp body to detach from the wire clamp fastening mechanism.

7. An intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 1, characterized in that, The wire clamp gripper comprises: A gripper fixing frame, wherein the gripper fixing frame is a frame-shaped structure; A gripper shell, wherein the gripper shell wraps around the gripper fixing frame; A sliding mechanism connected to the lower side of the gripper fixing frame; A hook, the hook being connected to the sliding mechanism; A rotating mechanism connected to the upper side of the gripper fixing frame; A quick-change mechanism is connected to the bottom plate of the gripper fixing frame, and the robot and the wire clamp gripper are fixed and released by the quick-change mechanism.

8. An intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 7, characterized in that The working platform provides drive for the sliding mechanism to realize its forward movement, backward movement and stop; and provides drive for the rotating mechanism to realize its rotation and stop.

9. An operating method of the fully automatic drainage operation intelligent grasping and line clamp installation device according to any one of claims 1-8, characterized in that, include: Pre-treatment of drainage operation: assemble and fix the wire clamp body, wire clamp fixing mechanism and drainage wire; Pre-processing of the working platform: lift the working platform and the wire clamp gripper to the preset position at the same time; Clamp gripper operation: The robot opens the clamp fixing mechanism to expose the clamp body; the robot controls the clamp gripper to grab the clamp body and move it to the stripping location for connection to complete the drainage operation.

10. The operating method of an intelligent grasping and clamp installation device for fully automatic drainage operation according to claim 9, characterized in that, Clamp gripper operation includes: The robot grabs the clamp gripper through a quick mechanism; The robot activates the switch mechanism to open the clamp fixing mechanism and expose the clamp body; The robot identifies the clamp body and adjusts the pose of the clamp gripper; The robot controls the closing of the hook claws through the working platform; The robot issues a grasping command, and the working platform drives the clamp gripper to move forward to complete the grasping, and then moves backward to the live wire cable where the insulation layer is to be stripped to complete the connection; The robot issues a tightening command, and the working platform drives the wire clamp gripper to rotate to fasten the live wire cable; The robot controls the loosening of the hook claws and the reset movement of the clamp gripper through the working platform.

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