CN114069351B - Automatic ground wire mounting device and control method thereof - Google Patents
Automatic ground wire mounting device and control method thereof Download PDFInfo
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- CN114069351B CN114069351B CN202111425583.9A CN202111425583A CN114069351B CN 114069351 B CN114069351 B CN 114069351B CN 202111425583 A CN202111425583 A CN 202111425583A CN 114069351 B CN114069351 B CN 114069351B
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- hanging rod
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- clamp
- wire
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 206010014357 Electric shock Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 208000010543 22q11.2 deletion syndrome Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/027—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for connecting conductors by clips
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R11/00—Individual connecting elements providing two or more spaced connecting locations for conductive members which are, or may be, thereby interconnected, e.g. end pieces for wires or cables supported by the wire or cable and having means for facilitating electrical connection to some other wire, terminal, or conductive member, blocks of binding posts
- H01R11/11—End pieces or tapping pieces for wires, supported by the wire and for facilitating electrical connection to some other wire, terminal or conductive member
- H01R11/12—End pieces terminating in an eye, hook, or fork
- H01R11/14—End pieces terminating in an eye, hook, or fork the hook being adapted for hanging on overhead or other suspended lines, e.g. hot line clamp
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses an automatic ground wire mounting device and a control method thereof, relates to the technical field of power construction equipment, and is used for solving the problems that in the prior art, manual installation of a ground wire clamp is time-consuming and labor-consuming, and high falling and electric shock accident risks exist. The invention comprises an insulating hanging rod, a rail car, an electric ground wire clamp and a controller. The insulating hanging rod is provided with a hook. The rail car comprises a car body, a fastening lock catch, a rail device and a mechanical arm, wherein the fastening lock catch, the rail device and the mechanical arm are arranged on the car body, the fastening lock catch movably installs the car body outside the circumference of the insulating hanging rod, and the rail device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod. And the electric grounding wire clamp is provided with a hanging ring which is hung on the mechanical arm. The controller is connected with the track device, the mechanical arm and the electric grounding wire clamp, and is used for controlling the track device to drive the rail car to move along the extending direction of the insulating hanging rod, and the mechanical arm stretches out and draws back to hang the electric grounding wire clamp on a wire to be grounded and clamp or open the electric grounding wire clamp.
Description
Technical Field
The invention relates to the technical field of power construction equipment, in particular to an automatic ground wire mounting device and a control method thereof.
Background
In the power industry, power construction is an important means for improving quality and enhancing efficiency of a power grid, and in power line power failure construction operation, a grounding wire is an important means for protecting personal safety of operators.
At present, the ground wire clamp is installed and removed by climbing the electric pole through an operator, the average time for the operator to complete the installation work of a group of ground wires is 23 minutes, the total time for each operation is more than 1 hour, and the installation work is very time-consuming and labor-consuming. In addition, in the process of assembling and disassembling the grounding wire clamp, larger high falling and electric shock accident risks exist.
Disclosure of Invention
The invention provides an automatic ground wire mounting device and a control method thereof, which are used for solving the problems that the manual installation of a ground wire clamp wastes time and labor and the risk of high falling and electric shock accidents is high in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an automatic ground wire loading device comprises an insulating hanging rod, a rail car, an electric ground wire clamp and a controller. Wherein, install the couple on the insulating peg. The rail car comprises a car body, and a fastening lock catch, a rail device and a mechanical arm which are arranged on the car body, wherein the fastening lock catch is used for movably mounting the car body outside the circumference of the insulating hanging rod, and the rail device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod. The electric grounding wire clamp is provided with a hanging ring, and the hanging ring can be hung on the mechanical arm. The controller is connected with the track device, the mechanical arm and the electric grounding wire clamp, and is used for controlling the track device to drive the railcar to move along the extending direction of the insulating hanging rod, controlling the mechanical arm to stretch and retract to hang the electric grounding wire clamp on a wire to be grounded, and controlling the electric grounding wire clamp to clamp the wire to be grounded or the electric grounding wire clamp to be in an open state.
Compared with the prior art, when the automatic ground wire mounting device provided by the embodiment of the invention is used for mounting the ground wire, the insulating hanging rod can be firstly hung on a wire to be grounded, the electric ground wire clamp which clamps the cable connected with the grounding end is hung on the mechanical arm (at the moment, the electric ground wire clamp is controlled to be kept in an open state), then the rail car is clamped outside the circumference of the insulating hanging rod, and the rail device of the rail car is movably connected with the insulating hanging rod. Then, the controller controls the track device to drive the rail car to move along the extending direction of the insulating hanging rod until reaching the vicinity of the wire to be grounded; and controlling the mechanical arm to stretch out and draw back so as to hang the electric grounding wire clamp on the wire to be grounded. And finally, the controller controls the electric grounding wire clamp to clamp the wire to be grounded, so that the wire to be grounded is connected with a cable connected with the grounding end, and the grounding of the wire to be grounded is completed. Above-mentioned dress ground wire in-process, after with the track car centre gripping outside the circumference of insulating peg, can accomplish the step of installing of follow-up earth connection automatically, can save a large amount of operating time, improve work efficiency, practice thrift a lot of human costs. And moreover, the grounding wire can be assembled and disassembled without climbing the pole tower by an operator, so that the labor intensity of the operator is reduced, and the high falling risk and the electric shock risk possibly occurring in the process of climbing the pole tower by the operator are essentially eliminated.
In some possible embodiments of the present invention, the above-mentioned railcar further comprises a pressure detection device, said pressure detection device is mounted on said mechanical arm and connected with said controller. The controller is used for controlling the electric grounding wire clamp to clamp the wire to be grounded or the electric grounding wire clamp to be in an open state according to the pressure value borne on the mechanical arm and detected by the pressure detection device.
In some possible embodiments of the present invention, the rail car further includes a position sensing device, where the position sensing device is installed on the car body or the mechanical arm and connected to the controller, and the position sensing device is used for detecting a position of an electric ground clamp on the mechanical arm relative to the wire to be grounded. The controller is used for controlling the mechanical arm to stretch according to the position information detected by the position sensing device so as to hang the electric grounding wire clamp on the wire to be grounded.
In some possible embodiments of the invention, the rail car further comprises an antenna arrangement, the antenna arrangement being connected to the controller; the automatic ground wire loading device further comprises a remote controller, and the remote controller is in communication connection with the antenna device.
In some possible embodiments of the present invention, the track device includes a plurality of driving wheels, the plurality of driving wheels are sequentially distributed along the extending direction of the insulating hanging rod, and at least one of the surface of the insulating hanging rod and the circumferential surface of the driving wheel is provided with an anti-slip structure.
In some possible embodiments of the invention, the vehicle body includes a first vehicle body, a second vehicle body, and a connecting shaft connecting the first vehicle body and the second vehicle body such that the first vehicle body and the second vehicle body can be clamped outside the insulating hanger bar.
In some possible embodiments of the present invention, the rail car further comprises a brake device, wherein the brake device is disposed outside the insulating hanging rod and is connected with the controller, and the controller is further used for controlling the brake device to clamp or unclamp the insulating hanging rod.
In some possible embodiments of the invention, the insulating hanger bar comprises an insulating rod body and an electroscope mounted at an end of the insulating rod body.
In some possible embodiments of the invention, the automatic ground wire loading device further comprises a roller, and the roller is mounted on a hook of the insulating hanging rod.
The embodiment of the invention also comprises a control method for the automatic ground wire loading device, which comprises the following control steps: after an insulating hanging rod is hung on a wire to be grounded, the rail car is movably installed outside the circumference of the insulating hanging rod, the rail device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod, and the electric grounding wire clamp is hung on the mechanical arm, the rail car is controlled to move along the insulating hanging rod, and meanwhile, the electric grounding wire clamp is controlled to be in an open state; controlling the mechanical arm to stretch to hang the electric grounding wire clamp on a wire to be grounded; and controlling the electric grounding wire clamp to clamp the wire to be grounded. The control method for the automatic ground wire loading device provided by the embodiment of the invention can obtain the same technical effects as the automatic ground wire loading device, and can solve the same technical problems, and is not repeated here.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an automatic ground wire installation device and a power transmission line according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a rail car in an automatic ground wire loading device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rail car and an insulating hanger in an automatic ground wire loading device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a rail car in an automatic ground wire loading device according to an embodiment of the present invention;
fig. 5 is a flowchart of a control method for an automatic ground wire loading device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; may be a mechanical connection; or may be an electrical connection or a communication connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, "and/or" is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Referring to fig. 1, an automatic ground wire loading device 100 according to an embodiment of the present invention includes an insulating hanger bar 1, a railcar 2, and an electric ground wire clamp 3.
Wherein, the insulating hanging rod 1 is provided with a hook 11, and the hook 11 can install the insulating hanging rod 1 on the wire 200 to be grounded. The insulating hanger bar 1 may be a detachable structure, for example, the insulating hanger bar 1 is a detachable telescopic bar. The hanger 11 may be a rake hanger, which may fix the insulating hanger bar 1 to the wire 200 to be grounded. After the ground wire loading operation is completed, the insulating hanging rod 1 can be retracted, and the transportation and the installation are convenient.
Referring to fig. 1 and 2, the rail car 2 includes a car body 21, a fastening buckle 22, a rail device 23, and a robot arm 24. Wherein the fastening shackle 22, the rail arrangement 23 and the mechanical arm 24 are all mounted on the vehicle body 21. The fastening lock catch 22 can movably mount the vehicle body 21 outside the circumference of the insulating hanging rod 1. The rail means 23 is movably connected with the insulating hanger bar 1 in the extending direction of the insulating hanger bar 1. For example, after the insulating hanging rod 1 is hung on the wire 200 to be grounded, the insulating hanging rod 1 may be hung on the wire 200 to be grounded under the action of gravity, and the track device 23 may drive the vehicle body 21 to move up and down along the vertical direction.
The electric ground clamp 3 is used for clamping a cable connected with a ground terminal. The electric ground clamp 3 is provided with a hanging ring 31, and the hanging ring 31 can be hung on the mechanical arm 24 of the railway car 2. The specific structure of the electric ground wire clamp 3 is an existing structure, and will not be described here again.
The controller 4 is connected to the rail device 23, the robot arm 24, and the electric ground clip 3. The controller 4 may be mounted directly on the railcar 2. The controller 4 is used for controlling the track device 23 to drive the track car 2 to move along the extending direction of the insulating hanging rod 1, controlling the mechanical arm 24 to stretch and retract to hang the electric grounding wire clamp 3 on the wire 200 to be grounded, and controlling the electric grounding wire clamp 3 to clamp the wire 200 to be grounded or controlling the electric grounding wire clamp 3 to be in an open state.
Compared with the prior art, when the automatic ground wire mounting device 100 provided by the embodiment of the invention is used for mounting the ground wire, the insulating hanging rod 1 can be firstly hung on the wire 200 to be grounded, the electric ground wire clamp 3 clamping the cable connected with the grounding end is hung on the mechanical arm 24 (at this time, the electric ground wire clamp 3 is controlled to be kept in an open state), then the track car 2 is clamped outside the circumference of the insulating hanging rod 1, and the track device 23 of the track car 2 is movably connected with the insulating hanging rod 1. Then, the controller 4 controls the track device 23 to drive the track car 2 to move along the extending direction of the insulating hanging rod 1 until reaching the vicinity of the wire 200 to be grounded; the mechanical arm 24 is controlled to stretch and retract so as to hang the electric grounding wire clamp 3 on the wire 200 to be grounded. Finally, the controller 4 controls the electric grounding wire clamp 3 to clamp the wire 200 to be grounded, thereby connecting the wire 200 to be grounded with a cable connected with a grounding end, and completing the grounding of the wire 200 to be grounded. In the process of loading the ground wires, after the rail car 2 is clamped outside the circumference of the insulating hanging rod 1, the subsequent ground wire loading step can be automatically completed, a large amount of operation time can be saved, the working efficiency is improved, and a lot of labor cost is saved. And moreover, the grounding wire can be assembled and disassembled without climbing the pole tower by an operator, so that the labor intensity of the operator is reduced, and the high falling risk and the electric shock risk possibly occurring in the process of climbing the pole tower by the operator are essentially eliminated.
Based on the above, the controller 4 may be a single controller, or may include a rail controller 41 and a robot arm controller 42 as shown in fig. 3, where the rail controller 41 is connected to the rail device 23, and the robot arm controller 42 is connected to the robot arm 24. The following description will be given by taking an example in which the controller 4 includes a rail controller 41 and a robot arm controller 42.
The mechanical arm 24 includes a driving motor 241, a transmission device 242, and a mechanical arm body 243. The driving motor 241 is connected to the robot arm body 243 through a transmission 242. The arm controller 42 is connected to the driving motor 241, and the arm controller 42 controls the telescopic movement of the arm body 243 by controlling the rotation of the driving motor 241 and the transmission device 242. The transmission 242 may be a rack and pinion mechanism.
Referring to fig. 1, 2 and 4, the body 21 of the above-described railway car 2 includes a first body 211, a second body 212 and a connecting shaft 213. Wherein, first automobile body 211 and second automobile body 212 pass through connecting axle 213 and connect, and first automobile body 211 and second automobile body 212 can the centre gripping insulating peg 1 outside to the railcar 2 is connected the operation with insulating peg 1.
The insulating hanger bar 1 and the rail device 23 may be movably connected in various manners. For example, the track device 23 includes a plurality of driving wheels 231 as shown in fig. 2, the plurality of driving wheels 231 are sequentially distributed along the extending direction of the insulating hanging rod 1, and an anti-slip structure can be arranged on each driving wheel 231 along the circumferential direction, so that in the rolling process of the plurality of driving wheels 231, the rail car 2 is enabled to move up and down along the insulating hanging rod 1 under the action of friction force, and the structure is simpler. Of course, the above-mentioned anti-slip structure may be provided on the surface of the insulating hanger bar 1. Alternatively, an anti-slip structure is provided on the driving wheel 231 in the circumferential direction and on the surface of the insulating hanger bar 1. The anti-skid structure can be a frosted layer or a tooth pattern. It will be appreciated that the circumferential surface of the drive wheel 231 should be shaped to conform to the surface of the insulating hanger bar 1.
For another example, the insulating hanging rod 1 may be provided with a rack extending along the extending direction of the insulating hanging rod 1, the track device 23 includes two driving wheels, the two driving wheels are sleeved with pulleys with teeth, and the teeth on the pulleys are meshed with the rack, so that the rail car 2 can move up and down along the insulating hanging rod 1.
Referring to fig. 3, the track device 23 further includes a gear device 232, a railcar motor 233, and a power source 234. The driving wheel 231 is in driving connection with a gear driving device 232, the gear driving device 232 is in driving connection with a rail car motor 233, and the rail car motor 233 is electrically connected with a power supply 234. The power supply 234 supplies power to the railcar motor 233, and the railcar motor 233 drives the driving wheel 231 to rotate through the gear transmission device 232, so that the railcar 2 is driven to move. The driving wheel 231 may be made of an anti-slip rubber material with high strength. And the first car body 211 and the second car body 212 are respectively provided with a group of driving wheels 231 as shown in fig. 2, so that the rail car 2 can reliably move up and down and is not easy to slip.
Based on the above, in order to facilitate timely and automatic control of opening or clamping of the electric ground wire clamp 3, the railcar 2 according to the embodiment of the present invention further includes a pressure detection device 25 as shown in fig. 3, where the pressure detection device 25 is mounted on the mechanical arm 24 and connected to the mechanical arm controller 42. The pressure detecting means 25 may be a pressure sensor. The mechanical arm controller 42 is configured to control the electric ground clamp 3 to clamp the wire 200 to be grounded according to the pressure value carried on the mechanical arm 24 detected by the pressure detecting device 25, or control the electric ground clamp 3 to be in an open state (the open state refers to a state in which the structure of the electric ground clamp 3 for clamping the wire 200 to be grounded is kept in an open state).
For example, when the hanging ring 31 of the electric ground wire clamp 3 is hung on the mechanical arm 24, the pressure detecting device 25 detects that the pressure value carried on the mechanical arm 24 is higher than the preset pressure value, and the mechanical arm controller 42 controls the electric ground wire clamp 3 to be in an open state. When the electric ground wire clamp 3 is removed from the mechanical arm 24 (e.g., the electric ground wire clamp 3 is hung on the wire 200 to be grounded), the pressure detection device 25 detects that the pressure value carried on the mechanical arm 24 is lower than the preset pressure value, and the mechanical arm controller 42 controls the electric ground wire clamp 3 to clamp.
In some embodiments of the present invention, the railcar 2 further includes a position sensing device 26 as shown in fig. 3, wherein the position sensing device 26 may be a position sensor, a distance sensor, or the like. The position sensing device 26 is mounted on the vehicle body 21 or the robot arm 24 and is connected to the robot arm controller 42. The position sensing device 26 is used for detecting the position of the electric grounding wire clamp 3 on the mechanical arm 24 relative to the wire 200 to be grounded. The mechanical arm controller 42 is configured to control the extension and retraction of the mechanical arm 24 according to the position information detected by the position sensing device 26, and adjust the posture of the mechanical arm 24, so as to attach the electric ground clip 3 to the wire 200 to be grounded.
The track controller 41 and the arm controller 42 may be mounted on the railcar 2 or may be mounted on a device outside the railcar 2. For example, the track controller 41 and the mechanical arm controller 42 are both mounted on the track car 2, and for convenience of operation and control, the track car 2 further includes an antenna device 27 as shown in fig. 3, where the antenna device 27 is connected to the track controller 41 and the mechanical arm controller 42. The automatic earth-loading device 100 further comprises a remote control 5, which remote control 5 is in communication with the antenna device 27. Thus, the remote controller 5 may send a control command to the track controller 41 to control the railcar 2, or may send a control command to the arm controller 42 to control the arm 24 and the electric ground clip 3.
For example, the remote controller 5 sends an instruction for moving the rail car 2 up or down, and after receiving the instruction, the antenna device 27 transmits the instruction to the rail controller 41, and the rail controller 41 can control the rail car motor 233 to start to drive the rail device 23 to move up and down along the insulating hanging rod 1.
In addition, in order to improve the safety of the rail car 2 and the stability of the rail car 2 when the rail car 2 does not need to move, the rail car 2 further includes a brake device 28 as shown in fig. 3, and the brake device 28 is disposed outside the insulating hanger bar 1 and connected to the rail controller 41. The track controller 41 is also used to control the brake device 28 to clamp or unclamp the insulated hanger bar 1.
In some embodiments of the present invention, referring to fig. 1, the insulating hanger bar 1 includes an insulating rod body 12 and an electroscope 13, and the electroscope 13 is installed at an end of the insulating rod body 12. The electroscope 13 can be used for replacing the existing special electroscope 13 to complete the line electroscope function.
In order to facilitate the adjustment of the position of the insulating hanging rod 1 after the insulating hanging rod 1 is hung on the wire 200 to be grounded, the automatic ground wire installation device 100 according to the embodiment of the invention further comprises a roller, and the roller is installed on the hook 11 of the insulating hanging rod 1. The roller is movable along the wire to be grounded 200 so as to adjust the front and rear positions of the insulating hanger bar 1 on the wire to be grounded 200. After the insulating hanging rod 1 is well adjusted to be on the wire 200 to be grounded, other positions of the hanging hook 11 are connected with the wire 200 to be grounded, so that the position stability of the insulating hanging rod 1 is ensured.
Based on the above automatic ground wire loading device 100, referring to fig. 5, an embodiment of the present invention further includes a control method for the above automatic ground wire loading device 100, where the control method includes the following control steps:
s101: after the insulating hanging rod is hung on a wire to be grounded, the track device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod and the electric grounding wire is hung on the mechanical arm, the track device is controlled to move along the insulating hanging rod, and meanwhile, the electric grounding wire clamp is controlled to be in an open state.
S102: the mechanical arm is controlled to stretch and retract to hang the electric grounding wire clamp on the wire to be grounded.
S103: and controlling the electric grounding wire clamp to clamp the wire to be grounded.
The control method for the automatic ground wire loading device 100 according to the embodiment of the present invention can obtain the same technical effects as the automatic ground wire loading device 100, and can solve the same technical problems, and is not described herein again.
In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An automatic ground wire loading device, comprising:
the insulation hanging rod is provided with a hook;
the rail car comprises a car body, a fastening lock catch, a rail device and a mechanical arm, wherein the fastening lock catch, the rail device and the mechanical arm are arranged on the car body, the car body is movably arranged outside the circumference of the insulating hanging rod by the fastening lock catch, and the rail device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod;
the electric grounding wire clamp is provided with a hanging ring, and the hanging ring can be hung on the mechanical arm;
the controller is connected with the track device, the mechanical arm and the electric grounding wire clamp, and is used for controlling the track device to drive the rail car to move along the extending direction of the insulating hanging rod, controlling the mechanical arm to stretch and retract to hang the electric grounding wire clamp on a wire to be grounded, and controlling the electric grounding wire clamp to clamp the wire to be grounded or the electric grounding wire clamp to be in an open state;
the railcar further includes:
the pressure detection device is arranged on the mechanical arm and is connected with the controller;
the controller is used for controlling the electric grounding wire clamp to clamp the wire to be grounded or the electric grounding wire clamp to be in an open state according to the pressure value borne on the mechanical arm and detected by the pressure detection device.
2. The automatic ground wire loading device of claim 1, wherein the rail car further comprises:
the position sensing device is arranged on the vehicle body or the mechanical arm and connected with the controller, and is used for detecting the position of the electric grounding wire clamp on the mechanical arm relative to the wire to be grounded;
the controller is used for controlling the mechanical arm to stretch according to the position information detected by the position sensing device so as to hang the electric grounding wire clamp on the wire to be grounded.
3. The automatic ground wire loading device of claim 2, wherein the rail car further comprises an antenna device, the antenna device being connected to the controller; the automatic ground wire loading device further comprises a remote controller, and the remote controller is in communication connection with the antenna device.
4. An automatic ground wire loading device according to any one of claims 1 to 3, wherein the rail device comprises a plurality of driving wheels, the plurality of driving wheels are sequentially distributed along the extending direction of the insulating hanging rod, and at least one of the surface of the insulating hanging rod and the circumferential surface of the driving wheel is provided with an anti-slip structure.
5. The automatic ground wire mounting device of claim 4, wherein the vehicle body comprises a first vehicle body, a second vehicle body, and a connecting shaft connecting the first vehicle body and the second vehicle body such that the first vehicle body and the second vehicle body can be clamped outside the insulating hanger bar.
6. The automatic ground wire loading device of any one of claims 1-3, wherein the railcar further comprises:
the brake device is arranged outside the insulating hanging rod and connected with the controller, and the controller is also used for controlling the brake device to clamp or loosen the insulating hanging rod.
7. An automatic earth mounting apparatus as claimed in any one of claims 1 to 3 wherein the insulating hanger bar comprises:
an insulating rod body;
electroscope, electroscope installs the tip of the insulating body of rod.
8. The automatic earth wire loading device of any one of claims 1-3, further comprising:
the roller is arranged on the hook of the insulating hanging rod.
9. A control method for an automatic earth wire loading device according to any one of the preceding claims 1-8, characterized by comprising the following control steps:
after an insulating hanging rod is hung on a wire to be grounded, the rail car is movably installed outside the circumference of the insulating hanging rod, the rail device is movably connected with the insulating hanging rod along the extending direction of the insulating hanging rod, and the electric grounding wire clamp is hung on the mechanical arm, the rail car is controlled to move along the insulating hanging rod, and meanwhile, the electric grounding wire clamp is controlled to be in an open state;
controlling the mechanical arm to stretch to hang the electric grounding wire clamp on a wire to be grounded;
and controlling the electric grounding wire clamp to clamp the wire to be grounded.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425583.9A CN114069351B (en) | 2021-11-27 | 2021-11-27 | Automatic ground wire mounting device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425583.9A CN114069351B (en) | 2021-11-27 | 2021-11-27 | Automatic ground wire mounting device and control method thereof |
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| CN114069351A CN114069351A (en) | 2022-02-18 |
| CN114069351B true CN114069351B (en) | 2024-01-23 |
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| CN109462047A (en) * | 2018-09-11 | 2019-03-12 | 国家电网有限公司 | A kind of electronic earthing clamp of wireless control |
| CN209641872U (en) * | 2019-03-14 | 2019-11-15 | 象山电力实业有限公司 | Portable fast and safely temporary ground wire |
| CN112864949A (en) * | 2021-01-07 | 2021-05-28 | 云南电网有限责任公司电力科学研究院 | Distribution line grounding wire assembling and disassembling device and control method thereof |
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| CN109546373B (en) * | 2018-11-22 | 2020-11-06 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Grounding wire clamp installation device for transformer substation and installation method of grounding wire clamp |
| CN214378894U (en) * | 2021-04-07 | 2021-10-08 | 国网山西省电力公司检修分公司 | Extra-high voltage substation grounding wire safety control locking device |
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| CN206134977U (en) * | 2016-11-10 | 2017-04-26 | 广东电网有限责任公司江门供电局 | Convenient insulating earth bar |
| CN208014935U (en) * | 2018-04-04 | 2018-10-26 | 广东电网有限责任公司 | Trolley type grounding wire device |
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| CN112864949A (en) * | 2021-01-07 | 2021-05-28 | 云南电网有限责任公司电力科学研究院 | Distribution line grounding wire assembling and disassembling device and control method thereof |
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