CN112928570A - Grounding wire operation tool, grounding wire hanging and dismounting system and method - Google Patents
Grounding wire operation tool, grounding wire hanging and dismounting system and method Download PDFInfo
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Abstract
本发明公开了一种接地线作业工具、挂拆接地线系统及方法，属于电力线拆装技术领域，能够使用机械臂调整地线卡钳的位姿，使用地线卡钳的后端连接姿态调整模块进一步配合机械臂以改变地线卡钳的位姿，从而能够精确控制地线卡钳完成挂拆接地线的操作，代替人工挂拆接地线的操作，接地线作业工具包括地线卡钳、夹持杆件、姿态调整模块、感知模块和控制模块，地线卡钳的尾端连接夹持杆件；地线卡钳包括固定件和移动件，移动件滑动连接固定件以使得固定件和移动件之间能够夹持物体；固定件和移动件的内侧面均安装感知模块以监测夹持力，地线卡钳的后端连接姿态调整模块以改变地线卡钳的位姿；控制模块连接姿态调整模块和感知模块。
The invention discloses a ground wire working tool, a system and method for hanging and detaching a ground wire, belonging to the technical field of power wire disassembly and assembly. Cooperate with the mechanical arm to change the posture of the ground wire caliper, so that the ground wire caliper can be accurately controlled to complete the operation of hanging and removing the ground wire, instead of manually hanging and removing the ground wire. The attitude adjustment module, the sensing module and the control module, the end of the ground wire clamp is connected to the clamping rod; the ground wire clamp includes a fixed part and a moving part, and the moving part is slidably connected to the fixed part to enable clamping between the fixed part and the moving part Objects; sensing modules are installed on the inner sides of the fixed parts and moving parts to monitor the clamping force, the rear end of the ground wire clamp is connected to the attitude adjustment module to change the posture of the ground wire clamp; the control module is connected to the attitude adjustment module and the sensing module.
Description
Technical Field
The invention belongs to the technical field of power line disassembly and assembly, and particularly relates to a grounding wire operating tool, a grounding wire hanging and disassembling system and a grounding wire hanging and disassembling method.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The routine maintenance operation of the substation equipment is one of the main means for ensuring the safe and stable operation of the power grid. The temporary grounding wire is an important guarantee for protecting safety of electric power workers during maintenance operation, and can prevent casualty accidents caused by voltage accidentally appearing on power-off equipment or lines. At present, when a grounding wire is hung and detached from most transformer substation equipment, two working modes exist, wherein one mode adopts a manual hand-held grounding rod, and the posture of a grounding device is adjusted and maintained manually; an aerial ladder lift truck is used for conveying workers to the position near an operation point to be hung with a grounding wire. Both approaches have the following disadvantages:
1) when the grounding rod is held by hand, the requirement on physical strength of personnel is high, the operation height is limited by the length of the grounding rod, and the whole operation process is long.
2) Under the mode of holding the grounding rod by hand, whether grounding is firm or not is difficult to observe, multiple persons are generally needed for matching, the shaking amplitude in the hanging and dismounting process is large, and surrounding equipment is easy to damage.
3) When the aerial ladder lift vehicle is adopted, the safety distance of personnel working is shortened, the personnel have great potential safety hazards when hanging and dismantling the operation, and the tail end of the aerial ladder is large in size, is suitable for the open transformer substation operation environment, and has certain requirements on the operation environment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a ground wire operating tool, a ground wire hanging and detaching system and a ground wire hanging and detaching method, wherein the position and the attitude of ground wire calipers can be adjusted by using a mechanical arm, and the rear end connection attitude adjustment module of the ground wire calipers is further matched with the mechanical arm to change the position and the attitude of the ground wire calipers, so that the ground wire calipers can be accurately controlled to finish the operation of hanging and detaching the ground wires, and the operation of manually hanging and detaching the ground wires is replaced; can be integrated with other control systems, and is convenient to observe and control.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the technical scheme of the invention provides a ground wire working tool, which comprises ground wire calipers, a clamping rod piece, an attitude adjusting module, a sensing module and a control module, wherein the tail end of each ground wire caliper is connected with the clamping rod piece; the ground wire caliper comprises a fixed part and a moving part, and the moving part is connected with the fixed part in a sliding mode so that an object can be clamped between the fixed part and the moving part; the inner side surfaces of the fixed piece and the moving piece are respectively provided with a sensing module for monitoring clamping force, and the rear end of the ground wire caliper is connected with an attitude adjusting module for changing the pose of the ground wire caliper; the control module is connected with the attitude adjusting module and the sensing module.
In a second aspect, the invention further provides a system for hanging and detaching a ground wire, which comprises the ground wire operating tool of the first aspect, wherein the ground wire operating tool is connected to one end of a mechanical arm, the other end of the mechanical arm is connected with a lifting mechanism, and the lifting mechanism is connected with a moving mechanism;
the ground wire operation tool comprises a ground wire operation tool body, and is characterized by further comprising a server, wherein the environment perception module of the ground wire operation tool body is communicated with the server, and the server is configured to establish a model of the surrounding environment of the ground wire operation tool body and analyze hanging and detaching target point positions.
In a third aspect, the invention further provides a method for hanging and detaching a ground wire, which uses the system of the second aspect;
when the ground wire is hung, the method comprises the following steps:
the moving mechanism drives the mechanical arm to move to the position near the operation point, a surrounding environment model is established through the environment sensing module, and the hanging target point position is analyzed;
lifting the lifting mechanism, and adjusting the position posture of the grounding wire operating tool by the mechanical arm and a posture adjusting module of the grounding wire operating tool after the lifting mechanism reaches an operating distance to finish hanging the grounding wire;
when the grounding wire is disconnected, the method comprises the following steps:
the moving mechanism keeps the position when the ground wire is hung, a surrounding environment model is established through the environment sensing module, and hanging target point positions are analyzed;
the lifting mechanism lifts to reach the position near the target point, the mechanical arm and the posture adjusting module of the grounding wire operator adjust the position posture of the grounding wire operation tool, the grounding wire operation tool loosens the bus, the scaling ladder returns, and the grounding wire disassembling work is completed.
An operator can operate the tool through a remote operation system and can judge and adjust the clamping state and the pose of the tool through the information monitored by each sensor.
The technical scheme of the invention has the following beneficial effects:
1) the ground wire hanging and detaching operation tool and the ground wire hanging and detaching operation system can adjust the pose of the ground wire calipers by using the mechanical arm, and the pose of the ground wire calipers is changed by using the rear end connection pose adjustment module of the ground wire calipers to further match with the mechanical arm, so that the ground wire calipers can be accurately controlled to finish the ground wire hanging and detaching operation, and the ground wire hanging and detaching operation can be replaced by manual ground wire hanging and detaching operation.
2) The ground wire caliper comprises the fixed part and the moving part, the pressure sensors are arranged on the inner sides of the fixed part and the moving part, and the clamping state of the ground wire caliper can be judged according to signals of the pressure sensors, so that whether wiring is firm or not can be judged, and the damage to an instrument caused by manual operation is avoided.
3) The ground wire hanging and detaching operation tool and the ground wire hanging and detaching operation system have portability, can be installed on the existing lift truck, do not need to be additionally designed, have higher mobility and universality, and can work under different use environments by matching with various machines.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic illustration of a tool according to one or more embodiments of the present invention;
FIG. 2 is a schematic view of a robotic arm according to one or more embodiments of the present disclosure;
FIG. 3 is a schematic view of a robotic arm attachment tool according to one or more embodiments of the present disclosure;
FIG. 4 is a diagram of a system attach ground step according to one or more embodiments of the present disclosure;
FIG. 5 is a diagram of a system grounding wire removal step according to one or more embodiments of the invention;
FIG. 6 is a block diagram of an on-hook ground routine according to one or more embodiments of the present invention;
fig. 7 is a block diagram of a groundwire removal process in accordance with one or more embodiments of the invention.
In the figure: 1. the device comprises an outer frame, 2, a clamping motor, 3, an X-axis screw rod, 4, an X-axis motor, 5, a clamping rod piece, 6, a movable sliding block, 7, a lifting screw rod, 8, an insulating protective shell, 9, a Y-axis screw rod, 10, a Y-axis motor, 11, a posture adjusting module base, 12, an umbrella gear, 13, a metal sheath, 14, a small arm pitching oil cylinder, 15, a small arm pitching joint, 16, a rotating oil cylinder, 17, a clamping paw, 18, a large arm pitching oil cylinder, 19, a small arm rotating shaft, 20, a large arm pitching joint, 21, a large arm rotating shaft, 22, a waist rotating joint, 23 and a control box.
The spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, 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 belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
Term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounted," "connected," and "fixed" may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As introduced by the background art, aiming at the defects in the prior art, the invention aims to provide the ground wire operating tool, the ground wire hanging and detaching system and the ground wire hanging and detaching method, the position and the attitude of the ground wire calipers can be adjusted by using a mechanical arm, and the rear end connection attitude adjustment module of the ground wire calipers is further matched with the mechanical arm to change the position and the attitude of the ground wire calipers, so that the ground wire calipers can be accurately controlled to finish the operation of hanging and detaching the ground wires, and the manual operation of hanging and detaching the ground wires is replaced; can be integrated with other control systems; meanwhile, the observation and control are convenient.
Example 1
In an exemplary embodiment of the present invention, the present embodiment discloses a ground wire hanging and disconnecting operation robot arm, as shown in fig. 2, which comprises a gripper jaw 17, a small arm pitch joint 15, a large arm pitch joint 20 and a waist rotation joint 22 connected from the head end to the tail end.
The clamping paw 17 comprises a clamping paw main body, a pressure sensor, a telescopic oil cylinder and a rotary oil cylinder 16, the telescopic oil cylinder and the pressure sensor are installed in the clamping paw 17 main body, the rotary oil cylinder 16 is installed at the tail end of the clamping paw 17 main body, the clamping paw 17 is opened and closed through the telescopic oil cylinder installed in the clamping paw 17 main body, rotary motion is achieved through the rotary oil cylinder 1616 installed at the tail end of the clamping paw 17, and whether clamping is firm or not is judged through the pressure sensor in the clamping paw 17.
The work tool which can be gripped by the gripping claws 17 includes a patch cord work tool, but is not limited to this type of work tool.
The inner part of the small arm pitching joint 15 connected with the clamping paw 17 is connected with a small arm rotating shaft 19 through a small arm telescopic oil cylinder; a telescopic displacement sensor is arranged on the telescopic oil cylinder and used as a feedback signal source for closed-loop control of the oil cylinder, and an angle sensor is arranged and used for monitoring the current posture of the forearm pitching joint 15. Besides the large arm telescopic oil cylinder, the large arm pitching joint 20 is internally provided with a servo valve and a valve block of the mechanical arm, and an angle sensor is also arranged on the inner wall of the mechanical arm in order to fully utilize the internal space of the large arm and save the volume of the whole mechanical arm.
The gripping fingers 17 in this embodiment can be used to grip a variety of tools.
Waist revolute joint 22 also is the base of arm simultaneously, and waist revolute joint 22 includes the gyration hydro-cylinder, and the arm accessible waist revolute joint 22 rotates 180 degrees in the horizontal plane to pass through angle sensor with real-time angle transfer to control system.
The ground wire hanging and detaching operation mechanical arm is driven by the hydraulic oil cylinders with the 3 joints, required hydraulic oil is supplied by the hydraulic motor, and the hydraulic motor is arranged on the movable vehicle body, so that the weight of the mechanical arm is effectively reduced. Compared with an electric push rod driving mode, the hydraulic driving mode of the ground wire hanging and detaching operation mechanical arm can ensure that a mechanical arm control loop is insulated, and powerful clamping force and driving force can be provided.
Example 2
In a typical embodiment of the present invention, the present embodiment discloses a ground wire working tool, which includes a ground wire caliper module, a driving module, an attitude adjusting module, a clamping rod 5, a sensing module and a control module, wherein the driving module, the attitude adjusting module, the clamping rod 5, the sensing module and the control module are all installed in a control box 23, and an insulating protective housing 8 is installed outside the control box 23. The ground wire caliper module is connected with the driving module to obtain power, the ground wire caliper module is further connected with the clamping rod piece 5, and the posture adjusting module, the clamping rod piece 5, the sensing module and the control module are all installed on the ground wire caliper module to obtain related data.
Furthermore, the grounding wire caliper module comprises two parts, one part is a C-shaped outer frame 11 of the caliper, the other part is a movable sliding block 6 inside the caliper, a side guide rail is arranged on the inner side surface of the C-shaped outer frame 11, the movable sliding block 6 is connected to the side guide rail of the C-shaped outer frame 11 in a sliding mode and can slide up and down along the side guide rail of the C-shaped outer frame 11, and therefore clamping action can be executed between the movable sliding block 6 and the inner edge of the C-shaped outer frame 11.
It can be understood that the C-shaped outer frame 11 serves as a fixed member, the movable slider 6 serves as a movable member, and the fixed member has only to have two bending portions bending in the same direction, so that the C-shaped outer frame 11 in this embodiment can be replaced with the U-shaped outer frame 1 or the concave-shaped outer frame 1. The part between the two bending parts of the fixing piece is connected with the moving piece in a sliding manner.
The top surface of the movable sliding block 6 and the C-shaped outer frame 11 are both provided with a multi-point force sensor for monitoring the clamping degree of calipers and preventing the wires or equipment from being damaged; the bottom surface of the movable sliding block 66 is provided with a limit switch to prevent the hardware damage caused by the locked rotor of the motor when reaching the hardware limit position.
Further, the driving module comprises a clamping motor 2, a control circuit and a power supply, wherein the clamping motor 2 is connected with the control circuit, and the clamping motor 2 and the control circuit are both connected with the power supply. The output shaft of the clamping motor 2 is connected with the movable sliding block 6 through a lifting screw rod 77, and the lifting screw rod 77 is in threaded connection with the sliding block to convert the spiral motion of the motor into the linear motion of the sliding block.
Furthermore, the posture adjusting module is connected to the bottom of the ground wire caliper module, has X freedom degree, Y freedom degree and rotation freedom degree along the Z axis, has 3 freedom degrees in total, and can realize micro adjustment of the tool posture in the final stage of the ground wire hanging and disconnecting work.
In more detail, the posture adjustment module comprises an X-axis motor 4, a Y-axis motor 10, an X-axis lead screw 3 and a Y-axis lead screw 9, wherein the X-axis motor 4 is connected with the X-axis lead screw 3, the Y-axis motor 10 is connected with the Y-axis lead screw 9, the X-axis lead screw 3 is perpendicular to the Y-axis lead screw 9, and the X-axis motor 4 and the Y-axis motor 10 are both arranged on a posture adjustment module base 11; wherein, the posture adjustment of the X-Y plane (the plane parallel to the posture adjustment module base 11) is driven and adjusted by an X-axis motor 4 and a Y-axis motor 10 and is transmitted through an X-axis lead screw 3 and a Y-axis lead screw 99. The rotation operation is adjusted by a rotating motor located under the attitude adjustment module base 11 through a bevel gear 12.
More specifically, the output shaft of the rotating motor is connected to the bevel gear 12, the attitude adjustment module base 11 is provided with a gear meshed with the bevel gear 12, and the rotating motor is driven to rotate the attitude adjustment module base 11 by the meshing of the bevel gear 12 and the gear.
Further, the clamping rod 5 is the most end part of the earth wire working tool, is made of insulating materials and has the length of 1 meter.
The metal sheath 13 is sleeved at the tail end of the clamping rod piece 5, so that the clamping of the mechanical arm paw is facilitated, the problem of the rotation angle of the paw when the posture of the mechanical arm is adjusted is considered, the position of the metal sheath 13 can be changed according to different moments for ensuring the tight clamping of a special operation tool and the clamping paw 17. In this embodiment, assuming that the left-right offset angle is β, the gravity of the top part component of the special working tool is a, and the metal sheath 13 is away from the top position B, the moment applied to the gripping claw 17 is F ═ a · cos β · B, and holding F < F claw ensures stable gripping of the tool.
Further, the sensing module comprises a magnetic field sensor, a three-axis attitude sensor and the multi-point pressure sensor, wherein the magnetic field sensor and the three-axis attitude sensor are both mounted at the bottom end of the ground wire caliper module or at the tail end of the mechanical arm.
The magnetic field sensor is used for monitoring the magnetic field intensity around the tool and preventing the tool from being hung on a live bus or equipment during hanging; the three-axis attitude sensor is used for monitoring the real-time pose of the tool, so that the clamping attitude of the tool can be conveniently adjusted by the mechanical arm, and the clamping attitude of the tool is always kept perpendicular to the bus.
Further, the control module comprises a motor rotation blocking prevention circuit and a motor control module which are connected, and the motor control module is connected with the X-axis motor 4, the Y-axis motor 10 and the rotating motor.
In the embodiment, a software anti-locked rotor design is added on the basis of hardware anti-locked rotor, the anti-locked rotor is realized by detecting the locked rotor current of the motor, and when the current exceeds a set threshold value, the motor is automatically stopped to rotate; specifically, the motor control module in this embodiment includes a forward/reverse rotation control and alarm circuit for the motor, the forward/reverse rotation of the motor is controlled by a remote command, and the alarm circuit is responsible for generating different alarm sounds when the magnetic field around the tool is too large or the motor is locked.
The X-axis motor 4, the Y-axis motor 10 and the rotating motor in the embodiment are all light motors, and limit switches are additionally arranged on the basis of positive and negative rotation and emergency stop, so that the motors can be automatically stopped after a bus is clamped, and a circuit or a tool cannot be damaged. In addition, whether the line is electrified or not is determined by means of a magnetic field sensor on the tool, and the safety of operation is guaranteed. The operation mechanical arm can carry a tool to a target point position through the multi-degree-of-freedom matched movement, and the ground wire hanging and disconnecting operation is carried out, so that man-machine separation and remote control are realized, the personal safety of operators is ensured, and casualty accidents are reduced.
Example 3
In a typical implementation manner of the present invention, this embodiment discloses a ground wire hanging and disconnecting system, which includes a moving vehicle body, an elevating aerial ladder, a ground wire hanging and disconnecting operation mechanical arm, and a ground wire operation tool, which are disposed from bottom to top, where the ground wire hanging and disconnecting operation mechanical arm is the ground wire hanging and disconnecting operation mechanical arm in embodiment 1, and the ground wire operation tool is the ground wire operation tool in embodiment 2. The gripping claws 17 of the robot arm grip the earth wire working tool.
The ground wire operation tool comprises a ground wire operation tool body, and is characterized by further comprising a server, wherein the environment perception module of the ground wire operation tool body is communicated with the server, and the server is configured to establish a model of the surrounding environment of the ground wire operation tool body and analyze hanging and detaching target point positions.
The bottom of the movable vehicle body is provided with a supporting mechanism to prevent the gravity center from shifting and the vehicle body from turning over during the operation; the last section of the lifting aerial ladder is made of insulating materials, the insulating grade of the corresponding operation requirement is achieved, the stretching mode is that the tail end extends out first, and the other sections extend out in sequence; the lifting aerial ladder and the hanging and dismounting ground wire operation mechanical arm are fixed through high-strength screws and can be dismounted and replaced; the ground wire hanging and detaching operation mechanical arm and the ground wire operation tool are clamped by the mechanical gripper, and the clamping position can be properly adjusted. The form of installation of the ground wire handling robot and the ground wire handling tool is shown in fig. 3 below.
In other embodiments, the moving vehicle body is used as a moving mechanism, and can also be in other forms, such as a roller wheel, a four-foot walking mechanism and the like which operate independently.
In other embodiments, the aerial ladder is used as a lifting mechanism, and can also be in other forms, such as a hydraulic cylinder, a pneumatic cylinder and the like.
Example 4
In a typical implementation manner of the present invention, this embodiment discloses a method for hanging and disconnecting a ground wire, where a system for hanging and disconnecting a ground wire as described in embodiment 3 is used, and a working manner of the system is described below by a complete operation flow, where the flow is as shown in fig. 4 and 5, and when a ground wire is hung, the method includes the following steps:
firstly, the mobile vehicle body moves to the position near an operation point, a surrounding environment model is established through an environment sensing system, and a hanging target point position is analyzed.
The lifting aerial ladder is lifted, and after the aerial ladder reaches the working distance, the mechanical arm and the posture adjusting module of the special tool are responsible for adjusting the position posture of the special tool to finish hanging the ground wire.
When the grounding wire is disconnected, the method comprises the following steps:
the movable vehicle body does not need to move, and can directly perform modeling analysis on the environment to detach the grounding wire.
Firstly, the aerial ladder is lifted to reach the position near a target point, and then the mechanical arm adjusts the position of the mechanical claw to clamp a special tool.
And finally, the special tool loosens the bus, and the scaling ladder retracts to finish the work of disconnecting the ground wire.
More specifically, the specific flow of the ground wire hanging and disconnecting operation in the complete operation process is shown in fig. 6 and 7. When the ground wire is hung, firstly, the live detection of the equipment is carried out, when the equipment is detected to be live, the operation is stopped, the lifting aerial ladder is returned to the initial state, and the operation of hanging the ground wire can be carried out only when the equipment is detected to be uncharged.
When the ground wire is hung, the position of the special operation tool is adjusted through the hydraulic mechanical arm, and the position of the ground wire buckle is slightly adjusted through the posture adjusting module of the special tool. After the adjustment is finished, the special operation tool is controlled to complete clamping of the ground wire buckle, whether clamping is carried out or not is judged through the multipoint pressure sensor, and if clamping is not carried out, the step is returned to the previous step for continuing clamping. After clamping is completed, the hydraulic mechanical arm claw loosens a special tool, and the lifting scaling ladder retreats to complete ground wire hanging operation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A ground wire working tool is characterized by comprising ground wire calipers, a clamping rod piece, an attitude adjusting module, a sensing module and a control module, wherein the tail ends of the ground wire calipers are connected with the clamping rod piece; the ground wire caliper comprises a fixed part and a moving part, and the moving part is connected with the fixed part in a sliding mode so that an object can be clamped between the fixed part and the moving part; the inner side surfaces of the fixed piece and the moving piece are respectively provided with a sensing module for monitoring clamping force, and the rear end of the ground wire caliper is connected with an attitude adjusting module for changing the pose of the ground wire caliper; the control module is connected with the attitude adjusting module and the sensing module.
2. The ground wire working tool according to claim 1, wherein the fixed member has two bent portions bent in the same direction, a portion between the two bent portions of the fixed member is slidably connected to the moving member, and the moving member is connected to a reciprocating power source.
3. The ground wire working tool according to claim 1, wherein the sensing module comprises a force sensor, a magnetic field sensor and a three-axis attitude sensor, the magnetic field sensor and the three-axis attitude sensor are mounted at the bottom end of the ground wire caliper module or at the end of the mechanical arm, and the force sensor is mounted on the inner side surfaces of the fixed member and the movable member.
4. The ground wire working tool according to claim 1, wherein a limit switch is mounted on a bottom surface of the moving member, and the limit switch is connected to the control module.
5. The ground wire working tool according to claim 1, wherein the attitude adjustment module is connected to the ground wire caliper as a bottom of the fixing member, the attitude adjustment module includes an X-axis linear actuator, a Y-axis linear actuator and an attitude adjustment module base, the X-axis linear actuator and the Y-axis linear actuator are mounted to the attitude adjustment module base, power output ends of the X-axis linear actuator and the Y-axis linear actuator are connected to the fixing member of the ground wire caliper, and a power output direction of the X-axis linear actuator is perpendicular to a power output direction of the Y-axis linear actuator.
6. The ground wire working tool according to claim 5, wherein the attitude adjustment module further comprises a Z-axis rotary driver, and a rotary power output end of the Z-axis rotary driver is connected to an end of the ground wire caliper to drive the ground wire caliper to rotate.
7. The ground wire operating tool as claimed in claim 1, wherein the clamping rod is sleeved with a metal sheath at the rear end thereof.
8. A hanging and detaching grounding wire system is characterized by comprising the grounding wire operating tool as claimed in any one of claims 1 to 7, wherein the grounding wire operating tool is connected to one end of a mechanical arm, the other end of the mechanical arm is connected with a lifting mechanism, and the lifting mechanism is connected with a moving mechanism;
the ground wire operation tool comprises a ground wire operation tool body, and is characterized by further comprising a server, wherein the environment perception module of the ground wire operation tool body is communicated with the server, and the server is configured to establish a model of the surrounding environment of the ground wire operation tool body and analyze hanging and detaching target point positions.
9. A suspension and disconnection ground wire system as claimed in claim 8, wherein said moving mechanism is a car body, said elevating mechanism is an aerial ladder, and said robot arm is connected to the aerial ladder.
10. A method of attaching and detaching a earth wire, characterized by using the system of claim 8;
when the ground wire is hung, the method comprises the following steps:
the moving mechanism drives the mechanical arm to move to the position near the operation point, a surrounding environment model is established through the environment sensing module, and the hanging target point position is analyzed;
lifting the lifting mechanism, and adjusting the position posture of the grounding wire operating tool by the mechanical arm and a posture adjusting module of the grounding wire operating tool after the lifting mechanism reaches an operating distance to finish hanging the grounding wire;
when the grounding wire is disconnected, the method comprises the following steps:
the moving mechanism keeps the position when the ground wire is hung, a surrounding environment model is established through the environment sensing module, and hanging target point positions are analyzed;
the lifting mechanism lifts to reach the position near the target point, the mechanical arm and the posture adjusting module of the grounding wire operator adjust the position posture of the grounding wire operation tool, the grounding wire operation tool loosens the bus, the scaling ladder returns, and the grounding wire disassembling work is completed.
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Application publication date: 20210608 |