CN113097921B - Grounding ring installation tool and method suitable for live working of robot - Google Patents
Grounding ring installation tool and method suitable for live working of robot Download PDFInfo
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- CN113097921B CN113097921B CN202110370461.8A CN202110370461A CN113097921B CN 113097921 B CN113097921 B CN 113097921B CN 202110370461 A CN202110370461 A CN 202110370461A CN 113097921 B CN113097921 B CN 113097921B
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- gear
- grounding ring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/58—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation characterised by the form or material of the contacting members
- H01R4/66—Connections with the terrestrial mass, e.g. earth plate, earth pin
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Abstract
The invention provides a grounding ring installation tool and a grounding ring installation method suitable for live working of a robot, wherein the installation tool comprises a first limiting tool, a second limiting tool, a driving assembly, a rotating assembly and a disengaging assembly, which are arranged on a base, the first limiting tool and the second limiting tool are respectively used for clamping and limiting a first wire clamp and a second wire clamp, the first wire clamp and the second wire clamp are fixedly connected through bolts and nuts, the second limiting tool can make opening and closing movement relative to the first limiting tool, the rotating assembly is driven to realize nut screwing of a grounding ring through forward rotation of the driving assembly, and the disengaging assembly is driven to realize disengagement of a nut of the grounding ring and a gear sleeve through reverse rotation of the driving assembly. The invention greatly simplifies the installation process of the grounding ring, ensures that the grounding ring is stable and does not shake in the operation process, only needs one driving degree of freedom for locking and releasing the grounding ring, effectively improves the operation efficiency and avoids the risk of manual operation.
Description
Technical Field
The invention relates to a grounding ring installation tool and a grounding ring installation method suitable for live working of a robot, and belongs to the field of overhead line maintenance.
Background
When transmission line or equipment overhaul, the electric power industry need hang and establish the earth connection for guaranteeing maintainer's safety, hang the main way of establishing the earth connection and be, utilize a plurality of installation appurtenance, lift the ground ring that rectangular ring body department is connected with the earth connection to lock the main line section of shelling the insulating skin, the flow of whole operation process is loaded down with trivial details, inefficiency, needs manual live working of carrying on in addition, has increased the safety risk. The development of the special industry is greatly driven by the rise of the robot industry, the robot grabbing the actuator can avoid many safety risks, and meanwhile, the operation efficiency is improved.
Aiming at the defects of the grounding ring installation tool and the grounding ring installation method, a set of robot end effector device which is easy to install, safe to operate and low in locking and disengaging freedom degree needs to be researched.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects of safety risk, complex operation process and the like of the grounding ring installation tool and method, the invention provides the grounding ring installation tool and method suitable for live working of a robot, which greatly simplify the installation process of the grounding ring, ensure the stability and no shaking in the operation process, simultaneously only one driving degree of freedom is needed for locking and separating the grounding ring, effectively improve the operation efficiency and avoid the risk of manual operation.
The technical scheme is as follows: in order to achieve the purpose, the invention provides a grounding ring installation tool suitable for live working of a robot, which comprises a base, a grounding ring, a first limiting tool, a second limiting tool, a driving assembly, a rotating assembly and a disengaging assembly, wherein the first limiting tool, the second limiting tool, the driving assembly, the rotating assembly and the disengaging assembly are arranged on the base;
the grounding ring comprises a first wire clamp and a second wire clamp which are connected through bolts and nuts, the clamping and limiting of the first wire clamp and the second wire clamp are realized through a first limiting tool and a second limiting tool respectively, and the second limiting tool can move relative to the first limiting tool in an opening and closing mode;
the rotating assembly comprises a gear sleeve, a nut which drives the gear sleeve to realize that the grounding ring is screwed through forward rotation of the driving assembly, and a reverse rotation of the driving assembly drives the disengaging assembly to realize that the grounding ring nut is disengaged from the gear sleeve.
Furthermore, the rotating component further comprises a first-stage small bevel gear, a first-stage large bevel gear, a second-stage pinion, a second-stage large gear and a third-stage constant speed gear, wherein the first-stage small bevel gear is mounted at the output end of the driving component, the first-stage large bevel gear is in meshing transmission with the first-stage small bevel gear, the first-stage large bevel gear is in coaxial transmission with the second-stage pinion, the second-stage pinion is in meshing transmission with the second-stage large gear, the second-stage pinion is in coaxial transmission with the third-stage constant speed gear, and the third-stage constant speed gear is in meshing transmission with the gear sleeve.
Furthermore, a torque limiting component is arranged between the second-stage large gear and the third-stage constant speed gear and used for limiting the torque transmitted between the second-stage large gear and the third-stage constant speed gear.
Further, the torque limiting assembly comprises a check nut, a rectangular spring, a top column seat and a top column, the check nut, the rectangular spring, the top column seat and a second-stage large gear are sequentially sleeved on a central shaft of the third-stage constant-speed gear, the top column is installed in the top column seat and is abutted to a groove in the second-stage large gear, the second-stage large gear drives the top column seat to rotate through the top column and then drives the third-stage constant-speed gear to rotate through the top column seat, and the check nut is in threaded connection with the central shaft of the third-stage constant-speed gear and used for adjusting pressing force of the rectangular spring on the top column seat and further adjusting the torque limiting range.
Furthermore, first spacing frock includes bolt, bulb plunger, and the both sides bolt is respectively through guide rail slider and base sliding connection to it is spacing to the clamp tight of first fastener to realize both sides bolt through bulb plunger.
Further, first spacing frock is including still including one-way gear, steering gear, both sides rack, and wherein one-way gear and drive assembly's output shaft one-way transmission, one-way gear and steering gear meshing transmission, one-way gear, steering gear respectively with both sides rack meshing transmission, both sides rack respectively with both sides bolt correspond fixedly.
The one-way transmission effect of rack and pinion, on the one hand when locking ground loop, can keep firm, on the other hand when drive assembly antiport, drives both sides bolt and outwards slides, and it is spacing to loosen the centre gripping of first fastener.
Further, the spacing frock of second includes splint seat, splint, shaft shoulder screw, the splint seat passes through guide rail slider and base sliding connection, splint pass through the shaft shoulder screw and install on the splint seat, wear to be equipped with clamping spring on the shaft shoulder screw, keep the clamp force between splint and the splint seat through clamping spring to conveniently break away from.
Furthermore, the separation assembly comprises an auxiliary separation gear, an auxiliary separation rack and an auxiliary separation stop block, wherein the auxiliary separation gear is in one-way transmission with an output shaft of the driving assembly, the auxiliary separation gear is in meshing transmission with the auxiliary separation rack, the auxiliary separation rack is fixed with the auxiliary separation stop block, and the auxiliary separation stop block is driven by the reverse rotation of the driving assembly to realize the separation of the grounding ring nut from the gear sleeve.
In addition, an installation method based on the installation tool for the grounding ring comprises the following steps:
s1: when the grounding ring is installed, the first wire clamp and the second wire clamp are respectively limited and fixed through the first limiting tool and the second limiting tool, so that the grounding ring nut enters the corresponding gear sleeve;
s2: the mechanical arm is butted with the grounding ring installation tool and is close to the main line, when the main line falls between the first wire clamp and the second wire clamp, the driving assembly rotates forwards to drive the gear sleeve to realize the screwing of the nut of the grounding ring, so that the first wire clamp and the second wire clamp are locked on the main line in a closed mode;
s3: after the locking is completed, the reverse rotation of the driving assembly drives the separation assembly to realize the separation of the grounding ring nut and the gear sleeve, and then the grounding ring installation tool is pulled downwards through the mechanical arm to realize the separation of the grounding ring and the grounding ring installation tool.
Has the advantages that: compared with the prior art, the grounding ring installation tool and the grounding ring installation method suitable for live working of the robot have the following advantages:
1. the grounding ring mounting tool is suitable for live lapping operation of a robot, the mounting process is greatly simplified, the grounding ring can be locked and separated only by one rotational degree of freedom, and the operating efficiency is greatly improved;
2. the locking torque of two bolts on the realization ground ring is even through the effect of skidding of moment restriction subassembly, and device stability is high, and stable no rocking has effectively improved the operation security in the installation.
Drawings
FIG. 1 is a schematic view of a grounding ring installation tool according to an embodiment of the present invention;
FIG. 2 is a front cross-sectional view of a ground ring installation tool at a drive shaft in an embodiment of the invention;
FIG. 3 is a front cross-sectional view of a ground ring installation tool at a gear sleeve in an embodiment of the present invention;
FIG. 4 is an isometric view of a ground ring installation tool from above in an embodiment of the invention;
FIG. 5 is an isometric view of a ground ring installation tool in the bottom view of an embodiment of the present invention;
FIGS. 6-8 are schematic views illustrating the operation of the ground ring installation tool in the embodiment of the present invention;
FIG. 9 is a schematic diagram of a structure of a gear sleeve and a ground ring nut according to an embodiment of the present invention;
the figure includes: 1. a first wire clamp, 2, a second wire clamp, 3, a butt joint component, 4, a first limit tool, 5, a rotating component, 6, a second limit tool, 7, a gear sleeve, 8, a three-stage constant speed gear, 9, a first-stage large bevel gear, 10, a first-stage small bevel gear, 11, a one-way bearing, 12, a driving shaft, 13, an upper locking rod, 14, a tool disc, 15, a transmission pin, 16, an inclined plane block, 17, a guiding positioning disc, 18, a transition seat, 19, a base, 20, a one-way gear, 21, a supporting plate, 22, a second-stage pinion, 23, a spacer sleeve, 24, a bearing pressing plate, 25, a locking nut, 26, a second-stage large gear, 27, a jack post seat, 28, a gasket, 29, a rectangular spring, 30, a locknut, 31, a jack post, 32, an oilless bushing, 33, an auxiliary disengaging gear, 34, a bolt, 35, a short rack, 36, a steering gear, 37, an auxiliary disengaging rack, 38. long rack 39, auxiliary release stop 40, shoulder screw 41, clamping plate 42, clamping spring 43, clamping plate seat 44, ball plunger 45 and main line.
Detailed Description
The following description of the embodiments of the present invention will be provided in conjunction with the accompanying drawings to more clearly and completely illustrate the technical solutions of the present invention.
Fig. 1 and 2 show a specific embodiment of a ground ring installation tool suitable for live working of a robot, which includes a base 19, a ground ring, a driving assembly, a docking assembly 3, a first limit tool 4, a second limit tool 6, a rotating assembly 5, and a disengagement assembly, wherein the ground ring includes a first wire clamp 1 and a second wire clamp 2 connected by bolts and nuts, and a rectangular ring body is connected under the second wire clamp 2.
As shown in fig. 2, the driving assembly includes a driving shaft 12, a transmission pin 15, and a transition seat 18, wherein the transition seat 18 is mounted at the bottom of a base 19, the driving shaft 12 is mounted in the transition seat 18 through a bearing, an output end of the driving shaft penetrates and extends above the base 19, and the transmission pin 15 is mounted at an input end of the driving shaft 12 for transmitting a driving torque.
Further, the docking assembly 3 comprises a tool tray 14, slope blocks 16, an upper locking rod 13 and a guiding positioning tray 17, and is used for realizing positioning connection between the ground ring installation tool and the tail end of the mechanical arm, wherein 3 slope blocks 16 are installed on the tool tray 14, the upper locking rod 13 is connected with the tool tray 14 through a cylindrical pin, a spring is compressed between the tool tray and the upper locking rod, and the guiding positioning tray 17 is fixedly connected with the tool tray 14 through screws.
Further, the rotating component 5 comprises a support plate 21, a gear sleeve 7, a first-stage bevel pinion 10, a first-stage bevel pinion 9, a second-stage pinion 22, a second-stage gearwheel 26 and a third-stage constant speed gear 8, wherein the first-stage bevel pinion 10 is mounted at the output end of the driving shaft 12, torque is transmitted through a key, and the end face is axially fixed by a screw. The first-stage large bevel gear 9 is in meshing transmission with the first-stage small bevel gear 10, the first-stage large bevel gear 9 is sleeved on a shaft of the second-stage small gear 22, torque is transmitted through a key, and axial fixation is carried out through a spacer 23 and an end face screw. The second-stage small gear 22 is in meshing transmission with the two second-stage large gears 26 to divide power into two parts, the second-stage large gears 26 are in coaxial transmission with the third-stage constant speed gear 8, the third-stage constant speed gear 8 is in meshing transmission with the gear sleeve 7, and finally the two nuts on the grounding ring are screwed and locked through the two gear sleeves 7. The supporting plate 21 is fixed on the base 19 through screws, the gear sleeve 7, the secondary pinion 22 and the tertiary constant speed gear 8 are all installed on the supporting plate 21 through bearings, 5 bearings on the supporting plate 21 are pressed tightly through a bearing pressing plate 24, and the gear sleeve 7 is axially fixed through a locking nut 25.
Further, a torque limiting component is arranged between the second-stage gearwheel 26 and the third-stage constant-speed gear 8, and is used for limiting the torque transmitted between the second-stage gearwheel 26 and the third-stage constant-speed gear 8. As shown in fig. 3, the torque limiting assembly includes a locknut 30, a rectangular spring 29, a spacer 28, a top column seat 27, and a top column 31, wherein the second-stage gearwheel 26 is sleeved on a central shaft of the third-stage constant velocity gear 8 through an oilless bushing 32, the locknut 30, the rectangular spring 29, the spacer 28, and the top column seat 27 are sequentially sleeved on the central shaft of the third-stage constant velocity gear 8, the top column seat 27 transmits torque to the third-stage constant velocity gear 8 through key transmission, and the top column 31 is installed in the top column seat 27 and abuts against the second-stage gearwheel 26. The second-stage gearwheel 26 drives the prop base 27 to rotate through the prop 31, and then drives the third-stage constant-speed gear 8 to rotate through the prop base 27. The locknut 30 is threadedly connected with a gear shaft of the three-stage constant velocity gear 8, and is used for adjusting the pressing force of the rectangular spring 29 on the top column base 27, thereby adjusting the torque limit range.
The working principle of the torque limiting assembly is that the second-stage large gear 26 transmits power to the top column 31, the top column 31 drives the top column base 27, and the top column base 27 drives the third-stage constant-speed gear 8 through key transmission. When the torque of a certain end sleeve exceeds the limit, the friction force of the second-stage large gear 26 corresponding to the certain end sleeve is not enough to drive the ejection column 31, the ejection column 31 is ejected in the gear groove to slip, the second-stage large gear 26 idles, and the power cannot be transmitted to the corresponding third-stage constant-speed gear 8, so that the torque limit is realized. Meanwhile, the specific numerical value of the torque limit can be adjusted within a certain range by rotating the locknut 30 and adjusting the pretightening force of the spring.
As shown in fig. 2, 4 and 5, the first limiting tool 4 includes a bolt 34, a ball plunger 44, a one-way bearing 11, a one-way gear 20, a steering gear 36, a long rack 38 and a short rack 35, wherein the one-way bearing 11 is pressed into the one-way gear 20, the one-way gear 20 is mounted on the driving shaft 12, the one-way gear 20 is engaged with the long rack 38, and the long rack 38 is mounted on the base 19 through a guide rail slider and is limited by a cylindrical pin. The one-way gear 20 is simultaneously meshed with a steering gear 36, the steering gear 36 is meshed with a short rack 35, and the short rack 35 is installed on the bearing support plate 21 through a guide rail sliding block and limited through a cylindrical pin. Two latches 34 are mounted on the long rack 38 and the short rack 35, respectively, and are held firmly when the ground ring is locked. Ball plunger 44 is mounted on support plate 21 and further acts as a clamping stop when pin 34 is inserted into the ground ring housing recess.
As shown in fig. 5, the second limiting tool 6 includes a clamping plate seat 43, a clamping plate 41, and a shoulder screw 40, the clamping plate seat 43 is mounted on the base 19 through two sets of rail sliders, the clamping plate 41 is mounted on the clamping plate seat 43 through the shoulder screw 40, a clamping spring 42 is disposed on the shoulder screw 40 in a penetrating manner, and the clamping spring 42 maintains a clamping force between the clamping plate 41 and the clamping plate seat 43, and is convenient to detach.
Further, the disengaging assembly comprises an auxiliary disengaging gear 33, an auxiliary disengaging rack 37 and an auxiliary disengaging block 39, wherein the auxiliary disengaging gear 33 is fixedly connected with the gear of the one-way bearing 11 through a screw to transmit power, the auxiliary disengaging gear 33 is meshed with the auxiliary disengaging rack 37, the auxiliary disengaging rack 37 is installed on the auxiliary disengaging block 39, and the auxiliary disengaging block 39 is installed on the clamping plate seat 43 through a guide rail sliding block.
As shown in fig. 6 to 8, the installation method of the grounding ring installation tool comprises the following steps:
s1: when the grounding ring is installed, the second limiting tool 6 is pulled outwards to the limit, the rectangular ring body of the grounding ring is plugged into the clamping plate 41 to be clamped, the bolts 34 on the two sides are pulled outwards, the second limiting tool 6 is pushed inwards, two nuts of the grounding ring enter corresponding sleeves, the bolts 34 are pressed inwards, and the bolts 34 are clamped into the grooves of the outer shell of the grounding ring;
s2: the butt joint of the mechanical arm and the grounding ring installation tool is completed through the butt joint component 3, the grounding ring installation tool is close to the main line 45, after the grounding ring is buckled into the main line 45, the motor at the tail end of the mechanical arm starts to rotate forwards (drives the driving shaft 12 to rotate forwards), the sleeve is driven to lock the grounding ring nut, and the locking torque of two bolts of the grounding ring can be ensured to be uniform through the slipping effect of the torque limiting component in the locking process;
s3: accomplish the locking back, the certain angle of terminal motor reversal, along with the motor reversal (the reversal of drive shaft 12), at first the ground ring shell recess is deviate from to bolt 34, and then supplementary break away from dog 39 promotes the spacing frock 6 of second for two nuts of ground ring break away from out from the sleeve, drag mounting tool downwards through the arm at last, make ground ring rectangle ring body break away from out from splint 41, realize breaking away from of ground ring and mounting tool, the operation is accomplished.
As shown in fig. 9, there is certain idle running redundancy in the cooperation structure of gear sleeve 7 and ground ring nut, makes the butt joint of gear sleeve 7 and ground ring nut easier on the one hand, and on the other hand avoids at the in-process of motor reversal (ground ring nut has not broken away from) that gear sleeve 7 drives the reversal of ground ring nut to influence the locking degree of ground ring.
The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. A grounding ring installation tool suitable for live working of a robot is characterized by comprising a base, a grounding ring, a first limiting tool, a second limiting tool, a driving assembly, a rotating assembly and a disengaging assembly, wherein the first limiting tool, the second limiting tool, the driving assembly, the rotating assembly and the disengaging assembly are arranged on the base;
the grounding ring comprises a first wire clamp and a second wire clamp which are connected through bolts and nuts, the clamping and limiting of the first wire clamp and the second wire clamp are realized through a first limiting tool and a second limiting tool respectively, and the second limiting tool can move relative to the first limiting tool in an opening and closing mode;
the rotating assembly comprises a gear sleeve, the gear sleeve is driven by the forward rotation of the driving assembly to realize the screwing of the nut of the grounding ring, and the disengaging assembly is driven by the reverse rotation of the driving assembly to realize the disengagement of the nut of the grounding ring and the gear sleeve;
the separation assembly comprises an auxiliary separation gear, an auxiliary separation rack and an auxiliary separation stop block, wherein the auxiliary separation gear is in one-way transmission with an output shaft of the driving assembly, the auxiliary separation gear is in meshed transmission with the auxiliary separation rack, the auxiliary separation rack is fixed with the auxiliary separation stop block, and the auxiliary separation stop block is driven by the reverse rotation of the driving assembly to realize the separation of the grounding ring nut from the gear sleeve.
2. The ground ring installation tool for hot-line work of robot as claimed in claim 1, wherein said rotating assembly further comprises a first bevel pinion, a first bevel bull gear, a second pinion, a second bull gear, and a third constant speed gear, wherein the first bevel pinion is installed at the output end of the driving assembly, the first bevel pinion is in meshing transmission with the first bevel pinion, the first bevel bull gear is in coaxial transmission with the second pinion, the second pinion is in meshing transmission with the second bull gear, the second pinion is in coaxial transmission with the third constant speed gear, and the third constant speed gear is in meshing transmission with the gear sleeve.
3. The tool of claim 2, wherein a torque limiting assembly is disposed between the secondary gearwheel and the tertiary constant velocity gear for limiting the torque transmitted between the secondary gearwheel and the tertiary constant velocity gear.
4. The tool of claim 3, wherein the torque limiting assembly comprises a locknut, a rectangular spring, a top post seat and a top post, the locknut, the rectangular spring, the top post seat and the second-stage gearwheel are sequentially sleeved on a central shaft of the third-stage constant-speed gear, the top post is installed in the top post seat and abuts against the second-stage gearwheel, the second-stage gearwheel drives the top post seat to rotate through the top post, the third-stage constant-speed gear is further driven to rotate through the top post seat, and the locknut is in threaded connection with the central shaft of the third-stage constant-speed gear and is used for adjusting pressing force of the rectangular spring on the top post seat.
5. The grounding ring installation tool suitable for the live working of the robot is characterized in that the first limiting tool comprises a bolt and a ball plunger, the bolts on two sides are slidably connected with the base, and the bolts on two sides clamp the first wire clamp in a limiting mode through the ball plunger.
6. The ground ring installation tool suitable for robot live working of claim 5, characterized in that, the first spacing frock includes still including one-way gear, steering gear, both sides rack, the output shaft of drive assembly realizes one-way transmission with one-way gear, one-way gear and steering gear meshing transmission, one-way gear, steering gear respectively with both sides rack meshing transmission, both sides rack respectively with both sides bolt corresponding fixed, through the outside slip of the bolt of both sides of the reverse rotation drive of drive assembly.
7. The grounding ring installation tool suitable for the live working of the robot of claim 1, wherein the second limiting tool comprises a clamp plate seat, a clamp plate and a shoulder screw, the clamp plate seat is slidably connected with the base, the clamp plate is installed on the clamp plate seat through the shoulder screw, a clamping spring penetrates through the shoulder screw, and clamping force between the clamp plate and the clamp plate seat is maintained through the clamping spring.
8. A method for installing the grounding ring installation tool based on claim 1, which is characterized by comprising the following steps:
s1: when the grounding ring is installed, the first wire clamp and the second wire clamp are respectively limited and fixed through the first limiting tool and the second limiting tool, so that the grounding ring nut enters the corresponding gear sleeve;
s2: the mechanical arm is butted with the grounding ring installation tool and is close to the main line, when the main line falls between the first wire clamp and the second wire clamp, the driving assembly rotates forwards to drive the gear sleeve to realize the screwing of the nut of the grounding ring, so that the first wire clamp and the second wire clamp are locked on the main line in a closed mode;
s3: after the locking is completed, the reverse rotation of the driving assembly drives the separation assembly to realize the separation of the grounding ring nut and the gear sleeve, and then the grounding ring installation tool is pulled downwards through the mechanical arm to realize the separation of the grounding ring and the grounding ring installation tool.
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CN114557335B (en) * | 2022-02-25 | 2022-11-22 | 亿嘉和科技股份有限公司 | Wind-driven bird repeller mounting tool and mounting method |
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CN111446601B (en) * | 2019-12-24 | 2021-05-11 | 国网浙江杭州市萧山区供电有限公司 | Efficient distribution network connects branch line live working robot |
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