CN114883884B - Ground wire hanging and unloading control device and method thereof - Google Patents
Ground wire hanging and unloading control device and method thereof Download PDFInfo
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- CN114883884B CN114883884B CN202210807500.0A CN202210807500A CN114883884B CN 114883884 B CN114883884 B CN 114883884B CN 202210807500 A CN202210807500 A CN 202210807500A CN 114883884 B CN114883884 B CN 114883884B
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- grounding
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- unloading
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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
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
- 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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Abstract
The invention discloses a ground wire hanging and unloading control device and a method thereof, wherein the device comprises a lifting module, a storage unit, a rotary distribution unit and a plurality of groups of grounding assemblies; the storage unit comprises a connecting plate, an outer ring seat and an inner cylindrical seat, the outer ring seat is connected with the inner cylindrical seat through the connecting plate, and an annular storage tank is formed between the outer ring seat and the inner cylindrical seat; the lifting module is connected with the bottom of the inner cylindrical seat and used for adjusting the height corresponding to the inner cylindrical seat and the direction of a notch of an open slot on the outer annular seat; the rotary distribution unit is connected to the top of the inner cylindrical seat and is magnetically connected with the grounding assembly, and is used for driving the grounding assembly to the open slot from the annular storage tank or driving the grounding assembly to the annular storage tank from the open slot; a mechanical arm unit is arranged in the inner cylindrical seat and used for clamping the grounding component to extend out of or retract into the open slot. The whole process of hanging and unloading the grounding wire can be controlled by the grounding wire terminal, and the operation efficiency is improved while the operation safety factor is improved in the process of hanging and unloading the grounding wire.
Description
Technical Field
The invention relates to the technical field of grounding wires, in particular to a grounding wire hanging and unloading control device and a method thereof.
Background
When the high-voltage cable or related power equipment is subjected to power maintenance operation, in order to guarantee the personal safety of operating personnel, power failure, electricity testing, grounding wire mounting and grounding wire unloading are necessary safety measures in the operation process, and particularly the process of mounting and unloading the grounding wire is important.
When the existing cable is mounted or unloaded with the grounding wire, an operator generally needs to climb a tower to test electricity, mount the connecting wire after the test is clear and no voltage exists, and often complete the mounting or unloading task by lifting the grounding wire through a successive control device.
However, the magnitude of the ground wires mounted or unloaded in each operation often reaches tens of groups, and the method has long operation time in actual operation, so that the operation efficiency is low, the time occupied by a power supply line is increased, and the downstream user experience is influenced.
Disclosure of Invention
The invention provides a ground wire hanging and unloading control device and a method thereof, which solve the technical problem of low operation efficiency in actual operation caused by the fact that a successive control device lifts and lowers a ground wire to complete a hanging or unloading task for each group of ground wires when the ground wires are hung or unloaded in the prior art.
The invention provides a ground wire hanging and unloading control device which comprises a lifting module, a storage unit, a rotary distribution unit and a plurality of groups of grounding assemblies, wherein the lifting module is used for lifting a ground wire;
the storage unit comprises a connecting plate, an outer ring seat and an inner cylindrical seat which are concentrically arranged, and the outer ring seat is connected with the inner cylindrical seat through the connecting plate;
an annular storage tank is formed between the outer ring seat and the inner cylindrical seat and is used for storing the grounding assembly;
the lifting module is connected with the bottom of the inner cylindrical seat and used for responding to a lifting control signal and adjusting the height corresponding to the inner cylindrical seat and the direction of a notch of an open slot on the outer annular seat;
the rotary distribution unit is movably connected to the top of the inner cylindrical seat and is in magnetic attraction connection with the grounding assembly, and is used for responding to a hanging and unloading control signal and driving the grounding assembly to the open slot from the annular storage tank or driving the grounding assembly to the annular storage tank from the open slot;
and a mechanical arm unit is arranged in the inner cylindrical seat and used for responding to a clamping control signal and clamping the grounding assembly to extend out or retract to the open slot.
Optionally, the lifting module comprises a base, a hydraulic lifting unit and a rotating seat;
the base is fixedly connected with the hydraulic lifting unit;
the hydraulic lifting unit is connected with the inner cylindrical seat through the rotating seat;
the hydraulic lifting unit is used for responding to a lifting control signal and adjusting the height corresponding to the inner cylindrical seat;
the rotating seat is used for responding to the lifting control signal and adjusting the direction of the notch of the open slot by rotating the inner cylindrical seat.
Optionally, the lifting module further comprises a plurality of sets of folding support structures;
the folding support structure comprises a first support plate and a second support plate which are hinged with each other;
a plurality of first rotating grooves are uniformly formed in the base;
a positioning ring is slidably mounted on the hydraulic lifting unit, and a plurality of second rotating grooves are uniformly formed in the positioning ring;
one end of the first supporting plate is rotatably arranged in the first rotating groove, and one end of the second supporting plate structure is rotatably arranged in the second rotating groove.
Optionally, the second supporting plate structure comprises a leg, a first foot tube, a telescopic piece and a second foot tube;
the other end of the first supporting plate is hinged with the supporting leg and used for responding to the lifting control signal to adjust the supporting radius of the folding supporting structure;
the first foot pipe is arranged on the outer side surface of the supporting leg, and a sliding groove is formed in the first foot pipe;
one end of the second foot pipe and the first foot pipe are connected in the sliding groove in a sliding mode, and the other end of the second foot pipe is rotatably installed in the second rotating groove;
the extensible member install in the second foot pipe, the expansion end of extensible member with first foot pipe swing joint is used for responding lift control signal controls the flexible promotion of extensible member first foot pipe, through first foot pipe drives the landing leg moves to the outside.
Optionally, a telescopic groove facing the open groove is formed in the inner cylindrical seat;
the mechanical arm unit is arranged in the telescopic groove and comprises a telescopic arm, an inner concave plate, two groups of arc claws, two groups of opening and closing angle plates and a telescopic rod;
the outer side end of the telescopic arm is fixedly connected with the inner side surface of the inner concave plate and is used for responding to the clamping control signal to adjust the telescopic distance corresponding to the mechanical arm unit;
third rotating grooves are symmetrically formed in the left side surface and the right side surface of the inner concave plate;
the rotating ends of the two groups of arc-shaped claws are respectively arranged in the third rotating groove and are respectively connected with the opening angle plate;
the two groups of the opening-closing angle plates are connected through the telescopic rods, the telescopic rods are used for responding to the clamping control signals, and the arc-shaped claws are driven to clamp the grounding assembly through the opening-closing angle plates.
Optionally, a first boss is arranged on the outer side surface of the inner cylindrical seat, and the first boss is arranged below the mechanical arm unit;
a second boss is arranged on the inner side surface of the outer ring seat and is parallel to the first boss;
the facing spaces of the first boss and the second boss form the annular reservoir.
Optionally, the device further comprises an ear plate;
the lug plates are symmetrically arranged on the outer side surface of the outer ring seat and are perpendicular to the direction of the notch of the open slot;
the ear plate is provided with a monitor and an electroscope respectively;
the monitor is used for acquiring the corresponding height of the inner cylindrical seat, the direction of the notch and the ground wire hanging and unloading position;
the electroscope is used for acquiring the electrified state corresponding to the line at the ground wire hanging and unloading position.
Optionally, the rotary distribution unit comprises a machine seat plate, a servo motor and a rotary disk;
one end of the machine seat plate is fixedly arranged on the outer ring seat, and the other end of the machine seat plate is positioned above the center of the top of the inner cylindrical seat and used for fixing the center of the rotating disc at the center of the inner cylindrical seat;
a plurality of groups of arc-shaped grooves with openings towards the outer side of the diameter are formed in the outer side surface of the rotating disc and are used for being connected with the grounding assembly in a magnetic attraction mode;
the output end of the servo motor penetrates through the machine seat plate and is fixedly connected with the top center of the rotating disc.
Optionally, a first groove is formed in the middle of the inner side of the arc-shaped groove;
a first magnetic suction block is arranged in the first groove, and the outer side surface of the first magnetic suction block is flush with the cambered surface of the arc-shaped groove;
the grounding assembly comprises a wire barrel, an anti-drop ring, a cylindrical head and a hook-shaped hanging head, and the wire barrel is used for being fixedly connected with a grounding wire;
the anti-falling ring is sleeved on the wire barrel and used for clamping the grounding assembly in the annular storage tank;
the cylindrical head is fixedly connected with the top of the bobbin, and a second groove is formed in the outer side surface of the cylindrical head;
a second magnetic suction block is arranged in the second groove, and the outer side surface of the second magnetic suction block is flush with the outer side surface of the cylindrical head and is used for being magnetically connected with the first magnetic suction block;
the hook-shaped hanging head is fixedly arranged at the top of the cylindrical head and used for hanging the grounding wire.
The invention also provides a ground wire hanging and unloading control method which is applied to any one of the ground wire hanging and unloading control devices, wherein each ground wire hanging and unloading control device comprises a lifting module, a storage unit, a rotary distribution unit and a plurality of groups of ground assemblies, and the method comprises the following steps:
when a lifting control signal is received, the corresponding height of the storage unit and the direction of a notch corresponding to an open slot in the storage unit are adjusted through the lifting module;
when a hanging and unloading control signal is received, extracting a hanging and unloading type corresponding to the hanging and unloading control signal;
if the hanging and unloading type is a grounding wire hanging type, the grounding assembly is driven to the open slot through the rotary distribution unit;
when a clamping control signal is received, clamping the grounding assembly from the storage unit to a target grounding wire mounting position;
if the hanging and unloading type is the grounding wire unloading type and a clamping control signal is received, clamping the grounding assembly from a target unloading position of the grounding wire and retracting to the open slot;
the grounding assembly is brought from the open slot to the storage unit by the rotating distribution unit.
According to the technical scheme, the invention has the following advantages:
the storage unit is provided with the outer ring seat and the inner column seat to form the annular storage tank, so that the grounding assembly can be stored. The top of interior cylindricality seat is connected with rotatory distribution unit, and rotatory distribution unit is connected with ground connection subassembly magnetism, can be when carrying out the earth connection and hanging and unload the task, drives the open slot on the outer ring seat with ground connection subassembly from annular storage tank, perhaps drives ground connection subassembly from the open slot to annular storage tank. Meanwhile, a mechanical arm unit is arranged in the inner cylindrical seat and can be used for enabling the clamping grounding assembly to extend out or retract into the open slot so as to mount or unload the grounding wire. The bottom of interior cylindricality seat is connected with lifting module, and lifting module not only can be according to the earth connection and hang the positional relation of unloading position and opening groove and adjust to carry out the ground connection with the earth connection or unload, can also satisfy the operation requirement of multiple topography. The whole process of hanging and unloading the grounding wire can be controlled by the grounding wire terminal, and the operation efficiency is improved while the operation safety factor is improved in the process of hanging and unloading the grounding wire.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a first perspective view of a ground wire hanging and unloading control device according to a first embodiment of the present invention;
fig. 2 is a second perspective view of a ground wire hanging and unloading control device according to a first embodiment of the present invention;
FIG. 3 is a perspective view of a multi-unit foldable support structure according to an embodiment of the present invention;
fig. 4 is a perspective view of a storage unit according to an embodiment of the invention;
fig. 5 is a structural diagram of an internal structure of a storage unit according to an embodiment of the present invention;
fig. 6 is a perspective view of a robot unit according to an embodiment of the invention;
FIG. 7 is a perspective view of a combination of a storage unit and a rotary distribution unit according to an embodiment of the present invention;
FIG. 8 is a perspective view of a rotary distribution unit according to a first embodiment of the present invention;
fig. 9 is a perspective view illustrating the installation of the grounding assembly according to the first embodiment of the present invention;
fig. 10 is a perspective view of a grounding assembly according to an embodiment of the present invention.
Fig. 11 is a flowchart illustrating steps of a ground wire connection and disconnection control method according to a second embodiment of the present invention.
In fig. 1-10:
1. a base; 2. a first rotation groove; 3. a first support plate; 4. a second support plate structure; 401. a support leg; 402. a first leg tube; 403. a telescoping member; 404. a second leg tube; 5. a chute; 6. a positioning ring; 7. a second rotating groove; 8. a hydraulic lifting unit; 9. a rotating seat; 10. an inner cylindrical seat; 11. a telescopic groove; 12. a telescopic arm; 13. an inner concave plate; 14. an arc-shaped claw; 15. opening and closing the angle plate; 16. a telescopic rod; 17. a third rotating groove; 18. a first boss; 19. a connecting plate; 20. an outer ring seat; 21. a second boss; 22. an open slot; 23. an ear plate; 24. a monitor; 25. an electroscope; 26. a machine seat board; 27. a servo motor; 28. rotating the disc; 29. an arc-shaped groove; 30. a first groove; 31. a first magnetic attraction block; 32. a bobbin; 33. the anti-drop ring; 34. a cylindrical head; 35. a second groove; 36. a second magnetic attraction block; 37. a hook-shaped hanging head.
Detailed Description
The embodiment of the invention provides a ground wire mounting and dismounting control device and a ground wire mounting and dismounting control method, which are used for solving the technical problem that in the prior art, when a ground wire is mounted or dismounted, the ground wire is lifted by a successive control device for each group of ground wires to complete the mounting or dismounting task, so that the working efficiency is low in the actual operation.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For easy understanding, referring to fig. 1 to 10, the ground wire hanging and unloading control device provided by the present invention includes a lifting module, a storage unit, a rotary distribution unit and a plurality of sets of ground assemblies;
the storage unit comprises a connecting plate 19, an outer ring seat 20 and an inner cylindrical seat 10 which are concentrically arranged, and the outer ring seat 20 is connected with the inner cylindrical seat 10 through the connecting plate 19;
an annular storage tank is formed between the outer ring seat 20 and the inner cylindrical seat 10 and is used for storing the grounding assembly;
the lifting module is connected with the bottom of the inner cylindrical base 10 and is used for responding to a lifting control signal and adjusting the corresponding height of the inner cylindrical base 10 and the direction of the notch of the open slot 22;
the rotary distribution unit is movably connected to the top of the inner cylindrical base 10 and magnetically connected to the grounding assembly, and is used for responding to a hanging and unloading control signal, and driving the grounding assembly from the annular storage tank to the open slot 22 on the outer annular base 20, or driving the grounding assembly from the open slot 22 to the annular storage tank;
a robot unit is provided in the inner cylindrical base 10, and the robot unit is configured to extend or retract the gripping ground assembly to the open slot 22 in response to the gripping control signal.
The lifting control signal is used for controlling the lifting module to enable the storage unit to be in a target position convenient for mounting or unloading.
The mounting and dismounting control signal is used for controlling the mounting or dismounting of the grounding wire.
The clamping control signal is used for controlling the mechanical arm unit to clamp the grounding assembly.
In the embodiment of the present invention, the storage unit includes a connecting plate 19, an outer ring seat 20 and an inner cylindrical seat 10, and the connection relationship between the outer ring seat 20 and the connecting plate 19, and between the connecting plate 19 and the inner cylindrical seat 10 may be set as a fixed connection, for example: welding, riveting, pinning, etc. The outer ring seat 20 and the inner cylindrical seat 10 are concentrically arranged, the radius of the outer ring seat 20 is larger than that of the inner cylindrical seat 10, and an annular storage tank is formed in the opposite space of the outer ring seat and the inner cylindrical seat for storing the grounding assembly. The outer ring seat 20 is provided with an open slot 22, which facilitates the interaction process of the grounding assembly between the storage in the annular storage tank and the mounting at the grounding wire mounting position.
It is understood that the ground wire mounting/dismounting position includes a ground wire target mounting position and a ground wire target dismounting position, the ground wire target mounting position refers to a position where the ground wire is mounted, and the ground wire target dismounting position refers to a position where the ground wire is dismounted. The interaction process refers to a process that the grounding component extends out of the annular storage tank through the open slot 22 and is mounted at a target grounding wire mounting position, or the grounding component enters the annular storage tank through the open slot 22 and is stored after being unloaded from the target grounding wire unloading position.
The bottom of the inner cylindrical base 10 is connected with a lifting module, when the ground wire needs to be mounted or unloaded, the lifting module responds to a lifting control signal, and the corresponding height of the inner cylindrical base 10 and the direction of the notch of the open slot 22 are adjusted through the lifting module, so that the storage unit is in a target position convenient for mounting or unloading the ground wire.
The top of the inner cylindrical base 10 is connected with a rotary distribution unit, and the connection relationship between the rotary distribution unit and the top of the inner cylindrical base can be set as a movable connection, so that the requirement that the rotary distribution unit can rotate relative to the inner cylindrical base can be met. The first magnetic block 31 and the second magnetic block 36 are attracted to each other, so that the rotary distribution unit is magnetically connected with the grounding assembly. After the storage unit is located at the target position, when the ground wire is mounted or unloaded, the rotary distribution unit drives the grounding assembly connected by the magnetic attraction to the open slot 22 from the annular storage tank or to the annular storage tank from the open slot 22 in a rotary mode in response to the mounting and dismounting control signal.
A mechanical arm unit is arranged in the inner cylindrical base 10, and is used for responding to a clamping control signal after the rotary distribution unit drives the magnetically connected grounding assembly to the open slot 22 from the annular storage tank, and the clamping grounding assembly stretches out of the grounding wire target mounting position or stretches out of the grounding wire target mounting position and retracts into the open slot 22 after being unloaded, so that the rotary distribution unit is magnetically connected with the unloaded grounding assembly and is stored in the annular storage tank. It can be understood that, in the process of unloading the grounding assembly from the target unloading position of the grounding wire, the mechanical arm unit clamps the grounding assembly and then directly retracts to realize unloading, or the mechanical arm unit clamps the grounding assembly and then adjusts the height of the inner cylindrical seat through the lifting module to realize unloading of the grounding assembly.
Referring to fig. 1-4, the lifting module includes a base 1, a hydraulic lifting unit 8, and a rotating base 9. The connection relationship between the base 1 and the hydraulic lifting unit 8 can be set as a fixed connection, for example: welding, riveting, etc. The connection relationship between the hydraulic lifting unit 8 and the rotating base 9 can be pin connection, nested connection and the like, so that the rotating base 9 can rotate relative to the hydraulic lifting unit 8. The hydraulic lifting unit 8 is connected with the inner cylindrical seat 10 through a rotating seat 9.
In the embodiment of the invention, when the ground wire needs to be mounted or unloaded, the height corresponding to the inner cylindrical seat 10 can be adjusted by adjusting the pressure transmission of the hydraulic oil in the hydraulic lifting unit 8, and the notch orientation of the open slot 22 is adjusted by rotating the inner cylindrical seat 10 through the rotating seat 9, so that the storage unit is in a target orientation convenient for mounting or unloading the ground wire.
Evenly be equipped with a plurality of first rotating grooves 2 on base 1, slidable mounting has holding ring 6 on hydraulic lifting unit 8, evenly is equipped with a plurality of second rotating grooves 7 on holding ring 6, and lifting module still includes the folding bearing structure of multiunit, is convenient for adapt to different operation topography. The folding support structure comprises a first support plate 3 and a second support plate structure 4, the second support plate structure 4 comprising legs 401, a first foot tube 402, a telescopic member 403 and a second foot tube 404. One end of the first supporting plate 3 is rotatably installed in the first rotating groove 2, and the other end of the first supporting plate 3 is hinged with the supporting leg 401. The first leg pipe 402 is disposed on the outer side surface of the leg 401, and a chute 5 is disposed therein. One end of the second leg pipe 404 may be connected to the sliding groove 5 through the first leg pipe 402 via a buckle, or connected to the sliding groove 5 through the first leg pipe 402 via an elastic limiting member, and the other end of the second leg pipe 404 is rotatably mounted in the second rotating groove 7. The telescopic member 403 is installed in the second leg tube 404, and the movable end of the telescopic member 403 is movably connected to the first leg tube 402.
In the embodiment of the present invention, when the folding support structure needs to be used, the stretching leg 401 rotates outward to determine the support radius, the stretching member 403 is controlled to stretch and push the first leg 402 to slide relative to the second leg 404, and the first leg 402 drives the stretching leg 401 to generate a reverse support force to act on the positioning ring 6, so as to improve the operation stability of the device. Furthermore, each group of folding support structures can form different support radiuses through the corresponding support legs 401, so that the operation requirements of different terrains can be met conveniently, and the use flexibility of the device is improved.
Referring to fig. 4-7, the storage unit includes an inner cylindrical base 10, a connecting plate 19, and an outer annular base 20, the outer annular base 20 being connected to the inner cylindrical base 10 via the connecting plate 19. The inner cylindrical seat 10 is provided with a telescopic groove 11 facing the open groove 22, and a mechanical arm unit is arranged in the telescopic groove 11. The mechanical arm unit comprises a telescopic arm 12, an inner concave plate 13, two groups of arc-shaped claws 14, two groups of opening-closing angle plates 15 and a telescopic rod 16, the outer side end of the telescopic arm 12 is fixedly connected with the inner side face of the inner concave plate 13, third rotating grooves 17 are symmetrically formed in the left side face and the right side face of the inner concave plate 13, the rotating ends of the two groups of arc-shaped claws 14 are respectively installed in the third rotating grooves 17 and are respectively connected with the opening-closing angle plates 15, and the two groups of opening-closing angle plates 15 are connected through the telescopic rod 16.
In the embodiment of the invention, when the grounding component needs to be clamped, the telescopic distance of the telescopic arm 12 is adjusted, the telescopic rod 16 is controlled to be contracted, the arc-shaped claw 14 is driven to be opened through the opening and closing angle plate 15, and when the grounding component is in the clamping range of the arc-shaped claw 14, the telescopic rod 16 is controlled to be extended, and the arc-shaped claw 14 is driven to be closed through the opening and closing angle plate 15 to clamp the grounding component. When the grounding assembly needs to be mounted or unloaded, after the grounding assembly is clamped, the telescopic distance of the telescopic arm 12 is further adjusted, and the telescopic arm extends out of the open slot to the target mounting position of the grounding wire for mounting or retracts to the open slot after being unloaded from the target unloading position of the grounding wire.
Referring to fig. 1, 2 and 7, the device further includes an ear plate 23, the ear plate 23 is symmetrically disposed on the outer side surface of the outer ring seat 20, and is perpendicular to the opening of the opening slot 22, and a monitor 24 and an electroscope 25 are respectively mounted on the ear plate 23.
In an embodiment of the present invention, when it is desired to have the storage unit in a target orientation for easy mounting or unloading, the corresponding height, notch orientation and ground wire mounting/dismounting position of the inner cylindrical housing 10 can be obtained by the monitor 24. When the storage unit is located at the target position, before the grounding wire is mounted, the electrified state corresponding to the circuit located at the grounding wire mounting and dismounting position is obtained through the electroscope 25, and when the circuit located at the grounding wire mounting and dismounting position is determined to be free of voltage, the grounding wire is mounted.
Referring to fig. 4 and 7-10, a first boss 18 is disposed on an outer side surface of the inner cylindrical base 10, and the first boss 18 is disposed below the robot arm unit. The inner side surface of the outer ring seat 20 is provided with a second boss 21, and the second boss 21 is parallel to the first boss 18. The facing spaces of the first boss 18 and the second boss 21 form an annular reservoir.
The rotary distribution unit includes a base plate 26, a servo motor 27, and a rotary disk 28. One end of the seat plate 26 is fixedly mounted on the outer ring seat 20, and the other end of the seat plate 26 is located above the top center of the inner cylindrical seat 10. The lateral surface of rotary disk 28 is equipped with the arc recess 29 of multiunit opening to the diameter outside, and first recess 30 has been seted up to the inboard middle part of arc recess 29, installs first magnetism in the first recess 30 and inhales piece 31, and the lateral surface of first magnetism piece 31 is parallel and level with the cambered surface of arc recess 29. The output end of the servo motor 27 penetrates through the base plate 26 and is fixedly connected with the top center of the rotating disc 28.
The grounding assembly comprises a wire barrel 32, an anti-slip ring 33, a cylindrical head 34 and a hook-shaped hanging head 37, the anti-slip ring 33 is sleeved on the wire barrel 32, the cylindrical head 34 is fixedly connected with the top of the wire barrel 32, a second groove 35 is formed in the outer side surface of the cylindrical head 34, a second magnetic suction block 36 is arranged in the second groove 35, the outer side surface of the second magnetic suction block 36 is flush with the outer side surface of the cylindrical head 34, and the hook-shaped hanging head 37 is fixedly installed at the top of the cylindrical head 34.
In the embodiment of the invention, the base plate 26 fixes the center position of the rotating disk 28 at the center of the inner cylindrical base 10, when the ground wire needs to be mounted, the ground wire is fixedly connected with the wire barrel 32, and the grounding assembly connected with the ground wire is placed in the arc-shaped groove 29 and stored in the annular storage tank through the attraction of the first magnetic attraction block 31 and the second magnetic attraction block 36. By snap-fitting the anti-slip ring 33 on the first boss 18 and the second boss 21, the storage stability of the grounding assembly in the annular tank is increased. The turntable 28 is controlled by the servo motor 27 to rotate, so as to drive the grounding assembly from the annular storage tank to the open slot 22, so that the mechanical arm unit can conveniently clamp the grounding assembly to extend out, and the grounding wire can be hung on the line at the position through the hook-shaped hanging head 37. When the grounding wires need to be unloaded, after the mechanical arm unit clamps and retracts the grounding assemblies to the position of the open groove 22, the rotating disc 28 is controlled by the servo motor 27 to rotate reversely, and the grounding assemblies are driven from the open groove 22 to the annular storage tank to be stored.
Further, after one group of grounding assemblies is mounted, the mechanical arm unit is adjusted to retract to the initial position, the rotating disc 28 is controlled to rotate through the servo motor 27, the next group of grounding assemblies are driven to the open slot 22 from the annular storage tank, and the process that the mechanical arm unit clamps the grounding assemblies for mounting is repeatedly executed, so that the multiple groups of grounding assemblies can be mounted sequentially. Similarly, when one group of grounding assemblies is unloaded and clamped by the mechanical arm unit and retracted to the open slot 22, the mechanical arm unit is adjusted to retract to the initial position, the servo motor 27 controls the rotating disk 28 to rotate reversely, the next group of grounding assemblies is driven from the open slot 22 to the annular storage tank to be stored, and the process of clamping the grounding assemblies by the mechanical arm unit and unloading is repeatedly executed, so that the multiple groups of grounding assemblies can be unloaded successively. It is understood that the retraction of the robot unit to the initial position means that the robot unit is retracted into the telescopic slot 11 as a whole.
The present invention can store the ground assembly by forming the annular reservoir by providing the outer ring seat 20 and the inner cylindrical seat 10 on the storage unit. The top of the inner cylindrical base 10 is connected with the rotary distribution unit, the rotary distribution unit is magnetically connected with the grounding assembly, and the grounding assembly can be driven to the open slot 22 on the outer cylindrical base 20 from the annular storage tank or driven to the annular storage tank from the open slot 22 when the ground wire hanging and unloading task is performed. Meanwhile, a mechanical arm unit is arranged in the inner cylindrical seat 10, and can be used for extending or retracting the clamping grounding assembly to the open slot 22 so as to mount or dismount the grounding wire. The bottom of the inner cylindrical seat 10 is connected with a lifting module, and the lifting module can be adjusted according to the position relation between the ground wire hanging and unloading position and the open slot 22, so that the ground wire can be conveniently hung or unloaded, and the operation requirements of various terrains can be met. The whole process of hanging and unloading the grounding wire can be controlled by the grounding wire terminal, and the operation efficiency is improved while the operation safety factor is improved in the process of hanging and unloading the grounding wire.
Referring to fig. 11, fig. 11 is a flowchart illustrating a method for controlling hanging/unloading of a ground wire according to a second embodiment of the present invention.
The invention provides a ground wire hanging and unloading control method which is applied to any one ground wire hanging and unloading control device, wherein the ground wire hanging and unloading control device comprises a lifting module, a storage unit, a rotary distribution unit and a plurality of groups of grounding assemblies, and the method comprises the following steps:
The lifting control signal is used for controlling the lifting module to enable the storage unit to be in a target position convenient for mounting or unloading.
The lifting module is used for enabling the device to be placed stably, and adjusting the corresponding height of the storage unit and the direction of the notch corresponding to the open slot 22 in the storage unit.
The storage unit is used for storing the grounding assembly and clamping the grounding assembly for mounting or dismounting. The height corresponding to the storage unit is a height convenient for the mechanical arm unit to clamp the grounding assembly for mounting or unloading. The grounding assembly is used for being connected with a grounding wire to form a whole for mounting.
The open groove 22 is a groove in the storage unit for facilitating gripping of the ground wire. The notch orientation corresponding to the open slot 22 is the notch orientation when the extending direction of the robot arm unit is perpendicular to the line extending direction of the ground wire hanging and unloading position. And the ground wire mounting and dismounting position comprises a ground wire target mounting position and a ground wire target dismounting position, the ground wire target mounting position is a position for mounting the ground wire, and the ground wire target dismounting position is a position for dismounting the ground wire.
In the embodiment of the invention, when the lifting control signal is received, the device is in a stable state through the lifting module, and the height corresponding to the storage unit and the notch orientation corresponding to the open slot 22 in the storage unit are adjusted according to the ground wire hanging and unloading position.
The mounting and dismounting control signal is used for controlling the mounting or dismounting of the grounding wire.
In the embodiment of the invention, when the hanging and unloading control signal is received, the hanging and unloading type corresponding to the hanging and unloading control signal is extracted, so that the hanging or unloading of the grounding wire is definitely required.
And 1103, if the hanging and unloading type is the grounding wire hanging type, driving the grounding assembly to the open slot through the rotary distribution unit.
And 1104, when the clamping control signal is received, clamping the grounding assembly from the storage unit to a target grounding wire mounting position.
At step 1106, the grounding assembly is brought from the open slot to the storage unit by rotating the distribution unit.
The rotary distribution unit is used for driving the grounding component connected with the rotary distribution unit from the storage unit to the open slot 22 or driving the grounding component from the open slot 22 to the storage unit.
The clamping control signal is used for controlling the storage unit to clamp the grounding assembly.
In the embodiment of the present invention, after the ground wire is definitely mounted according to the mounting and dismounting control signal, the ground assembly is driven to the open slot 22 by the rotation distribution unit, and the storage unit is controlled to clamp the ground assembly at the open slot 22 in response to the received clamping control signal, and extend to the target mounting position of the ground wire for mounting. When the ground wire is definitely to be unloaded according to the hanging and unloading control signal, the storage unit is controlled to extend out to clamp the ground assembly at the target unloading position of the ground wire and retract to the open slot 22 in response to the received clamping control signal, and the ground assembly is driven into the storage unit to be stored through the rotating distribution unit.
For convenience of understanding, the ground wire hanging and unloading control method in the present embodiment is described in detail with reference to the ground wire hanging and unloading device in the first embodiment.
When receiving the lifting control signal, the stretching leg 401 is rotated outward to determine the support radius according to the requirement of the working terrain, the stretching of the stretching member 403 is controlled to push the first leg pipe 402 to slide relative to the second leg pipe 404, and the first leg pipe 402 drives the leg 401 to generate a reverse support force to act on the positioning ring 6. The ground wire hanging and unloading position is obtained through the monitor 24, the corresponding height of the inner cylindrical seat 10 is adjusted through adjusting the pressure transmission of hydraulic oil in the hydraulic lifting unit 8 according to the ground wire hanging and unloading position, and the notch orientation of the opening groove 22 is adjusted through rotating the inner cylindrical seat 10 through the rotating seat 9.
And when the hanging and unloading control signal is received, extracting the hanging and unloading type corresponding to the hanging and unloading control signal.
If the hanging and unloading type is the grounding wire hanging type, the electroscope 25 is used for obtaining the electrified state corresponding to the circuit at the grounding wire target hanging position, and after the circuit at the grounding wire target hanging position is determined to be voltage-free, the servo motor 27 is used for controlling the rotating disc 28 to rotate, so that the grounding assembly magnetically attracted in the arc-shaped groove 29 is driven to the open slot 22 from the annular storage tank. Responding to the received clamping control signal, controlling the telescopic arm 12 to extend out of the telescopic groove 11, simultaneously controlling the telescopic rod 16 to contract, driving the arc-shaped claw 14 to open through the opening and closing angle plate 15, controlling the telescopic rod 16 to extend when the grounding component is in the clamping range of the arc-shaped claw 14, and driving the arc-shaped claw 14 to close through the opening and closing angle plate 15 to clamp the grounding component. After the grounding assembly is clamped, the telescopic arm 12 is controlled to continue to extend to the target mounting position of the grounding wire, and the grounding wire is mounted on the circuit at the position through the hook-shaped mounting head 37. After a group of grounding assemblies are mounted, the telescopic arm 12 is controlled to retract to an initial position, whether the grounding wire mounting and dismounting device needs to be integrally moved is determined according to the next grounding wire target mounting position obtained by the monitor 24, if so, the grounding wire mounting and dismounting device is moved first, and if not, whether the height corresponding to the inner cylindrical seat 10 needs to be adjusted through the hydraulic lifting unit 8 or not and whether the notch orientation of the open slot 22 needs to be adjusted through the rotating seat 9 or not is further determined. When the corresponding height of the inner cylindrical seat 10 and the notch orientation of the open slot 22 both satisfy the orientation condition of the next grounding line target mounting position, the step of controlling the rotating disk 28 to rotate through the servo motor 27 and driving the grounding assembly magnetically attracted in the arc-shaped groove 29 from the annular storage tank to the open slot 22 is repeatedly executed until the grounding assembly magnetically attracted on the rotating disk 28 completely completes mounting or receives a mounting ending signal.
If the hanging and unloading type is the grounding wire unloading type, the received clamping control signal is responded, the telescopic arm 12 is controlled to extend out of the telescopic groove 11, the telescopic rod 16 is controlled to contract, the arc-shaped claw 14 is driven to open through the opening and closing angle plate 15, when the wire barrel 32 is located in the clamping range of the arc-shaped claw 14, the telescopic rod 16 is controlled to extend, and the arc-shaped claw 14 is driven to close through the opening and closing angle plate 15 to clamp the grounding assembly. After clamping the grounding assembly, the height of the inner cylindrical base 10 is adjusted by the hydraulic lifting unit 8 so that the hook-shaped hanging head 37 is detached from the line of the target unloading position of the grounding wire. After the grounding assembly is detached from the unloading, the telescopic arm 12 is controlled to retract, when the first magnetic attraction block and the second magnetic attraction block are attracted, the telescopic arm 12 is controlled to retract to the initial position, the rotating disk 28 is controlled to rotate reversely through the servo motor 27, and the grounding assembly is driven to the annular storage tank from the open slot 22 to be stored. After the group of grounding assemblies are unloaded, whether the grounding wire hanging and unloading device needs to be integrally moved is determined according to the next target unloading position of the grounding wire obtained by the monitor 24, if so, the grounding wire hanging and unloading device is firstly moved, if not, whether the height corresponding to the inner cylindrical seat 10 needs to be adjusted through the hydraulic lifting unit 8 is further determined, and whether the notch orientation of the open slot 22 needs to be adjusted through the rotating seat 9. When the corresponding height of the inner cylindrical base 10 and the notch orientation of the open slot 22 both satisfy the azimuth condition of the next ground wire target unloading position, the step of responding to the received clamping control signal and controlling the telescopic arm 12 to extend out of the telescopic slot 11 is repeatedly executed until the arc-shaped grooves 29 are all magnetically connected with the ground assembly or a signal for ending unloading is received.
In the embodiment of the present invention, based on the received lifting control signal, the lifting module adjusts the height corresponding to the storage unit and the notch orientation corresponding to the open slot 22 in the storage unit, and extracts the mounting type corresponding to the received mounting and dismounting control signal. If the mounting type is the ground wire mounting type, the ground assembly is driven to the open slot 22 by the rotation distribution unit, and the ground assembly is clamped from the storage unit to the ground wire target mounting position in response to the clamping control signal. If the unloading type is the ground wire unloading type and the clamping control signal is received, the clamping assembly retracts to the open slot 22 from the target unloading position of the ground wire, and the ground assembly is driven to the storage unit from the open slot 22 through the rotating distribution unit. In the process of carrying out the hanging and unloading operation of the grounding wire, the operation safety factor is improved, and meanwhile, the operation efficiency is improved.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A ground wire hanging and unloading control device is characterized by comprising a lifting module, a storage unit, a rotary distribution unit and a plurality of groups of grounding assemblies;
the storage unit comprises a connecting plate, an outer ring seat and an inner cylindrical seat which are concentrically arranged, and the outer ring seat is connected with the inner cylindrical seat through the connecting plate;
an annular storage tank is formed between the outer ring seat and the inner cylindrical seat and is used for storing the grounding assembly;
the lifting module is connected with the bottom of the inner cylindrical seat and used for responding to a lifting control signal and adjusting the height corresponding to the inner cylindrical seat and the direction of a notch of an open slot on the outer ring seat;
the rotary distribution unit is movably connected to the top of the inner cylindrical seat and magnetically connected with the grounding assembly, and is used for responding to a hanging and unloading control signal, driving the grounding assembly to the open slot from the annular storage tank, or driving the grounding assembly to the annular storage tank from the open slot;
and a mechanical arm unit is arranged in the inner cylindrical seat and used for responding to a clamping control signal and clamping the grounding assembly to extend out or retract to the open slot.
2. The ground wire hanging and unloading control device according to claim 1, wherein the lifting module comprises a base, a hydraulic lifting unit and a rotating seat;
the base is fixedly connected with the hydraulic lifting unit;
the hydraulic lifting unit is connected with the inner cylindrical seat through the rotating seat;
the hydraulic lifting unit is used for responding to a lifting control signal and adjusting the height corresponding to the inner cylindrical seat;
the rotating seat is used for responding to the lifting control signal and adjusting the direction of the notch of the open slot by rotating the inner cylindrical seat.
3. The ground wire hanging and unloading control device according to claim 2, wherein the lifting module further comprises a plurality of sets of folding support structures;
the folding support structure comprises a first support plate and a second support plate which are hinged with each other;
a plurality of first rotating grooves are uniformly formed in the base;
a positioning ring is slidably mounted on the hydraulic lifting unit, and a plurality of second rotating grooves are uniformly formed in the positioning ring;
one end of the first supporting plate is rotatably arranged in the first rotating groove, and one end of the second supporting plate structure is rotatably arranged in the second rotating groove.
4. The ground wire hanging and unloading control device according to claim 3, wherein the second support plate structure comprises a support leg, a first foot tube, a telescopic member and a second foot tube;
the other end of the first supporting plate is hinged with the supporting leg and used for responding to the lifting control signal to adjust the supporting radius of the folding supporting structure;
the first foot pipe is arranged on the outer side surface of the supporting leg, and a sliding groove is formed in the first foot pipe;
one end of the second foot pipe and the first foot pipe are connected in the sliding groove in a sliding mode, and the other end of the second foot pipe is rotatably installed in the second rotating groove;
the extensible member install in the second foot pipe, the expansion end of extensible member with first foot pipe swing joint is used for responding lift control signal controls the flexible promotion of extensible member first foot pipe, through first foot pipe drives the landing leg moves to the outside.
5. The ground wire hanging and unloading control device according to claim 1, wherein a telescopic groove facing the open groove is formed in the inner cylindrical seat;
the mechanical arm unit is arranged in the telescopic groove and comprises a telescopic arm, an inner concave plate, two groups of arc claws, two groups of opening and closing angle plates and a telescopic rod;
the outer side end of the telescopic arm is fixedly connected with the inner side surface of the inner concave plate and is used for responding to the clamping control signal to adjust the telescopic distance corresponding to the mechanical arm unit;
third rotating grooves are symmetrically formed in the left side surface and the right side surface of the inner concave plate;
the rotating ends of the two groups of arc-shaped claws are respectively arranged in the third rotating groove and are respectively connected with the opening angle plate;
the two groups of the opening-closing angle plates are connected through the telescopic rods, the telescopic rods are used for responding to the clamping control signals, and the arc-shaped claws are driven to clamp the grounding assembly through the opening-closing angle plates.
6. The ground wire hanging and unloading control device according to claim 1, wherein a first boss is provided on an outer side surface of the inner cylindrical seat, and the first boss is provided below the mechanical arm unit;
a second boss is arranged on the inner side surface of the outer ring seat and is parallel to the first boss;
the facing spaces of the first boss and the second boss form the annular reservoir.
7. The ground wire hanging and unloading control device according to claim 1, further comprising an ear plate;
the lug plates are symmetrically arranged on the outer side surface of the outer ring seat and are perpendicular to the direction of the notch of the open slot;
the ear plate is provided with a monitor and an electroscope respectively;
the monitor is used for acquiring the corresponding height of the inner cylindrical seat, the direction of the notch and the hanging and unloading position of the grounding wire;
the electroscope is used for acquiring the electrified state corresponding to the line at the grounding wire hanging and unloading position.
8. The ground cord hanging and unloading control device according to claim 1, wherein said rotary distribution unit comprises a base plate, a servo motor, a rotary disk;
one end of the machine seat plate is fixedly arranged on the outer ring seat, and the other end of the machine seat plate is positioned above the center of the top of the inner cylindrical seat and used for fixing the center of the rotating disc at the center of the inner cylindrical seat;
a plurality of groups of arc-shaped grooves with openings towards the outer side of the diameter are formed in the outer side surface of the rotating disc, and the arc-shaped grooves are used for being connected with the grounding assembly in a magnetic attraction mode;
the output end of the servo motor penetrates through the machine seat plate and is fixedly connected with the top center of the rotating disc.
9. The ground wire hanging and unloading control device according to claim 8, wherein a first groove is formed in the middle of the inner side of the arc-shaped groove;
a first magnetic suction block is arranged in the first groove, and the outer side surface of the first magnetic suction block is flush with the cambered surface of the arc-shaped groove;
the grounding assembly comprises a wire barrel, an anti-drop ring, a cylindrical head and a hook-shaped hanging head, and the wire barrel is used for being fixedly connected with a grounding wire;
the anti-falling ring is sleeved on the wire barrel and used for clamping the grounding assembly in the annular storage tank;
the cylindrical head is fixedly connected with the top of the bobbin, and a second groove is formed in the outer side surface of the cylindrical head;
a second magnetic attraction block is arranged in the second groove, and the outer side surface of the second magnetic attraction block is flush with the outer side surface of the cylindrical head and is used for being magnetically attracted and connected with the first magnetic attraction block;
the hook-shaped hanging head is fixedly installed at the top of the cylindrical head and used for hanging the grounding wire.
10. A ground wire hanging and unloading control method applied to the ground wire hanging and unloading control device according to any one of claims 1 to 9, the ground wire hanging and unloading control device including a lifting module, a storage unit, a rotary distribution unit, and a plurality of sets of ground components, the method comprising:
when a lifting control signal is received, the height corresponding to the storage unit and the direction of a notch corresponding to an open slot in the storage unit are adjusted through the lifting module;
when a hanging and unloading control signal is received, extracting a hanging and unloading type corresponding to the hanging and unloading control signal;
if the hanging and unloading type is a grounding wire hanging type, the grounding assembly is driven to the open slot through the rotary distribution unit;
when a clamping control signal is received, clamping the grounding assembly from the storage unit to a target grounding wire mounting position;
if the hanging and unloading type is the grounding wire unloading type and a clamping control signal is received, clamping the grounding assembly from a target unloading position of the grounding wire and retracting to the open slot;
bringing the ground assembly from the open slot to the storage unit by the rotating distribution unit.
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| CN202210807500.0A CN114883884B (en) | 2022-07-11 | 2022-07-11 | Ground wire hanging and unloading control device and method thereof |
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| CN202210807500.0A CN114883884B (en) | 2022-07-11 | 2022-07-11 | Ground wire hanging and unloading control device and method thereof |
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| US10673152B2 (en) * | 2016-05-02 | 2020-06-02 | Quanta Associates, L.P. | Locking grounding clamp |
| KR101963537B1 (en) * | 2017-09-01 | 2019-03-28 | 대원전기 주식회사 | Indirect live wire method and High voltage Insulated gear gripper Pliers Stick |
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| CN105206957A (en) * | 2015-10-17 | 2015-12-30 | 国家电网公司 | Pneumatic lifting high-altitude grounding device |
| CN207651677U (en) * | 2017-11-27 | 2018-07-24 | 国网安徽省电力公司黄山供电公司 | A kind of adjustable rotating type grounding wire device |
| CN108247599A (en) * | 2017-12-19 | 2018-07-06 | 成都正光恒电子科技有限责任公司 | Assembly and disassembly ground wire articulated robot |
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