CN116260069A - A device, system and method for hanging and removing grounding wires - Google Patents

Abstract

The invention provides a grounding wire hanging and detaching device, a grounding wire hanging and detaching system and a grounding wire hanging and detaching method. The device comprises: the wire clamping assembly and the ground wire dismantling and fixing assembly; wherein, the ground wire is torn down and is fixed the subassembly and set up on the wire clamping subassembly. The invention is hung on the unmanned aerial vehicle through the wire clamping component, so as to be hung on the wire along with the unmanned aerial vehicle, and the wire clamping component is clamped on the wire in a detachable mode when the unmanned aerial vehicle releases the wire clamping component; the ground wire is hung on the wire through the ground wire fixing assembly along with the wire fixing assembly, and the ground wire can be lifted and pulled to the wire fixing assembly, so that the ground wire is grounded, the whole process of operation does not need personnel to climb a tower, the flexibility, reliability and safety of the ground wire hanging and dismounting are greatly improved, the high-altitude fall and induction electric shock risks are reduced, the operation is intelligent and the automation degree is high, and the problems that the existing ground wire hanging and dismounting height is limited and the high-altitude operation is inconvenient are solved.

Description

A device, system and method for hanging and removing grounding wires

technical field

The present invention relates to the technical field of power line hanging and detaching, in particular to a grounding wire hanging and detaching device, system and method.

Background technique

In technical fields such as power equipment maintenance or engineering construction, the grounding wire must be grounded before carrying out operations to avoid injuries caused by induced voltage and accidental calls. A complete set of grounding wires is several meters to tens of meters long and weighs tens of kilograms. For example, the length of the grounding wire of a 1000kV UHV transmission line can reach 40m and the weight can reach 10kg. , The labor intensity of the operators is high, it is not easy to mount and dismantle, and there is a risk of falling from a high altitude and inductive electric shock.

Contents of the invention

In view of this, the present invention proposes a device, system and method for hanging and removing grounding wires, aiming at solving the problems of limited height for hanging and removing grounding wires and inconvenient high-altitude operations.

On the one hand, the present invention proposes a grounding wire hanging and detaching device, which includes: a wire clamping component and a grounding wire clamping component; The man-machine is hung on the wire, and when the UAV releases the wire clamping assembly, the wire clamping assembly is clamped on the wire in a detachable manner; The wire clamping assembly is used to hang on the wire together with the wire clamping assembly, and can pull the grounding wire to the wire clamping assembly to realize the grounding of the wire.

Further, in the above-mentioned grounding wire hanging and dismounting device, the wire clamping assembly includes: a hooking main body, a hooking piece, a sliding piece and a clamping pliers; wherein, the sliding piece can slide relative to the hooking main body set on the hooking main body in a manner, the hanging piece is arranged above the sliding piece and connected with the sliding piece, the clamping pliers is set on the hanging main body, the clip The clamps are also connected to the slide, and the clamps are provided with a return spring for applying a reset force to the clamps when the clamps are in a released state, so that the clamps The clamping pliers are reset to the closed state; when the hanging part is hooked on the drone, an upward force is applied to the sliding part under the lifting action of the drone, so that the sliding part is relatively Slide upward on the hooking body, and apply an opening force to the clamping pliers, so that the clamping pliers are opened, so that the wire enters the clamping groove of the hooking main body from the opening; After the man-machine releases the hanging part, the sliding part moves downward under the action of gravity to reset, and releases the clamping clamp, so that the clamping clamp is closed, and then the wire is blocked and clamped on the clamping part. at the clamping slot.

Further, in the above-mentioned grounding wire hanging and removing device, the clamping pliers include: two clamping pliers bodies; wherein, the two clamping pliers bodies are arranged opposite to each other, and the two clamping pliers bodies are hinged, For relative rotation, it can be opened so that the wire can enter between the two clamp bodies, and it can also be closed to clamp the wire between the two clamp bodies.

Further, in the above-mentioned grounding wire hanging and dismounting device, each clamp body is also provided with a buckle lever, one end of the buckle lever is rotatably connected to the clamp body, and the other end is connected to the clamp body. The clamping pliers body is slidably connected, and is used to abut against the buckle bar on the other clamping pliers body, so that the two buckle bars abut against each other, so that the two buckle bars can be abutted against each other. The gap between the clamping pliers body is blocked; the buckle bar is also connected with the sliding piece, and is used to drive the clamping pliers body to rotate under the action of the sliding piece, so that the clamping pliers The clamp body is opened.

Further, in the above-mentioned grounding wire hanging and removing device, a reset shrapnel is also provided between the buckle bar and the clamp body, which is used to apply a reset force to the buckle bar, so that the snap The buckle lever is reset to abut against another buckle lever.

Further, in the above-mentioned ground wire hanging and dismounting device, the ground wire removal assembly includes: a ground wire unlocking part and a ground wire hook; wherein, the ground wire unlocking part is connected with the ground wire hook for The ground wire hook is locked at the locking position of the ground wire unlocking part; the ground wire unlocking part is connected with an unlocking driving part for applying force to the ground wire unlocking part to unlock the ground wire unlocking part. Locking of the ground wire hook; the ground wire hook is connected with a traction member for applying traction to the ground wire hook, so that after the ground wire unlocking member unlocks the ground wire hook , the ground wire hook moves up and down under the traction force of the traction member, and then connects the ground wire after the ground wire hook moves down to the ground, and makes the ground wire go up with the ground wire hook Move to the locking position, and lock at the locking position through the unlocking part of the ground wire, so as to realize the hooking of the ground wire.

Further, in the above-mentioned ground wire hanging and removing device, the ground wire unlocking member includes: a ground wire card box, a right clamping block and a left clamping block; wherein, at least one of the right clamping block and the left clamping block can be The way of moving is set in the ground wire card box, and at least one of the right clamping block and the left clamping block is connected with the unlocking driving member, so that under the action of the unlocking driving member, , the right clamping block and the left clamping block move away from each other, so as to realize the unlocking of the ground wire hook.

Further, in the above-mentioned grounding wire hanging and detaching device, the bottom of the ground wire cassette is provided with a bell mouth structure, which is used to guide the entry and exit of the ground wire hook into and out of the ground wire cassette.

Further, in the above-mentioned ground wire hanging and removing device, the traction member is a traction rope, and the unlocking driving member is a ground wire unlocking rope; the ground wire unlocking member is arranged on the first side of the wire clamping assembly, and the One end of the traction rope is connected with the ground wire hook, and extends upwards to the wire clamping assembly, and bypasses from the inside of the wire clamping assembly to the second side of the wire clamping assembly, so that The other end of the traction rope located on the second side of the wire clamping assembly is used as a traction end, so that the traction end and the ground wire hook are respectively placed on both sides of the conductor; one end of the ground wire unlocking rope is connected to the The ground wire unlocking member is connected and extends upward to the top of the wire clamping assembly, and bypasses from the top of the wire clamping assembly to the second side of the wire clamping assembly, so that the ground wire The other end of the wire unlocking rope located on the second side of the wire clamping assembly is used as an unlocking driving end, so that the unlocking driving end and the ground wire hook are respectively placed on two sides of the wire.

Further, in the above-mentioned grounding wire hanging and dismounting device, the ground wire hook is provided with a connection hole for connecting the counterweight, so that the ground wire hook can be released under the gravity of the counterweight in the unlocked state. Move down to the ground under action to connect the ground wire.

On the other hand, the present invention provides a system for hanging and removing the ground wire, which system is provided with the above-mentioned device for hanging and removing the ground wire.

Further, the above-mentioned grounding wire hanging and dismounting system, the system also includes: a drone, and the drone is provided with a connector for hooking the ground wire hanging and dismounting device to carry the ground wire hanging and dismounting device Flying; the image collector is arranged on the UAV, and is used to obtain the relative position between the grounding wire hanging device and the wire, so as to control the flight of the UAV based on the relative position between the two.

Further, in the above-mentioned ground wire hanging and dismounting system, the connector includes: the connector body, the two ends of which are respectively connected to the two tripods of the drone; the multi-claw hook, the fixed end of which is set on the connector On the main body, the hooking end is a multi-claw structure, which is used to hook up the grounding wire hooking and dismounting device.

In another aspect, the present invention proposes a method for hanging and removing the ground wire. The method adopts the above-mentioned device for hanging and removing the ground wire. The method includes the following steps: the installation step is to hang the wire clamping assembly on the drone; In the climbing step, the UAV carries the wire clamping assembly and the ground wire removal assembly to take off and climb until the UAV flies to a height higher than the wire mounting position for hovering; the wire clamping step is carried by the UAV The wire clamping assembly and the ground wire removal assembly fly horizontally until the top of the wire, and the drone carries the wire clamping assembly and the ground wire removal assembly down until the wire clamping assembly hangs on the wire, and passes through the drone releasing the wire clamping assembly, so that the wire clamping assembly is clamped on the wire; the ground wire hooking step, releasing the ground wire clamping assembly, so that the ground wire clamping assembly moves downward relative to the wire clamping assembly To the ground, fix one end of the ground wire with a clamp, and fix and lock the other end with the ground wire removal assembly, move the ground wire removal assembly with the ground wire up to the wire clamp assembly, and lock it in the wire clamp assembly On, realize the grounding of the wire.

Further, in the above-mentioned method for hanging and removing the ground wire, the release of the ground wire release assembly, so that the ground wire release assembly moves down to the ground relative to the wire clamping assembly, specifically: pulling the ground wire unlocking rope, Release the locking of the ground wire unlocking part to the ground wire hook, and release the ground wire hook under the traction of the counterweight, so that the ground wire hook moves down to the ground.

Further, in the above-mentioned method for hanging and disassembling the ground wire, the ground wire removal assembly carrying the ground wire is moved upwards to the wire clamping assembly and locked on the wire clamping assembly, specifically: pulling the traction rope so that the traction rope pulls The ground wire hook is pulled up between the right clamping block and the left clamping block, and the ground wire unlocking rope is released, so that the right clamping block and the left clamping block move relatively to clamp and lock the ground wire hook.

Further, the above-mentioned method for hanging and removing the ground wire, after the step of connecting the ground wire, further includes the following steps: a dismounting step, releasing the ground wire detachment assembly, so that the ground wire detachment assembly carries the ground wire relative to the wire The clamping assembly moves down to the ground, disengages the locking of the ground wire and the ground wire release assembly, and drives the ground wire release assembly to move upward relative to the wire clamp assembly to the wire clamp assembly and locks, through The UAV hangs the wire clamping assembly, takes off and lands with the wire clamping assembly and the ground wire removal assembly, and realizes the removal of the ground wire.

The grounding wire hanging and detaching device, system and method provided by the present invention are hung on the UAV through the wire clamping assembly, so as to hang on the wire with the UAV, and when the UAV releases the wire clamping assembly, the wire The clamping component is clamped on the wire in a detachable manner; through the ground wire, the clamping component is hung on the wire with the clamping component of the wire, and the grounding wire can be pulled to the clamping component of the wire to realize the grounding of the wire. The whole process does not require personnel to climb the tower, which greatly improves the flexibility, reliability and safety of the grounding wire hanging and removing, reduces the risk of falling from high altitude and inductive electric shock, and has a high degree of intelligent and automatic operation, which solves the problem of the existing grounding wire hanging and removing The problem of limited height and inconvenient high-altitude operations.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

Fig. 1 is a schematic structural diagram of a grounding wire hanging and detaching system provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a grounding wire hanging and detaching device provided by an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of the grounding wire hooking and detaching device provided by the embodiment of the present invention hooked on the wire;

Fig. 4 is a cross-sectional view of the grounding wire hanging and detaching device provided by the embodiment of the present invention;

Fig. 5 is a schematic structural diagram of the articulated main body provided by the embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a slider provided by an embodiment of the present invention;

Fig. 7 is a schematic structural view of the clamping pliers provided by the embodiment of the present invention;

Fig. 8 is a structural schematic diagram of the ground wire unlocking member and the ground wire hook locking provided by the embodiment of the present invention;

Fig. 9 is a block flow diagram of a method for attaching and detaching a grounding wire according to an embodiment of the present invention;

Fig. 10 is a flow chart of a method for hanging and detaching a ground wire according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

System embodiment:

Referring to FIG. 1 , it shows a preferred structure of the grounding wire hooking and removing system provided by the embodiment of the present invention. As shown in the figure, the hanging and removing system includes: a grounding wire hanging and removing device 100 and a drone 200; wherein, the grounding wire hanging and removing device 100 is detachably mounted on the drone 200 for use with the drone. 200 to fly, to hang and detach it to the wire 300, and then hook the grounding wire (not shown in the figure) to the wire 300 to realize the grounding of the wire 300.

During specific implementation, the UAV 200 carries the grounding wire hanging and detaching device 100 to fly, and can fly from the ground to the wire 300, so that the grounding wire hanging and detaching device 100 can be mounted on the wire 300, and the grounding wire can be pulled The grounding of the wire 300 is realized by locking to the grounding wire hanging device 100 . In this embodiment, the UAV 200 is also provided with an image collector (not shown in the figure), which is used to obtain the relative position between the grounding wire hanging device 100 and the wire 300, so as to The relative position controls the flight of the UAV 200 , so that the ground wire hanger 100 is accurately fastened to the wire 300 .

In this embodiment, as shown in FIG. 1 , the UAV 200 is provided with a connecting piece 210 for hooking the ground wire hanger and detachment device 100 so as to carry the ground wire hanger and detachment device 100 for flight. Specifically, the connector 210 can be directly hooked to the ground wire hanger and detachment device 100 to facilitate the fastening and disassembly of the ground wire hanger and detachment device 100, that is, to realize the locking and disengagement between the ground wire hanger and detachment device 100 and the UAV 200, Furthermore, it is convenient for the connection and disengagement of the two in the high altitude, thereby facilitating the high-altitude hanging and dismounting of the ground wire hanging and detaching device 100, and avoiding the high-altitude operation of the construction workers. The connecting piece 210 is used for connecting and fixing the UAV 200 and the grounding wire hanging and dismounting device 100. One end of the connecting piece 210 is connected with the two tripods of the UAV 200, and the other end is connected with the grounding wire hanging and dismounting device 100. 12 is connected to realize the quick detachment and detachment of the UAV and the ground wire detachment device 100.

Continuing to refer to FIG. 1, the connector 210 includes: a connector body 211 and a multi-claw hook 212; wherein, the two ends of the connector body 211 (the left and right ends as shown in FIG. 1 ) are connected to the two feet of the drone 200 respectively. The fixed end of the multi-claw hook 212 (the top as shown in Figure 1) is set on the connector body 211, and the hook end (the bottom as shown in Figure 1) is a multi-claw structure for hanging The grounding wire hanging device 100.

During specific implementation, the multi-claw hook 212 of the connector adopts a "multi-claw" structure design, such as: "three-claw" type, "four-claw" type, "five-claw" type and other multi-claw design structures to achieve reliable connection and not easy to slip off , and can buffer the force of the UAV, so that the flight of the UAV is not restricted and the flexibility is strong. inflexibility etc.

Continuing to refer to FIGS. 1 to 4, the grounding wire hanging and removing device 100 includes: a wire clamping assembly 1 and a grounding wire removing and securing assembly 2; The UAV 200 is hung on the wire 300, and when the UAV 200 releases the wire clamping assembly 1, the wire clamping assembly 1 is clamped on the wire 300 in a detachable manner; The wire clamping assembly 1 is used to hang on the wire 300 with the wire clamping assembly 1 , and can pull the grounding wire to the wire clamping assembly 1 to realize the grounding of the wire 300 .

During specific implementation, the wire clamping assembly 1 is connected to the ground wire dismantling assembly 2. As shown in FIG. The machine 200 is equipped with the ground wire hanger and detachment device 100 to move into the air, so as to realize the connection and detachment of the ground wire hanger and detachment device 100 with the wire 300, especially the high-altitude wire. Wherein, the ground wire dismantling assembly 2 is arranged on the wire clamping assembly 1 in a manner that can move relative to the wire clamping assembly 1, and is used to hang on the wire 300 with the wire clamping assembly 1, and can move relative to the wire The clamping assembly 2 moves to move to the ground to hook the grounding wire, and drives the grounding wire to move, that is, lift and lock it on the wire clamping assembly 1 to realize the grounding of the wire 300 . That is to say, the connection of the grounding wire can be realized on the ground, and the disassembly of the grounding wire can also be realized, so as to avoid working at heights.

Continuing to refer to FIG. 2 and FIG. 4 , the wire clamping assembly 1 includes: a hooking main body 11 , a hanging piece 12 , a sliding piece 13 and a clamping clamp 14 ; The hanging part 12 is arranged on the top of the sliding part 13 and connected with the sliding part 13. The clamping pliers 14 are arranged on the articulated main body 11, and the clamping pliers 14 are also connected with the sliding part 13. connect. When the hanger 12 is hooked on the UAV 200, an upward force is applied to the slider 13 under the pulling action of the UAV 200, so that the slider 13 slides upward relative to the hooking body 11, and applies The opening force is applied to the clamping pliers 14, so that the clamping pliers 14 are opened, so that the wire enters the clamping groove 111 of the hooking body 11 from the opening; Move downward under the action of gravity to reset, and release the clamping jaw 14 so that the clamping jaw 14 is closed, and then the wire 300 is blocked and clamped at the clamping groove 111 .

During specific implementation, the articulated main body 11 is used as a supporting body to provide sliding support for the slider 13, and also to carry out rotational support for the clamping pliers 14. Of course, the articulated main body 11 can also provide related parts of the ground wire dismantling assembly 2. Components such as ground wire release rope and pull rope for pulley support. The slider 13 is slidably arranged on the hooking body 11 along the vertical direction (relative to the position shown in FIG. The position is limited. The hanging piece 12 is arranged above the hooking body 11 and the sliding piece 13, and the two ends of the hanging piece 12 are respectively connected with the left and right ends of the sliding piece 13 to ensure the stability of the sliding piece 13 moving up and down. Wherein, the hanger 12 can be in various shapes and structures such as irregular wedge-shaped structures, hanging rings, hooks, pull rods, etc., which is convenient for the drone to be hooked firmly and easy to detach. Clamping pliers 14 are designed with motion structures such as "X" type, "scissors" type, and "claws", and are installed on the hooking main body 11, and, as shown in Figure 4, between clamping pliers 14 and slider 13 They can be connected by a fastening and unlocking rope 15, which is used to apply an opening force to the clamping pliers 14 when the slider 13 moves upward relative to the hooking body 11, so that the clamping pliers 14 open. As shown in Figure 4, the two ends (upper and lower ends as shown in Figure 4) of the clamping unlocking rope 15 are respectively hooked on the bottom end of the slider 13 and the left or right side of the clamping pliers 14, so that the clamping When the slider 13 slides upwards, the clamp 14 exerts an opening force to the left or right, so that the clamp 14 is opened; of course, when the drone 200 releases the hanger 12, the hanger 12 and the slide 13 slides downward under the action of gravity, and then releases the opening force on the clamping jaws 14, so that the clamping jaws 14 are automatically closed. Wherein, the hooking body 11 is provided with a clamping support pulley 112, so that the clamping and unlocking rope 15 can bypass the clamping and supporting pulley 112 to support the steering of the clamping and unlocking rope 15, and then adjust the clamping and unlocking rope. The direction of the force applied by 15 is such that the upward force exerted by the slider 13 is converted into an upper left or upper right opening force applied by the clamping release rope 15 to the clamping pliers 14 . In this embodiment, each locking and unlocking rope 15 is correspondingly provided with two locking support pulleys 112 , of course, the number can also be other values, which are not limited in this embodiment.

In this embodiment, in order to ensure the clamping stability of the clamping pliers 14, preferably, as shown in FIG. The restoring force is applied to the clamping jaw 14, so that the clamping jaw 14 is reset to the closed state. Specifically, after the UAV 200 releases the hanger 12, the slider 13 moves downward under the action of gravity to reset, and releases the clamp 14, so that the clamp 14 rotates to close under the action of the reset force. State, and then the wire 300 is closed and clamped at the clamping groove 111, which can ensure the stability of the clamping. Wherein, one end of the return spring 16 is fixed on the hooking main body 11, and the other end is fixed on the clamping clamp 14, so that when the clamping clamp 14 is opened, the return spring 16 compresses and applies a reset force to the clamping clamp 14, so that The clamping jaws 14 can be reset to the closed state after being released.

Referring to FIG. 5 , it is a schematic structural diagram of the hooking body provided by the embodiment of the present invention. As shown in the figure, the inside of the hooking body 11 is a hollow structure, so that the sliding member 13 and the clamp 14 can be at least partially disposed inside the hooking body 11; the top of the hooking body 11 is also set with an opening. The overall design of the hooking body 11 can adopt various structures such as inverted "Y" type, inverted "U" type, and "bell mouth" type, so that the wire 300 can more easily enter the bayonet, that is, the clamping groove 111, wherein the bayonet is The semi-arc structure of the clamping groove 111 can better fit the wire 300 to prevent the wire 300 from slipping off without causing damage to the wire 300 . As shown in FIG. 5 , a lightening hole may be provided on the hooking body 11 to facilitate the lifting of the device. As shown in Figure 2, the ground wire unlocking rope runner bracket 113 and the traction rope pulley bracket 114 are provided on the hooking main body 11, which are used to support the pulley so that the ground wire unlocking rope of the ground wire removal assembly 2 and the traction The rope can be bypassed from the articulated main body 11, so that the two ends of the ground wire unlocking rope and the traction rope are respectively placed on both sides of the articulated main body 11 (the left and right sides as shown in Figure 2), and then clamped on the wire When the component 1 is fastened on the wire 300, the two ends of the ground wire unlocking rope and the pulling rope are respectively placed on both sides of the wire 300 (the left and right sides as shown in Figure 3), thereby ensuring the stability of the device and avoiding the The tipping of the device ensures the stability of the device being clamped on the wire 300 . Of course, the hooking main body 11 can also be provided with a pulley bracket 115, and the pulley bracket 115 is used to support two pulleys for respectively winding the unlocking rope and the pulling rope around the ground wire.

Referring to FIG. 6 , it is a schematic structural diagram of a slider provided by an embodiment of the present invention. As shown in the figure, the slider 13 includes: a hook main body cover 131, a guide bracket 132 and at least one slide bracket 133; wherein, the guide bracket 132 and at least one slide bracket 133 are all arranged on the hook main body cover 131, and The connecting body cover 131 is used to cover the top opening of the connecting body 11 to seal the inside of the connecting body 11 . The sliding bracket 133 is used to be slidably connected inside the hooking body 11 , and the guiding bracket 132 is used to guide the sliding of the sliding bracket 133 .

During specific implementation, both ends of the hanging member 12 are respectively connected to two ends of the upper surface of the hooking body cover 131 to pull the hooking body cover 131 to move upward relative to the hooking body 11 . There can be two sliding brackets 133, both of which are arranged under the cover plate 131 of the main body, and are respectively fixedly connected to the two ends of the cover plate 131 of the main body (the left and right ends as shown in FIG. Driven by the cover plate 131 , it slides relative to the hooking body 11 . In this embodiment, the sliding bracket 133 is provided with a rolling member 134 for reducing friction between the sliding bracket 133 and the hooking body 11 by rolling. The guide bracket 132 is arranged at the middle position below the cover plate 131 of the articulated main body, and is used to guide the up and down movement of the sliding bracket 133; wherein, the guided bracket 132 can be a U-shaped structure, and its two side walls are sandwiched between the articulated main body The front and rear sides of the cover plate 131 are sandwiched between the front and rear sides of the hooking main body 11 . In this embodiment, as shown in FIG. 2 , a guide shaft 116 is provided on the hooking main body 11, and a guide groove 1321 is provided on the guide bracket 132 along its groove depth direction (vertical direction as shown in FIG. 2 ). 116 is slidably inserted in the guide groove 1321 to guide the sliding of the sliding bracket 133 , so that the sliding member 13 and the hooking main body 11 complete a tight sliding connection. Wherein, the rolling element 134 may be a bearing structure, or other structures.

Referring to FIG. 7 , it is a schematic structural diagram of the clamping pliers provided by the embodiment of the present invention. As shown in the figure, the clamping pliers 14 includes: two clamping pliers bodies 141; wherein, the two clamping pliers bodies 141 are arranged oppositely, and the two clamping pliers bodies 141 are hinged for relative rotation and can be stretched. Opening allows the wire 300 to enter between the two clamp bodies 141 , and it can also be closed to clamp the wire 300 between the two clamp bodies 141 .

During specific implementation, the middle positions of the two clamp bodies 141 are hinged to each other and the hinge shaft is fixed on the hooking body 11, so that the two clamp bodies 141 can rotate around the axis of the hinge shaft to realize two clips. The opening and closing of the clamp bodies 141 means tightening, and when the two clamp bodies 141 are closed, the wire 300 can be clamped between the two clamp bodies 141 . In this embodiment, each clamping pliers body 141 can also be provided with a buckle lever 142, and one end of the buckle lever 142 (the lower end as shown in FIG. 7 ) is rotatably connected to the clamping pliers body 141. , and the other end is slidably connected with the clamping pliers body 141, and is used to abut against the buckle bar 142 on the other clamp body 141, so that the two buckle bars 142 abut against each other, so as to The gap between the two clamp bodies 141 is blocked to further prevent the wire 300 from falling from the two clamp bodies 141, which can prevent the device from falling and realize the anti-drop function. In this embodiment, the buckle bar 142 is also connected with the slider 13, and is used to drive the clamp body 141 to rotate under the action of the slider 13, so that the clamp body 141 opens, that is, The top of the clamping unlocking rope 15 is connected with the bottom end of the slider 13, and the bottom end of the clamping unlocking rope 15 is connected with the buckle lever 142, so that when the slider 13 slides upwards, the pulling lever 142 is relatively As the clamping pliers body 141 swings, the left buckle lever 142 rotates counterclockwise as shown in FIG. The clamp body 141 rotates synchronously thereupon, and the left clamp body 141 as shown in FIG. 7 rotates clockwise to an open state. In this embodiment, there are two return springs 16, which are respectively connected to the two clamp bodies 141. When the clamp bodies 141 are opened, the return springs 16 are compressed so that the clamp bodies 141 can be released. Under the action of the reset force of the return spring 16, it reversely rotates to the closed state. Wherein, the two clamp bodies 141 are symmetrically arranged left and right, and their angles are kept consistent when they are opened or closed.

Continuing to refer to FIG. 7 , there is also a reset spring 143 between the buckle lever 142 and the clamp body 141 for applying a reset force to the buckle lever 142 so that the buckle lever 142 is reset to abut against the On the other snap lever 142 . Specifically, after the clip body 141 is opened with the buckle bar 142, after the snap bar 142 is released, the clamp body 141 can drive the snap bar 142 to reset under the action of the reset spring 16, and at the same time , the buckle lever 142 continues to swing in the opposite direction under the reset force of the reset elastic piece 143 until the two buckle levers 142 are tightly abutted against each other. Wherein, the buckle lever 142 and the return spring 16 are respectively connected to two ends of the clamp body 141 , and the two ends of the clamp body 141 are placed on both sides of the hinge point of the clamp body 141 .

Continuing to refer to FIG. 7 , the ends of the two clamp bodies 141 (the top as shown in FIG. 7 ) are provided with support pulleys 144 for guiding the traction rope of the ground wire removal assembly 2 so that the traction rope can Bypassing each supporting pulley, the two clamp bodies 141 can clamp the wire 300 and also support the traction rope, so that the structure is simple and compact. As shown in Figure 4, a balance wheel 145 is provided between the two support pulleys 144, so that the traction rope goes around one of the support pulleys 144, the balance wheel 145 and the other support pulley 144 in turn, and the traction rope passes through the support pulley 144 and the balance The wheel 145 can balance the forces on the upper clamp body 141 on both sides.

Continuing to refer to FIG. 7 , the clamp body 141 includes: a clamping section 1411, a reset section 1412 and a bearing section 1413; wherein, the clamping section 1411 and the reset section 1412 are connected, and the clamping section 1411 is in an arc-shaped structure for When the two clamping pliers bodies 141 are in the closed state, the two clamping sections 1411 of the two clamping pliers bodies 141 surround and form a blockade hole, so that the wire 300 is clamped at the blockage hole by the clamping section 1411; The side of the solid section 1411 facing away from the reset section 1412 (the bottom as shown in Figure 7 ) is also provided with a load-bearing section 1413, which is used as a load bearing and is also used to connect the slider 13 to rotate under the action of the slider 13 , and then drive the clamping section 1411 and the reset section 1412 to rotate synchronously. Specifically, the clamping section 1411 , the reset section 1412 and the load-bearing section 1413 are of an integrated structure, and the three are rotated synchronously. The reset section 1412 and the load-bearing section 1413 are both straight sections, which are respectively arranged on the upper and lower sides of the clamping section 1411; the connection position of the clamping section 1411 and the reset section 1412 is used as a hinge point, hinged on the main body 11, supporting the pulley 144 is arranged on the top of the reset section 1412, and the return spring 16 is connected with the reset section 1412, and the buckle bar 142 is arranged on the load-bearing section 1413, so as to connect the slider 13 through the buckle bar 142, so that the slider Under the action of 13, the whole body rotates to the open state. Wherein, the clamping section 1411 has an arc-shaped structure, and the inner wall is provided with a clamping protrusion with a smooth top, which better fits the contact wire 300 , the wire 300 is not easy to wear and increases the stability of the clamped wire 300 .

Continuing to refer to FIG. 2 , the ground wire removal assembly 2 includes: a ground wire unlocking member 21 and a ground wire hook 22; wherein, the ground wire unlocking member 21 is connected with the ground wire hook 22 for locking the ground wire hook 22 At the locked position of the ground wire unlocking part 21; the ground wire unlocking part 21 is connected with an unlocking drive part 23 for applying an active force to the ground wire unlocking part 21 to unlock the locking of the ground wire hook 22; The hook 22 is connected with a traction member 24 for applying a traction force to the ground wire hook 22, so that after the ground wire unlocking member 21 unlocks the ground wire hook 22, the ground wire hook 22 acts on the traction force of the traction member 24. Move up and down, and then connect the ground wire after the ground wire hook 22 moves down to the ground, and make the ground wire move up with the ground wire hook 22 to the locking position, and lock at the locking position through the ground wire unlocking member 21 , to achieve the hooking of the ground wire.

During specific implementation, the ground wire unlocking part 21 can be arranged on the hanging wire main body 11, and is used to realize the locking and unlocking of the ground wire hook 22, and the ground wire hook 22 can be locked to the ground wire unlocking part 21 to make the ground wire The unlocking part 21 and the ground wire hook 22 fly synchronously with the hanging wire main body 11 under the action of the drone 200 and are fixed on the wire 300 . The ground wire unlocking member 21 is controlled by the unlocking driver 23 to realize the unlocking of the ground wire hook 22, and the ground wire hook 22 is released by the traction member 24, so that the ground wire hook 22 can move downward from the height of the wire 300 to ground, so that the ground wire is connected to the ground wire hook 22, and the traction of the traction member 24 makes the end of the ground wire connected to the ground wire hook 22 move upward to the ground wire unlocking member 21 along with the ground wire hook 22 , and control the ground wire unlocking part 21 through the unlocking driver 23 to realize the locking of the ground wire hook 22, so that the ground wire hook 22 is fixed to the ground wire unlocking part 21, that is, the ground wire is connected to the wire, and the grounding of the wire. In this embodiment, the ground wire hook 22 is provided with a connection hole 221 for connecting the counterweight 25, so that the ground wire hook 22 can move downward under the gravity of the counterweight 25 in the unlocked state. to the ground to connect the ground wire; the counterweight 25 is used to balance the center of gravity of the entire device, and is used to pull the traction 24 to make the traction 24 fall more smoothly; wherein the counterweight 25 can be composed of multiple sets of heavy hammers , according to the height of the target equipment (such as the high-altitude wire) to be mounted in the high-altitude and the traction demand of the traction member 24, combined with the load of the UAV 200, determine the number of heavy hammers. Wherein, the traction member 24 is a traction rope, which can be an insulating rope, which lifts and lowers the ground wire, and one end is connected with the ground wire hook 22, and the other end can be connected with a hoist 26, so as to control the movement of the traction rope through the hoist 26. Retractable, and then control the lifting and lowering of the ground wire hook 22; the unlocking driver 23 is a ground wire unlocking rope, which can be a steel wire rope, and is used to apply force to the ground wire unlocking part 21, and cooperate to complete the locking of the ground wire hook 22 For unlocking, one end of the ground wire unlocking rope is connected to the ground wire unlocking part 21, and the other end can be provided with a wire reel 27, which is pulled or loosened by ground auxiliary workers, and the ground wire unlocking part 21 is pulled by the ground wire unlocking rope. Unlock the locking of the ground wire hook 22 by the ground wire unlocking member 21; loosen the ground wire unlocking rope, and the ground wire unlocking member 21 can automatically reset to the locked position.

Continuing to refer to Fig. 2 and Fig. 3, the ground wire unlocking part 21 is arranged on the first side of the wire clamping assembly 1 (left side as shown in Fig. 2 ), and one end of the traction rope (lower left side as shown in Fig. 2 ) It is connected with the ground wire hook 22, and extends upward to the wire clamping assembly 1, and bypasses from the inside of the wire clamping assembly 1 to the second side of the wire clamping assembly 1 (the right side as shown in FIG. 2 ), Make the other end of the traction rope located on the second side of the wire clamping assembly 1 (the lower end on the right side as shown in FIG. 2 ) as the traction end, so that the traction end and the ground wire hook 22 are respectively placed Two sides, that is, placed on both sides of the wire 300; one end of the ground wire unlocking rope (the lower left end as shown in Figure 2) is connected to the ground wire unlocking member 21, and extends upward to the top of the wire clamping assembly 1, Detour from the top of the wire clamp assembly 1 to the second side of the wire clamp assembly 1, so that the ground wire release rope is located at the other end of the second side of the wire clamp assembly 1 (the lower right end as shown in Figure 2) As the unlocking driving end, the unlocking driving end and the ground wire hook 22 are respectively placed on both sides of the wire clamping assembly 1, that is, placed on both sides of the wire 300, which can facilitate traction and pull, and can also ensure the stability of the device , to avoid tilting and falling of the device.

Referring to FIG. 8 , it is a structural schematic diagram of the ground wire unlocking member and the ground wire hook locking provided by the embodiment of the present invention. As shown in the figure, the ground wire unlocking member 21 includes: a ground wire card box 211, a right clamping block 212 and a left clamping block 213; wherein, at least one of the right clamping block 212 and the left clamping block 213 is set in a movable manner In the ground wire cassette 211, and at least one of the right clamping block 212 and the left clamping block 213 is connected with the unlocking drive 23, for under the action of the unlocking drive 23, the right clamping block 212 and the left clamping block 213 Move opposite to each other to realize the unlocking of the ground wire hook 22. Specifically, in this embodiment, the left clamping block 213 is slidably arranged in the ground wire cassette 211 along the horizontal direction, and the ground wire unlocking rope passes through the left side wall of the ground wire cassette 211 into the ground wire cassette 211 And be connected on the left clamping block 213, to exert the unlocking force that moves to the left on the left clamping block 213, make the left clamping block 213 move to the left, realize the separation with the right clamping block 212, and then realize the hook 22 to the ground wire unlocked. In order to ensure the smoothness of unlocking the ground wire hook 22, preferably, the right clamping block 212 is also slidably arranged in the ground wire cassette 211 along the horizontal direction, and the right clamping block 212 and the left clamping block 213 are provided with There is a locking return spring 214, which can be reset to the locked position, so that the ground wire hook 22 can be locked when the ground wire hook 22 moves to the locked position, so that the locking is more stable. Wherein, the opposite wall of the right clamping block 212 and the left clamping block 213 is provided with a relief groove, which is adapted to the ground wire hook 22, and is used to form a fastening groove between the right clamping block 212 and the left clamping block 213, It is used to lock the ground wire hook 22, which facilitates the locking and unlocking of the tapered ground wire hook 22. In order to facilitate the ground wire hook 22 to enter the ground wire unlocking member 21 smoothly, preferably, the bottom of the ground wire cassette 211 is provided with a bell mouth structure 2111 for controlling the ground wire hook 22 entering and exiting the ground wire cassette 211. guide.

In this embodiment, the ground wire cassette 211 includes: a cassette body 2112 and a ground wire cassette end cover 2113 disposed at the top opening of the cassette body 2112 .

To sum up, the ground wire hooking and dismounting device and system provided in this embodiment are hooked on the UAV 200 through the wire clamping assembly 1, so as to be hung on the wire 300 along with the UAV 200, and released on the UAV 200. At the same time as the wire clamping assembly 1, the wire clamping assembly 1 is clamped on the wire 300 in a detachable manner; through the ground wire dismantling assembly 2, the wire clamping assembly 1 is hung on the wire 300, and the grounding wire can be pulled To one piece of wire clamping group to realize the grounding of the wire 300. No personnel need to climb the tower during the whole operation, which greatly improves the flexibility, reliability and safety of the grounding wire hanging and detaching, and reduces the risk of falling from high altitude and inductive electric shock , The operation is intelligent and highly automated, which solves the problems of the limited height of the existing grounding wire and the inconvenience of high-altitude operations.

Method example:

Referring to FIG. 9 , it is a flow chart of a method for hanging and disconnecting a grounding wire provided by an embodiment of the present invention. As shown in the figure, the hanging and dismantling method uses the above-mentioned hanging and dismantling system or the hanging and dismantling device to carry out the hanging and dismantling of the ground wire. The hanging and dismantling method includes the following steps:

In the installation step S1, the wire clamping assembly is hung on the drone.

Specifically, firstly, take out the UAV 200, install and fix the UAV 200 and the connector 210; Heavy hammer, and hang the ground wire hanger 100 on the connector 210.

Climbing step S2, take off and climb with the wire clamping assembly and the ground wire removal assembly carried by the UAV flying, until the UAV flies to a height exceeding the wire hooking position for hovering.

Specifically, first, control the UAV 200 so that the UAV 200 takes off with the grounding wire hanging device 100 and climbs vertically, and simultaneously uses the wire reel 27 and the winch 26 to release the ground wire unlocking rope and the traction rope, and keep The counterweight 25, the ground wire unlocking rope and the traction rope of the grounding wire hanging and detaching device 100 are on different sides (left and right sides as shown in FIG. 3 ) inside and outside the target equipment to be hooked (such as the wire 300, especially the high-altitude wire); Wait for the UAV 200 to fly to a place slightly higher than the height where the wire 300 is attached to hover.

Wire clamping step S3, the drone carries the wire clamping assembly and the ground wire removal assembly and flies horizontally until it is above the wire, and the drone carries the wire clamping assembly and the ground wire removal assembly and descends until the wire clamps The wire clamping component is hung on the wire, and the wire clamping component is released by the drone, so that the wire clamping component is clamped on the wire.

Specifically, firstly, control the UAV 200 to fly horizontally above the wire 300, and point the UAV 200 equipped with an image collector such as a camera to the grounding wire hanging device 100, especially the wire clamping assembly 1 to take pictures and slowly descend. The real-time image returned by the camera checks the hooking position until the grounding wire hooking and dismounting device 100, that is, the wire clamping assembly 1 is hooked on the wire 300, and the wire clamping assembly 1 is released by controlling the flight of the drone 200, so that the wire clamping The assembly 1 is clamped on the wire 300 .

Ground wire hooking step S4, release the ground wire release assembly, so that the ground wire release assembly moves down to the ground relative to the wire clamp assembly, fix one end of the ground wire with a clamp, and the other end is connected to the ground wire release assembly Fix and lock, move the ground wire removal assembly carrying the ground wire up to the wire clamping assembly, and lock it on the wire clamping assembly to realize the grounding of the wire.

Specifically, firstly, release the ground wire release assembly 2, so that the ground wire release assembly 2 moves down to the ground relative to the wire clamping assembly, and the ground wire unlocking rope can be pulled to release the ground wire unlocking part 21 to the ground wire hook. 22, release the ground wire hook 22 under the traction of the counterweight 25, so that the ground wire hook 22 moves down to the ground; Temporary grounding body on the ground, or the cross arm directly connected to the tower grounding device and locked, and the other end is fixed and locked with the ground wire removal assembly 2, for example, it can be fixed and locked with screws; finally, the ground wire is removed The solid assembly carries the grounding wire and moves upward to the wire clamping assembly, and is locked on the wire clamping assembly to realize the grounding of the wire. The ground operator can pull the traction rope to pull the ground wire hook 22 upwards to Between the right clamping block 213 and the left clamping block 212, release the ground wire unlocking rope, so that the right clamping block 213 and the left clamping block 212 move relatively to clamp and lock the ground wire hook 22, and complete the hooking of the ground wire to the wire 300 .

Referring to FIG. 10 , it is another flow chart of the grounding wire hooking and detaching method provided by the embodiment of the present invention. As shown in the figure, the dismantling method includes the following steps:

In the installation step S1, the wire clamping assembly is hung on the drone.

Climbing step S2, take off and climb with the wire clamping assembly and the ground wire removal assembly carried by the UAV flying, until the UAV flies to a height exceeding the wire hooking position for hovering.

Wire clamping step S3, the drone carries the wire clamping assembly and the ground wire removal assembly and flies horizontally until it is above the wire, and the drone carries the wire clamping assembly and the ground wire removal assembly and descends until the wire clamps The wire clamping component is hung on the wire, and the wire clamping component is released by the drone, so that the wire clamping component is clamped on the wire.

Ground wire hooking step S4, release the ground wire release assembly, so that the ground wire release assembly moves down to the ground relative to the wire clamp assembly, fix one end of the ground wire with a clamp, and the other end is connected to the ground wire release assembly Fix and lock, move the ground wire removal assembly carrying the ground wire up to the wire clamping assembly, and lock it on the wire clamping assembly to realize the grounding of the wire.

Disassembly step S5, releasing the ground wire removal assembly, so that the ground wire removal assembly carries the ground wire and moves down to the ground relative to the wire clamping assembly, disassembles the locking of the ground wire and the ground wire removal assembly, and drives the ground wire The wire dismantling assembly moves upward relative to the wire clamping assembly to the wire clamping assembly and locks it. The wire clamping assembly is picked up by the drone, and the wire clamping assembly and the ground wire dismantling assembly are taken off and landed to achieve grounding. Line removal.

Specifically, the ground operator releases the locking of the ground wire hook 22 by the ground wire unlocking member 21 by pulling the ground wire unlocking rope, and releases the ground wire hook 22 under the traction of the counterweight 25, so that the ground wire hook 22 moves toward the ground wire. Move down to the ground; then, disassemble the connection between the ground wire and the ground wire hook 22, and remove a clamp at the ground end of the ground wire; the ground operator pulls the ground wire hook 22 to lift up Pull between the right clamping block 213 and the left clamping block 212, release the ground wire unlocking rope, so that the right clamping block 213 and the left clamping block 212 move relatively to clamp and lock the ground wire hook 22, return to the original state, release the ground wire Line unlocking rope and traction rope; finally, control the UAV 200 to fly to the position where the grounding line hanging and dismantling device 100 is located, remove the grounding line hanging and dismantling device 100 and land on the ground.

To sum up, the method for hanging and removing the grounding wire provided in this embodiment is to hang on the UAV 200 through the wire clamping assembly 1, so as to hang on the wire 300 along with the UAV 200, and release the wire clamp on the UAV 200 While fixing the assembly 1, the wire clamping assembly 1 is clamped on the wire 300 in a detachable manner; through the ground wire dismantling assembly 2, the wire clamping assembly 1 is hung on the wire 300, and the grounding wire can be pulled to the wire One piece of clamping group is used to realize the grounding of the wire 300. No personnel need to climb the tower during the whole operation, which greatly improves the flexibility, reliability and safety of the grounding wire hanging and detaching, and reduces the risk of falling from high altitude and induction electric shock. The high degree of intelligence and automation solves the problems of limited hanging and dismounting height of the existing grounding wire and inconvenient high-altitude operations.

It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "inner", "outer" and other indicated directions or positional relationships are based on the terms shown in the accompanying drawings. The direction or positional relationship shown is only for convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, it should be noted that, in the description of the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a It is a detachable connection or an integral connection; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (17)

1. A grounding wire hanging and dismantling device, characterized in that it comprises: a wire clamping assembly and a grounding wire dismantling assembly; wherein, The wire clamping assembly is used to hang on the drone, so as to hang on the wire with the drone, and when the drone releases the wire clamping assembly, the wire clamping assembly is detachable clamped on the wire; The ground wire removal assembly is arranged on the wire clamping assembly, and is used to hang on the wire with the wire clamping assembly, and can pull the ground wire to the wire clamping assembly to realize grounding of the wire. 2. The grounding wire hanging and removing device according to claim 1, wherein the wire clamping assembly comprises: a hooking main body, a hanging piece, a sliding piece and a clamping pliers; wherein, The sliding piece is arranged on the hanging main body in a manner that can slide relative to the hanging main body, the hanging piece is arranged above the sliding piece and connected with the sliding piece, the The clamping pliers are arranged on the hooking main body, the clamping pliers are also connected with the sliding part, and a return spring is provided on the clamping pliers for Applying a restoring force to the clamping forceps at the same time, so that the clamping clamps are reset to the closed state; When the hanger is hooked to the drone, an upward force is applied to the slider under the pulling effect of the drone, so that the slider slides upward relative to the hooking main body, And apply an opening force to the clamping pliers, so that the clamping pliers are opened, so that the wire enters the clamping groove of the hooking main body from the opening; After the UAV releases the hanging part, the sliding part moves downward under the action of gravity to reset, and releases the clamping clamp, so that the clamping clamp closes, and then the wire is blocked and clamped at the clamping groove. 3. The grounding wire hanging and removing device according to claim 2, wherein the clamping pliers comprise: two clamping pliers bodies; wherein, The two clamp bodies are arranged opposite to each other, and the two clamp bodies are hinged for relative rotation, can be opened so that the wire can enter between the two clamp bodies, and can also be closed The wire block is clamped between the two clamp bodies. 4. The ground wire hanger and detachment device according to claim 3, characterized in that: Each clamp body is also provided with a buckle lever, one end of the buckle lever is rotatably connected to the clamp body, and the other end is slidably connected to the clamp body. connected, used to abut against the buckle bar on the other clamp body, so that the two snap bars abut against each other, so as to block the gap between the two clamp bodies ; The buckle bar is also connected with the sliding member, and is used to drive the clamping pliers body to rotate under the action of the sliding member, so as to open the clamping pliers body. 5. The ground wire hanger and detachment device according to claim 4, characterized in that: There is also a reset shrapnel between the buckle bar and the clamp body, which is used to apply a reset force to the snap bar, so that the snap bar is reset to abut against another Snap on the gear lever. 6. The ground wire hanging and removing device according to any one of claims 1 to 5, characterized in that, the ground wire removing and securing assembly comprises: a ground wire unlocking member and a ground wire hook; wherein, The ground wire unlocking part is connected with the ground wire hook, and is used to lock the ground wire hook at the locking position of the ground wire unlocking part; The ground wire unlocking part is connected with an unlocking driving part, which is used to apply force to the ground wire unlocking part to unlock the locking of the ground wire hook; The ground wire hook is connected with a traction member for applying traction force to the ground wire hook, so that after the ground wire unlocking member unlocks the ground wire hook, the ground wire hook move up and down under the traction force of the traction member, and then connect the ground wire after the ground wire hook moves down to the ground, and make the ground wire move up to the locking position with the ground wire hook, and The hooking of the ground wire is realized by locking the ground wire unlocking member at the locked position. 7. The ground wire hanging and detaching device according to claim 6, wherein the ground wire unlocking member comprises: a ground wire clamping box, a right clamping block and a left clamping block; wherein, At least one of the right clamping block and the left clamping block is movably arranged in the ground wire cassette, and at least one of the right clamping block and the left clamping block is in contact with the The unlocking driving member is connected, and is used for moving the right clamping block and the left clamping block oppositely under the action of the unlocking driving member, so as to realize unlocking of the ground wire hook. 8. The ground wire hanger and detachment device according to claim 7, characterized in that: The bottom of the ground wire cassette is provided with a trumpet structure for guiding the ground wire hook to enter and exit the ground wire cassette. 9. The ground wire hanger and detachment device according to claim 6, characterized in that: The traction part is a traction rope, and the unlocking drive part is a ground wire unlocking rope; The ground wire unlocking part is arranged on the first side of the wire clamping assembly, one end of the traction rope is connected with the ground wire hook, and extends upward to the wire clamping assembly, from the The wire clamping assembly is bypassed to the second side of the wire clamping assembly, so that the other end of the pulling rope located on the second side of the wire clamping assembly is used as a pulling end, so that the pulling end and the The ground wire hooks are respectively placed on both sides of the wire; One end of the ground wire unlocking rope is connected to the ground wire unlocking member, and extends upward to the top of the wire clamping assembly, and bypasses from the top of the wire clamping assembly to the top of the wire clamping assembly. The second side, so that the other end of the ground wire unlocking rope on the second side of the wire clamping assembly is used as the unlocking driving end, so that the unlocking driving end and the ground wire hook are respectively placed on both sides of the wire . 10. The ground wire hanger and detachment device according to claim 6, characterized in that: The ground wire hook is provided with a connection hole for connecting the counterweight, so that the ground wire hook can move down to the ground under the gravity of the counterweight in the unlocked state, so as to Connect the ground wire. 11. A grounding wire hanging and removing system, characterized in that it is provided with the grounding wire hanging and removing device according to any one of claims 1 to 10. 12. The ground wire hanging and detaching system according to claim 11, further comprising: An unmanned aerial vehicle, the unmanned aerial vehicle is provided with a connecting piece, which is used to hook the ground wire hanger and detachment device, so as to carry the ground wire hanger and detachment device for flight; The image collector is arranged on the UAV, and is used to obtain the relative position between the grounding wire hanging device and the wire, so as to control the flight of the UAV based on the relative position between the two. 13. The grounding wire hanging and detaching system according to claim 12, wherein the connecting piece comprises: The connector body, the two ends of which are respectively connected with the two tripods of the drone; A multi-claw hook, the fixed end is arranged on the connector body, and the hook end has a multi-claw structure, which is used to hook the grounding wire hanging and dismounting device. 14. A method for hanging and removing a ground wire, characterized in that the device for hanging and removing a ground wire according to any one of claims 1 to 10 is used, and the method for hanging and removing comprises the following steps: The installation step is to hang the wire clamping assembly on the drone; The climbing step is to carry the wire clamping assembly and the ground wire removal assembly through the flight of the UAV to take off and climb until the UAV flies to a height exceeding the height of the wire hooking position for hovering; In the wire clamping step, the UAV carries the wire clamping assembly and the ground wire removal assembly and flies horizontally until it is above the wire, and the UAV carries the wire clamping assembly and the ground wire removal assembly and descends until the wire is clamped The component is hung on the wire, and the wire clamping component is released by the drone, so that the wire clamping component is clamped on the wire; The ground wire hooking step is to release the ground wire removal assembly, so that the ground wire removal assembly moves down to the ground relative to the wire clamp assembly, fix one end of the ground wire with a clamp, and the other end is removed from the ground wire The component is fixed and locked, and the ground wire removal component carries the ground wire and moves up to the wire clamping component, and is locked on the wire clamping component to realize the grounding of the wire. 15. The method for hanging and removing the ground wire according to claim 14, characterized in that the release of the ground wire removal assembly allows the ground wire removal assembly to move down to the ground relative to the wire clamping assembly, specifically for: Pull the ground wire unlocking rope to release the locking of the ground wire unlocking part to the ground wire hook, and release the ground wire hook under the traction of the counterweight, so that the ground wire hook moves down to the ground. 16. The method for hanging and removing the ground wire according to claim 14 or 15, wherein the ground wire removal assembly carries the ground wire and moves upward to the wire clamping assembly, and is locked on the wire clamping assembly, Specifically: Pull the traction rope, so that the traction rope pulls the ground wire hook up to between the right clamping block and the left clamping block, releases the ground wire unlocking rope, makes the right clamping block and left clamping block move relatively to clamp and lock the ground wire clamp hook. 17. The method for hanging and removing the ground wire according to claim 14 or 15, characterized in that, after the step of connecting the ground wire, the following steps are further included: The disassembly step is to release the ground wire dismantling assembly, so that the ground wire dismantling assembly carries the ground wire and moves down to the ground relative to the wire clamping assembly, disassembles the locking of the ground wire and the ground wire dismantling assembly, and drives The ground wire clamping assembly is moved upwards relative to the wire clamping assembly to the wire clamping assembly and locked, the wire clamping assembly is picked up by the drone, and the wire clamping assembly and the ground wire clamping assembly are taken off and landed , to achieve the removal of the ground wire.

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