Power grid safety guarantee device and method for live stripping of wire sheath based on unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle-based power grid safety guarantee device and method for live stripping of a lead sheath, the device comprises a stripper main body and a chuck, the lower end of the stripper main body is slidably connected with the upper end of a bottom plate through a guide rail pair, a vertical forward and reverse lead screw is arranged on a support frame arranged on one side of the bottom plate, and the lower end of the stripper main body is connected with the chuck. The two chucks are arranged on the forward and reverse lead screw, a lead screw motor is arranged at the lower end of the supporting frame, the bottom plate is connected with the lower end of a hanging frame, the upper end of the hanging frame is connected with an unmanned aerial vehicle through a connecting rod, and a controller is arranged on the supporting frame. And the controller receives and sends an instruction to enable the lead screw motor and the peeler main body to move. Through deep intelligent integration of the unmanned aerial vehicle platform and the automatic stripping device, remote, automatic and accurate stripping of the insulated wire is realized, the safety of a large-scale power grid can be guaranteed, the labor intensity and the safety risk of operators can be remarkably reduced, and the operation and maintenance level of a power distribution network is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of distribution network live working, in particular to a power grid safety protection device and method for live stripping of wire sheath based on a UAV. BACKGROUND

[0002] With the continuous expansion of the construction scale of distribution networks, large-scale power grid safety protection is becoming increasingly important, and therefore the workload of distribution network operation and maintenance is also increasing. In order to improve power supply reliability and reduce the number of users during power outage, the importance of live working is gradually increasing. Before live installation of a wire drain line clamp or a grounding hanging ring, the insulating layer at a predetermined position of the wire often needs to be stripped. The insulating layer is usually made of high-strength polyethylene material, which has a very large thickness and hardness. The traditional method usually relies on workers wearing a complete set of insulating protective equipment, using an insulating boom truck or pole climbing operation, and manually using a stripping tool for operation. This method not only has a large labor intensity and low operation efficiency, but also has a high personal safety risk in high-altitude live working. In addition, the quality of manual stripping is difficult to guarantee uniformity, and there is a risk of improper stripping length or damage to the wire core.

[0003] The patent with the authorized publication number CN217182797U discloses a wireless intelligent stripping device, which comprises an automatic knife adjusting device, a wire stripping device, a rotary driving device, a main control device connected with the rotary driving device, a main control box connected with the rotary driving device, a power supply mounting seat arranged at the top end of the main control box, a storage battery pack detachably connected with the power supply mounting seat, a first driving motor arranged in the main control box and connected with the rotary driving device, a control mainboard arranged in the main control box and connected with the first driving motor and the storage battery pack, the control mainboard being used to control the first driving motor to act according to a remote control instruction, and a rocker arm master control switch arranged on the main control box and used to turn on or turn off the power input. The patent technology is equipped with an independent control box and a high-capacity battery, has good endurance, can perform stripping operation for a long time, and effectively improves the operation efficiency.

[0004] However, the patent technology has some deficiencies: the insulating operating rod 10 is connected with the guide rod mounting seat 20, a maintenance worker holds the insulating operating rod 10 to lift up the guide rod mounting seat 20, and then strips and cuts the insulating layer of the overhead wire. The maintenance worker has a large labor intensity, and in complex terrain, narrow space or dense vegetation area, the maintenance worker is difficult to reach the work point, resulting in that the work cannot be carried out. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the deficiencies of the prior art, and to provide a power grid safety protection device and method for live stripping of wire sheath based on a UAV, which has reasonable design, intelligent control and wide application range.

[0006] The technical scheme of the present application is: The utility model provides a power grid safety guarantee device based on unmanned aerial vehicle live line stripping wire sheath contains the sheath stripper main part and chuck, the sheath stripper main part includes blade, rotating mechanism and depth adjusting mechanism, after overhead conductor is clamped, the blade will cut into the insulating layer of overhead conductor according to the preset depth, the lower extreme of sheath stripper main part is through guide rail pair and the upper end of bottom plate slidingly connected, can move left and right, one side of bottom plate is provided with support frame, vertical positive and negative screw rod is provided on the support frame, two chucks are provided on the positive and negative screw rod, the lower extreme of support frame is provided with screw rod motor, the output shaft of screw rod motor is connected with positive and negative screw rod, reset spring is arranged between sheath stripper main part and support frame, the bottom of hanger frame is connected with bottom plate, the upper end of hanger frame is connected with unmanned aerial vehicle through connecting rod, controller is provided on the support frame, the controller receives and sends instructions to make screw rod motor and sheath stripper main part move.

[0007] Further: the hanger frame is a C-shaped support, the lower end of which is connected with the bottom plate, and the upper end of which is connected with the middle of the horizontal rod, two sliding sleeves are symmetrically arranged on the horizontal rod, each sliding sleeve is connected with the lower end of one connecting rod, and the upper ends of the two connecting rods are respectively connected with the bottom of the unmanned aerial vehicle, and the connecting rod is an insulating rod.

[0008] Further: a through hole is arranged in the middle of the horizontal rod, the upper end of the C-shaped support passes through the through hole and is positioned by a jackscrew; the sliding sleeve can move on the horizontal rod and is positioned by a jackscrew.

[0009] Further: one connecting sleeve is arranged on each sliding sleeve, the lower end of each connecting rod is connected with a fixed plate, the lower end of the fixed plate is connected with the upper end of a fixed frame, a reverse U-shaped connecting lock column is arranged at the front end of the fixed frame, the front end side column of the connecting lock column can be inserted into the shaft hole of the connecting sleeve, a lock column hole is arranged through the connecting sleeve and the connecting lock column, a drive motor is arranged on the fixed frame, the drive motor is connected with one end of a straight line moving rod through a crank and a connecting rod, the other end of the straight line moving rod is inserted into the lock column hole in a plug-in manner and can move back and forth to realize locking and unlocking.

[0010] Further: a V-shaped guide mechanism is arranged on the sheath stripper main part and the support frame respectively, the V-shaped guide mechanism comprises a square connecting plate and two guide rods, two connecting pipes are arranged at the front end of the square connecting plate, one guide rod is inserted into each connecting pipe, and the guide rod and the connecting pipe are positioned by a jackscrew, and the two guide rods are arranged in a V shape to facilitate the entry of the overhead conductor.

[0011] Further, the support frame comprises an upper fixed plate, a side plate and a lower fixed plate, the two clamps are provided with a guide mechanism between the side plate, the side plate is provided with a travel switch, and the travel switch is connected with the controller.

[0012] Further, the guide rail pair comprises a guide rail and a sliding block which are slidingly matched, the guide rail is arranged on the upper end face of the bottom plate, and the sliding block is arranged on the lower end face of the peeler body.

[0013] An unmanned aerial vehicle live-line wire sheath stripping power grid safety protection method using the unmanned aerial vehicle live-line wire sheath stripping power grid safety protection device comprises the following steps: a. preliminary work: first, accurately positioning the target overhead conductor that needs to be stripped; second, checking the state of each mechanical part of the unmanned aerial vehicle, ensuring that the battery has sufficient power and the remote control communication system is working properly, and finally checking whether the cutter of the peeler is sharp and intact, and whether the clamp mechanism and the guide rail mechanism are normal; b. unmanned aerial vehicle take-off work: first, controlling the unmanned aerial vehicle to take off with the peeler, and flying stably to the predetermined stripping position above the target conductor; second, adjusting the position through the camera device carried on the unmanned aerial vehicle device, so that the V-shaped guide mechanism is aligned with the target conductor; c. clamping conductor work: first, the operator controls the screw rod motor to start, drives the forward and reverse screw rod to rotate, and makes the two clamps gradually move away, then controls the unmanned aerial vehicle to make the target conductor enter between the two clamps, and finally controls the screw rod motor to reverse, so that the two clamps gradually approach and clamp the target conductor, ensuring that the device is relatively stable with the conductor during the stripping process; d. insulating layer stripping work: first, starting the peeler body, the blade cuts and peels the insulating layer of the conductor according to the preset stripping depth and length under the guidance of the guide rail pair; second, after the insulating layer is cut, the peeler body stops working, and the peeler body resets to the initial state under the action of the reset spring; finally, the operator controls the screw rod motor to make the two clamps move away and release the target conductor; e. unmanned aerial vehicle return work: first, controlling the unmanned aerial vehicle to make the V-shaped guide rod separate from the conductor, and then controlling the unmanned aerial vehicle to carry the peeler back to the ground safely, completing a working cycle.

[0014] Further, when the unmanned aerial vehicle carrying the peeler approaches the target insulating conductor, the V-shaped guide rod first contacts the conductor, and gradually guides the conductor to the working area in the center of the clamp by using the inclined inner wall, which greatly reduces the difficulty of accurate positioning of the unmanned aerial vehicle and improves the success rate of conductor capture.

[0015] Further, the inner surface of the clamp is provided with a gasket that increases friction and does not damage the insulating layer of the conductor, ensuring that the conductor and the peeler are relatively stationary during the entire stripping process.

[0016] The beneficial effects of the present application are: 1、The present application realizes remote, automatic and precise stripping operation of insulated conductors by deep intelligent integration of unmanned aerial vehicle platform and automatic stripping device, which can not only ensure the safety of large-scale power grid, but also significantly reduce the labor intensity and safety risk of operating personnel, improve operation efficiency and stripping quality, and adapt to operation requirements in complex environments.

[0017] 2、The present application realizes a highly automated remote stripping operation process: from conductor positioning, device clamping, accurate removal of insulating layer to device release, the whole process can be completed under remote ground control, greatly reducing the manual operation link and reducing the dependence on the skills of operating personnel, with the outstanding advantages of high safety, high efficiency, high quality and strong environmental adaptability, which is of great significance for improving the operation and maintenance level of distribution network.

[0018] 3、The present application is provided with a quick disassembly mechanism, which realizes the connection and disassembly of the connecting rod and the stripper body through the crank connecting rod structure, effectively preventing the problem that the unmanned aerial vehicle and the stripper body cannot be separated in case of unexpected situations.

[0019] 4、The lower end of the stripper body is connected with the bottom plate in a sliding manner through the guide rail pair, can move, and can be reset through the reset spring, and when the stripping is finished, it can automatically return to the original position.

[0020] 5、The present application is provided with a V-shaped guide rod, which can quickly capture overhead lines and guide the stripping device body and chuck to clamp the overhead lines, improving work efficiency.

[0021] 6、The present application uses the flexibility and air hovering capability of the unmanned aerial vehicle to expand the stripping operation range to areas that are difficult to reach by traditional methods, effectively avoiding the limitation of the boom truck from entering the site due to terrain and other factors, significantly improving the convenience of operation, easy to implement and promote, and has good economic benefits. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic view of a large-scale power grid safety device for stripping the outer skin of insulated conductors based on unmanned aerial vehicle under voltage; Figure 2 It is Figure 1 a structural view of the stripping assembly; Figure 3 It is Figure 1 a structural schematic view of the connecting rod; Figure 4 It is Figure 3 an enlarged view of A; Figure 5 It is another axial direction structural schematic view of a large-scale power grid safety device for stripping the outer skin of insulated conductors based on unmanned aerial vehicle under voltage. Detailed Implementation

[0023] Example: See Figure 1 -- Figure 5 In the diagram, 1-Speaker base, 2-Guide rail, 3-Slider, 4-V-shaped guide mechanism, 5-Peeler body, 6-Positive and negative lead screws, 7-Battery, 8-Crossbar, 9-Sliding sleeve, 10-C-type bracket, 11-Limit switch, 12-Clamp, 13-Side plate, 14-Coupling, 15-Controller, 16-Lead screw motor, 17-Base plate, 18-Connecting sleeve, 19-Connecting rod, 20-UAV, 21-Fixing plate, 22-Drive motor, 23-Fixing frame, 24-Crank, 25-Connecting rod, 26-Linear moving rod, 27-Connecting lock post.

[0024] A power grid safety device based on live wire stripping using a drone includes a stripper body 5 and clamps 12. The stripper body 5 includes a blade, a rotating mechanism, and a depth adjustment mechanism. After the overhead wire is clamped, the blade cuts into the insulation layer of the overhead wire to a preset depth. The lower end of the stripper body 5 is slidably connected to the upper end of a base plate 17 via a guide rail pair, allowing it to move left and right. A support frame is provided on one side of the base plate 17, and a vertical forward and reverse screw 6 is provided on the support frame. Two clamps 12 are provided on the forward and reverse screw 6, with opposite spiral directions. The two helical segments of the forward and reverse lead screws 6 are respectively located in the forward and reverse directions, achieving a motion mode of moving away from or approaching each other simultaneously. The lower end of the support frame is equipped with a lead screw motor 16, and the output shaft of the lead screw motor 16 is connected to the forward and reverse lead screws 6 (the two are connected through a coupling 14). A return spring (not shown in the figure) is provided between the peeler body 5 and the support frame. The base plate 17 is connected to the lower end of the hanging frame, and the upper end of the hanging frame is connected to the UAV 20 through a connecting rod 19. A controller 15 is provided on the support frame. The controller 15 receives and sends commands to make the lead screw motor 16 and the peeler body 5 move.

[0025] Preferred solution: The hanging frame is a C-shaped bracket 10, the lower end of which is connected to the base plate 17, and the upper end of which is connected to the middle of the crossbar 8. Two sliding sleeves 9 are symmetrically arranged at intervals on the crossbar 8. Each sliding sleeve 9 is connected to the lower end of a connecting rod 19. The upper ends of the two connecting rods 19 are respectively connected to the bottom of the UAV 20. The connecting rods 19 are insulating rods.

[0026] Preferred solution: A through hole is provided in the middle of the crossbar 8, and the upper end of the C-shaped bracket 10 passes through the through hole, which can adjust the front and rear position of the crossbar 8. After adjustment, it is positioned and fixed by the set screw; the sliding sleeve 9 can move on the crossbar 8 to adapt to the requirements of different installation widths. After adjustment, it is positioned and fixed by the set screw.

[0027] The C-shaped support 10 and the front and back positions of the adjusting cross rod 8 are used to make the lifting position of the unmanned aerial vehicle 20 on the center line of the whole device, and the stability is higher.

[0028] The preferred embodiment is that a connecting sleeve 18 is arranged on each sliding sleeve 9, and the lower end of each connecting rod 19 is connected with a fixed plate 21 (the connecting mode can adopt the mode of bolt hole, screw segment and nut, wherein the two ends of the connecting rod 19 are respectively provided with screw segments, and the fixed plate 21 and the unmanned aerial vehicle 20 are respectively provided with bolt holes, the screw segments pass through the bolt holes, and the two sides are fixed by screw nuts, and a locking nut can be further added to make the connection more firm), the lower end of the fixed plate 21 is connected with the upper end of the fixed frame 23, the front end of the fixed frame 23 is provided with a reverse U-shaped connecting lock column 27, the front end side column of the connecting lock column 27 can be inserted into the shaft hole of the connecting sleeve 18, a lock column hole is arranged through the connecting sleeve 19 and the connecting lock column 27, a driving motor 22 is arranged on the fixed frame 23, the driving motor 22 is connected with one end of a straight line moving rod 26 through a crank 24 and a connecting rod 25, the other end of the straight line moving rod 26 is inserted and matched with the lock column hole, and can move back and forth to realize locking and unlocking.

[0029] The preferred embodiment is that a V-shaped guide mechanism 4 is arranged on the support frame and the peeling device main body 5 respectively, the V-shaped guide mechanism 4 includes a square connecting plate and two guide rods, two connecting pipes are arranged at the front end of the square connecting plate, one guide rod is inserted into each connecting pipe, and the guide rod and the connecting pipe are positioned by a jackscrew, can be disassembled, and the two guide rods are arranged in a V shape, which is convenient for the overhead conductor to enter.

[0030] The preferred embodiment is that the support frame includes an upper fixed plate, a side plate 13 and a lower fixed plate, a guide mechanism is arranged between the two clamps 12 and the side plate 13 to ensure that the two clamps keep straight line motion up and down, and a travel switch 11 is arranged on the side plate 13 and connected with a controller 15.

[0031] The preferred embodiment is that the guide rail pair includes a guide rail 2 and a sliding block 3, which are slidingly matched, the guide rail 2 is arranged on the upper end face of the bottom plate 17, and the sliding block 3 is arranged on the lower end face of the peeling device main body 5. The lower end of the bottom plate 17 is connected with the upper end of the horn base 1, the lower end of the horn base 1 has a larger diameter than the upper end, which can realize stable placement, and the horn shape is helpful to disperse stress.

[0032] A power grid safety protection method based on the unmanned aerial vehicle live-line conductor outer skin peeling device, comprising the following steps: a, preliminary work: first, accurately locate the target overhead conductor that needs to be stripped; second, check the status of each mechanical component of the unmanned aerial vehicle 20, ensure that the battery 7 has sufficient power, the remote control communication system is working properly, and finally check whether the cutter of the stripping device is sharp and intact, whether the chuck mechanism and the guide rail mechanism are normal; b, unmanned aerial vehicle take-off work: first, control the unmanned aerial vehicle 20 carrying the stripping device to take off and fly smoothly to the predetermined stripping position above the target conductor; second, use the camera device mounted on the unmanned aerial vehicle device to fine-tune the position, so that the V-shaped guide mechanism 4 is aligned with the target conductor; c, clamping conductor work: first, the operator starts the lead screw motor 16 through remote control instructions, which drives the forward and reverse lead screw 6 to rotate, causing the two chucks 12 to gradually move away and open the clamping opening. Second, control the unmanned aerial vehicle to make the target conductor enter between the two chucks 12. Finally, reverse the lead screw motor 16 to make the two chucks 12 gradually close and clamp the target conductor, ensuring that the device is relatively stable with the conductor during stripping. d, insulation layer stripping work: first, start the stripping device main body 5, the blade will cut and strip the conductor insulation layer according to the preset stripping depth and length under the guidance of the guide rail pair; second, after the insulation skin is cut, the stripping device main body stops working and returns to the initial state under the action of the reset spring; finally, operate the lead screw motor to make the two chucks move away and release the target conductor; e, unmanned aerial vehicle return work: first, control the unmanned aerial vehicle to make the V-shaped guide mechanism disengage from the conductor, then continue to control the unmanned aerial vehicle carrying the stripping device to return to the ground safely, completing a work cycle.

[0033] Preferred solution: When the unmanned aerial vehicle carrying the stripping device approaches the target insulated conductor, the V-shaped guide rod first contacts the conductor and gradually guides it to the working area in the center of the chuck using its inclined inner wall, which greatly reduces the difficulty of precise positioning of the unmanned aerial vehicle and improves the success rate of conductor capture.

[0034] Preferred solution: The inner surface of the chuck 12 is provided with a gasket that increases friction and does not damage the conductor insulation layer, ensuring that the conductor and the stripping device are relatively stationary during the entire stripping process.

[0035] Functions and roles of main components: 1, stripping device main body 5: This component is an off-the-shelf item that can be purchased on the market. It includes a blade, a rotating mechanism, and a depth adjustment mechanism. After the overhead conductor is clamped, the blade will cut into the insulation layer of the overhead conductor according to the preset depth. Its specific structure and movement mode belong to the prior art and can be referred to CN217182797U and CN115331897A, which are not described in detail here.

[0036] 2, bottom plate 17 and side plate 13: The bottom plate 17 is the base bearing platform of the whole device, which is used to provide the rigidity of the overall structure and the reference surface of the component installation, and ensure the relative position accuracy of the movement components. The side 13 is used to enhance the overall structural strength of the device and provide support and fixing points for the transversely installed components. The C-shaped bracket 10 is mainly used to ensure that the stressed components do not deform excessively during the peeling operation, and to ensure the peeling accuracy and the stability of the device.

[0037] 3. The controller 15: The controller 15 contains a microprocessor, a driving circuit, a communication module and the like, which is the "brain" of the whole peeling device, receives instructions from the ground remote control station, controls the start-stop, steering, speed and stroke of each driving motor, realizes closed-loop control, and ensures the reliability of clamping, the accuracy of peeling depth and length.

[0038] 4. The battery 7: The battery 7 provides independent power supply for all electrical components on the whole peeling device, and selects a lithium battery pack with high energy density and light weight to ensure sufficient endurance to complete multiple peeling operations.

[0039] Embodiment two: this embodiment is basically the same as embodiment one, and the same parts are not repeated. The difference is that the connecting lock column does not adopt the inverted U-shaped structure, but adopts the combination of straight lock column and straight sleeve. The upper end of the straight lock column is connected with the fixed frame, the lower end is inserted with the connecting sleeve, the straight sleeve is horizontally fixed on the fixed frame, the straight moving rod is inserted with the straight sleeve, and the two are slidingly matched.

[0040] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification according to the technical essence of the present application still belongs to the scope of the technical solution of the present application.

Claims

1. A power grid safety device based on live wire stripping by a drone, comprising a stripper body and a clamp, wherein the stripper body includes a blade, a rotating mechanism, and a depth adjustment mechanism, and after the overhead wire is clamped, the blade cuts into the insulation layer of the overhead wire at a preset depth, characterized in that: The lower end of the peeler body is slidably connected to the upper end of the base plate via a guide rail pair, allowing it to move left and right. A support frame is provided on one side of the base plate, and a vertical forward and reverse lead screw is provided on the support frame. Two clamps are provided on the forward and reverse lead screws. A lead screw motor is provided at the lower end of the support frame, and the output shaft of the lead screw motor is connected to the forward and reverse lead screws. A return spring is provided between the peeler body and the support frame. The base plate is connected to the lower end of the hanging frame, and the upper end of the hanging frame is connected to the UAV via a connecting rod. A controller is provided on the support frame, and the controller receives and sends commands to move the lead screw motor and the peeler body.

2. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 1, characterized in that: The hanging bracket is a C-shaped bracket, with its lower end connected to the base plate and its upper end connected to the middle of the crossbar. Two sliding sleeves are symmetrically arranged at intervals on the crossbar. Each sliding sleeve is connected to the lower end of a connecting rod. The upper ends of the two connecting rods are respectively connected to the bottom of the drone. The connecting rods are insulating rods.

3. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 2, characterized in that: The crossbar has a through hole in the middle, and the upper end of the C-shaped bracket passes through the through hole and is positioned by a set screw; the sliding sleeve can move on the crossbar and is positioned by a set screw.

4. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 2, characterized in that: Each sliding sleeve is provided with a connecting sleeve, and the lower end of each connecting rod is connected to a fixed plate. The lower end of the fixed plate is connected to the upper end of the fixed frame. The front end of the fixed frame is provided with an inverted U-shaped connecting lock pin. The front side of the connecting lock pin can be inserted into the shaft hole of the connecting sleeve. A lock pin hole is provided through the connecting sleeve and the connecting lock pin. A drive motor is provided on the fixed frame. The drive motor is connected to one end of the linear moving rod through a crank and a connecting rod. The other end of the linear moving rod is inserted into the lock pin hole and can move back and forth to realize locking and unlocking.

5. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 1, characterized in that: The peeler body and the support frame are respectively provided with a V-shaped guide mechanism. The V-shaped guide mechanism includes a square connecting plate and two guide rods. The front end of the square connecting plate is provided with two connecting tubes. Each connecting tube is inserted into a guide rod. The guide rods and the connecting tubes are positioned by a set screw. The two guide rods are arranged in a V-shape to facilitate the entry of overhead wires.

6. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 1, characterized in that: The support frame includes an upper fixed plate, a side plate, and a lower fixed plate. Both clamps are provided with guide mechanisms between themselves and the side plates. Limit switches are provided on the side plates and are connected to the controller.

7. The power grid safety protection device based on live wire stripping by unmanned aerial vehicle (UAV) as described in claim 1, characterized in that: The guide rail pair includes a guide rail and a slider, which are slidably coupled. The guide rail is disposed on the upper end face of the base plate, and the slider is disposed on the lower end face of the peeler body.

8. A method for ensuring power grid safety using the power grid safety protection device based on live stripping of conductor insulation by a drone as described in any one of claims 1-7, comprising the following steps: a. Preliminary preparations: First, accurately locate the target overhead wire to be stripped; second, check the status of each mechanical component of the drone to ensure that the battery is fully charged and the remote control communication system is working properly; finally, check whether the stripper's blades are sharp and intact, and whether the chuck mechanism and guide rail mechanism are in good working order. b. Drone takeoff operation: First, control the drone carrying the stripper to take off and fly smoothly to the predetermined stripping position above the target wire; then, use the camera device on the drone to assist in fine-tuning the position so that the V-shaped guide mechanism is aligned with the target wire. c. Wire clamping operation: First, the operator starts the lead screw motor through remote control command, which drives the forward and reverse lead screws to rotate, so that the two clamps gradually move away from each other. Then, the operator manipulates the drone to bring the target wire between the two clamps. Finally, the operator manipulates the lead screw motor to reverse, so that the two clamps gradually move closer and clamp the target wire, ensuring that the device and the wire are relatively stable during the stripping process. d. Insulation stripping operation: First, start the main body of the stripper. The blades, guided by the guide rail pair, cut and peel off the insulation layer of the wire according to the preset stripping depth and length. Second, after the insulation is cut, the main body of the stripper stops working and returns to the initial state under the action of the return spring. Finally, operate the lead screw motor to move the two clamps apart and release the target wire. e. Drone return operation: First, control the drone to detach the V-shaped guide mechanism from the wire, then continue to control the drone to safely return to the ground with the peeler, completing one work cycle.

9. The power grid security assurance method based on live wire stripping by unmanned aerial vehicles (UAVs) according to claim 8, characterized in that: When the drone carrying the stripper approaches the target insulated wire, the V-shaped guide rod first contacts the wire and uses its inclined inner wall to gradually guide the wire to the working area in the center of the clamp. This greatly reduces the difficulty of precise positioning of the drone and improves the success rate of wire capture.

10. The power grid security assurance method based on live wire stripping by unmanned aerial vehicles (UAVs) according to claim 8, characterized in that: The inner surface of the clamp is equipped with a pad to increase friction without damaging the wire insulation layer, ensuring that the wire and the stripper remain relatively stationary throughout the stripping process.

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