Automatic hanging and removing device for grounding wire and automatic hanging and removing method for grounding wire

Abstract

The present invention discloses an automatic hanging and removing device for a grounding wire and an automatic hanging and removing method for a grounding wire. The automatic hanging and removing device for a grounding wire comprises a device bracket, a first grounding clamp, a hoisting mechanism, and two grounding mechanical arms. The first grounding clamp is arranged on the device bracket, the first grounding clamp is used to be connected to the first grounding wire, and the first grounding clamp is used to approach and clamp the first conductor in a vertical direction. The hoisting mechanism is used to connect and pull or unwind the insulating rope to drive the automatic hanging and removing device for a grounding wire as a whole to approach or move away from the first conductor in a vertical direction. The two grounding mechanical arms are used to correspond to two second conductors respectively. The mechanical arm body of the grounding mechanical arm is connected between the second grounding clamp and the device bracket. The second grounding clamp is used to be connected to the second grounding wire. The driving mechanism can drive the mechanical arm body to drive the second grounding clamp to clamp the corresponding second conductor. The automatic hanging and removing device for a grounding wire can automatically complete the hanging and removing operation of the grounding wire of the three-phase conductor of the overhead power grid line.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power construction, and in particular to an automatic hanging and removing device for a grounding wire and an automatic hanging and removing method for a grounding wire. Background Art

[0002] When the power grid is shut down for maintenance, in order to prevent the grid line from suddenly receiving power or the adjacent high-voltage live equipment from generating induced voltage and causing harm to the construction workers, it is usually necessary to test the line before construction and hang the ground wire on the grid line. During the construction process, the ground wire must remain connected to the grid line. The grid line is usually an overhead line and usually includes three parallel three-phase conductors. During the construction process, all three conductors need to be kept connected to the ground wire.

[0003] Since the grounding wire needs to be in a stable state when it is connected to the power grid line, it is not possible to simply connect the grounding wire to the power grid line using a drone. Instead, the grounding wire needs to be clamped to the power grid line. Currently, the operation of connecting and disconnecting the grounding wire from the power grid line is usually done manually by operators. Specifically, when there are no obstructions near the power grid line and the height of the power grid line is not too high, operators usually use an insulating rod to lift the clamp of the grounding wire until it is connected to the power grid line, and then drive the clamp to clamp the power grid line by manipulating the transmission structure of the insulating rod, or use the transmission structure of the insulating rod to drive the clamp to loosen the power grid line, and then use the insulating rod to remove the clamp from the power grid line. The operation of the operator is difficult, and the force of the insulating rod close to the power grid line is difficult to control. During the operation, the insulating rod is easy to collide with the power grid line, causing damage to the power grid line. However, when there are many obstructions (such as tree branches) near the power grid lines, the height of the power grid lines is greater than the length of the insulating poles, or the weather conditions are severe and it is difficult to operate the insulating poles, workers need to climb the power poles to hang or remove the grounding wires from the power grid lines. The labor intensity of the workers is high and the operation is highly dangerous.

[0004] Therefore, it is urgent to provide a device that can realize the automatic hanging and removing operation of the grounding wire. Summary of the Invention

[0005] An object of the present invention is to provide an automatic grounding wire hanging and removing device, which can automatically complete the grounding wire hanging and removing operations of three-phase conductors of an overhead power grid line.

[0006] Another object of the present invention is to provide a method for automatically hanging and removing a grounding wire. By using the aforementioned automatic hanging and removing device for a grounding wire, the grounding wire can be automatically hung and removed from a three-phase conductor, thereby reducing the labor intensity and operational risks of the operators.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] In a first aspect, a grounding wire automatic hanging and removing device is provided, which is used to automatically hang and remove the grounding wire of a three-phase conductor of an overhead power grid line. The three-phase conductor includes a first conductor and two second conductors, the two second conductors are respectively located on opposite sides of the first conductor in a horizontal direction, and an insulating rope is hung on the first conductor. The grounding wire automatic hanging and removing device includes:

[0009] Device bracket;

[0010] a first grounding clamp, the first grounding clamp being provided on the device bracket, the first grounding clamp being used to be connected to a first grounding wire, and the first grounding clamp being used to be close to and clamped to the first wire in a vertical direction so that the first wire and the first grounding wire are electrically connected through the first grounding clamp;

[0011] a hoisting mechanism, the hoisting mechanism being provided on the device bracket, the hoisting mechanism being used to connect and pull or unwind the insulating rope to drive the grounding wire automatic hanging and removing device as a whole to move closer to or away from the first conductor along the vertical direction;

[0012] Two grounding robotic arms, the two grounding robotic arms are respectively used to correspond to the two second wires, the grounding robotic arms include a robotic arm body, a second grounding clamp and a driving mechanism, the robotic arm body is connected between the second grounding clamp and the device bracket, the second grounding clamp is used to connect to the second grounding wire, the driving mechanism can drive the robotic arm body to move relative to the device bracket, so as to drive the second grounding clamp to approach and clamp the corresponding second wire, so that the corresponding second wire and the second grounding wire are connected through the second grounding clamp to achieve electrical conduction.

[0013] As a preferred technical solution of the automatic hanging and dismantling device, the drive mechanism includes a first drive module and a second drive module, the robot arm body includes a first part and a second part, the first drive module is connected between the first part and the device bracket, the second drive module is connected between the first part and the second part, and the second grounding clamp is connected to an end of the second part away from the first part;

[0014] The first driving module can drive the first part to rotate relative to the device bracket to drive the second grounding clamp to correspond to the corresponding second wire. The second driving module can drive the second part to extend and retract relative to the first part to drive the second grounding clamp to approach and clamp the corresponding second wire.

[0015] As a preferred technical solution of the automatic hanging and disassembling device, the first driving module includes a driving member and a transmission, and the transmission is connected between the driving member and the first part; and / or, a coil spring is connected between the first part and the device bracket, and the first driving module can drive the first part to rotate relative to the device bracket around the central axis of the coil spring.

[0016] As a preferred technical solution of the automatic hanging and removing device, the automatic hanging and removing device for the grounding wire further includes a first sensor, the first sensor being used to detect a corresponding state between the second grounding clamp and the corresponding second wire, the first driving module being capable of receiving the corresponding state detected by the first sensor, and the first driving module stopping operation when the first sensor detects that the second grounding clamp corresponds to the corresponding second wire;

[0017] The automatic hanging and removing device for the grounding wire also includes a second sensor, which is used to detect the clamping state of the second grounding clamp on the second wire. The second driving module can receive the clamping state detected by the second sensor. When the second sensor detects that the second grounding clamp is clamped on the second wire, the second driving module stops working.

[0018] As a preferred technical solution of the automatic hanging and disassembly device, the first grounding clamp is connected to a first damping sliding structure, and the device bracket is provided with a second damping sliding structure. The first damping sliding structure can be slidably connected to the second damping sliding structure along the vertical direction, and when the device bracket and the first grounding clamp are not subjected to additional external force, the first damping sliding structure and the second damping sliding structure can remain relatively stationary under the action of the damping force.

[0019] As a preferred technical solution of the automatic hanging and removing device, the first grounding clamp has a first opening facing upward along the vertical direction, and the first opening is used for the first wire to pass through. The automatic hanging and removing device for the grounding wire also includes a guide structure, and the guide structure has a guide surface. One side of the guide surface is located above the first opening along the vertical direction and is used to be away from the outer periphery of the first wire, and the other side of the guide surface is adjacent to the first opening. When the first grounding clamp approaches the first wire upward along the vertical direction, the guide surface is used to abut against the first wire and guide the first wire into the first opening.

[0020] As a preferred technical solution of the automatic hanging and removing device, the automatic hanging and removing device for the grounding wire also includes a third sensor, which is used to detect the clamping state of the first grounding clamp on the first wire. The hoisting mechanism can receive the clamping state detected by the third sensor. When the third sensor detects that the first grounding clamp is clamped on the first wire, the hoisting mechanism stops working.

[0021] As a preferred technical solution of the automatic hanging and dismantling device, the hoisting mechanism includes a wire arrangement assembly, a wire winding shaft and a rotating drive member;

[0022] The cam is adapted to engage the first end of the second guide rail and engage the second end of the second guide rail, wherein the cam is adapted to engage the first end of the second guide rail and engage the second end of the second guide rail.

[0023] The wire arrangement hole is used for passing the insulating rope, and the winding shaft can rotate relative to the device bracket to wind or unwind the insulating rope. The rotating drive member is provided on the device bracket, and the output shaft of the rotating drive member, the winding shaft and the wire arrangement shaft are sequentially connected in transmission.

[0024] In a second aspect, a method for automatically hanging and removing a ground wire is provided, wherein the automatic hanging and removing device for a ground wire according to the first aspect is used to automatically hang and remove a ground wire on a three-phase conductor, wherein the three-phase conductor includes a first conductor and two second conductors, the two second conductors being located on opposite sides of the first conductor in a horizontal direction, and an insulating rope is hung on the first conductor. The method for automatically hanging and removing a ground wire comprises the following steps:

[0025] Step S1: The operator connects the naturally hanging end of the insulating rope to the hoisting mechanism, connects the first grounding wire to the first grounding clamp, and connects the second grounding wire to the second grounding clamp;

[0026] Step S2: starting the hoisting mechanism to pull the insulating rope, thereby driving the grounding wire automatic hanging and removing device as a whole to approach the first conductor in a vertical direction until the first grounding clamp is clamped on the first conductor, thereby achieving electrical connection between the first grounding wire and the first conductor through the first grounding clamp;

[0027] Step S3: activating the driving mechanism to drive the robotic arm body to move relative to the device bracket until the robotic arm body drives the second grounding clamp to approach and clamp the second wire, thereby electrically connecting the second grounding wire to the second wire through the second grounding clamp;

[0028] Step S4: starting the driving mechanism again, causing the robot arm body to drive the second grounding clamp to separate from the second wire, thereby detaching the second grounding wire from the second wire;

[0029] Step S5: start the hoisting mechanism again to unwind the insulating rope, thereby driving the grounding wire automatic hanging and removing device as a whole to move away from the first conductor in the vertical direction, and the first grounding clamp is detached from the first conductor, thereby realizing the removal of the first grounding wire from the first conductor.

[0030] As a preferred technical solution of the automatic hanging and removing method of the grounding wire, the driving mechanism includes a first driving module and a second driving module, the robot arm body includes a first part and a second part, and the automatic hanging and removing device of the grounding wire also includes a first sensor and a second sensor. Step S3 includes:

[0031] Step S30: The first driving module drives the first part to rotate relative to the device bracket until the first sensor detects that the second grounding clamp corresponds to the corresponding second wire;

[0032] Step S31: The second driving module drives the second part to extend and retract relative to the first part, so as to drive the second grounding clamp to approach the corresponding second wire until the second sensor detects that the second grounding clamp is clamped on the second wire, thereby electrically connecting the second grounding wire to the second wire through the second grounding clamp.

[0033] The beneficial effects of the present invention are:

[0034] By providing a hoisting mechanism, the hoisting mechanism pulls the insulating rope hung on the first conductor, thereby driving the grounding wire automatic hanging and detaching device as a whole to approach the first conductor in a vertical direction, so that the first grounding clamp with one end of the first grounding wire approaches and clamps the first conductor in a vertical direction, thereby automatically hanging the first grounding wire on the first conductor through the first grounding clamp. By causing the hoisting mechanism to unwind the insulating rope, the grounding wire automatic hanging and detaching device as a whole can be driven vertically away from the first conductor, so that the first grounding clamp with the first grounding wire is separated from the first conductor, thereby automatically detaching the first grounding wire from the first conductor. Furthermore, by providing two grounding mechanical arms, one end of the second grounding wire is connected to the second grounding clamp, and the driving mechanism can drive the mechanical arm body to drive the second grounding clamp to clamp the second conductor accordingly, thereby automatically hanging the second grounding wire on the second conductor through the second grounding clamp. By causing the driving mechanism to drive the mechanical arm body to drive the second grounding clamp to separate from the corresponding second conductor, thereby automatically detaching the second grounding wire from the second conductor. Therefore, the automatic hanging and removing device for grounding wires provided by the present invention can realize the operation of automatically hanging and removing three grounding wires on the three wires included in the three-phase conductor, thereby improving the operation efficiency of the grounding wire process on the one hand, and on the other hand, freeing the operators from high-risk high-altitude operations and reducing the safety hazards of falling from heights and electric shock faced by the operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic hanging and removing device, the insulating rope, the first conductor and the second conductor (when the automatic hanging and removing device is separated from the first conductor) according to the embodiment.

[0037] Figure 2 It is a schematic diagram of the three-dimensional structure of the automatic hanging and removing device, the insulating rope, the first conductor and the second conductor (in a state where the first grounding clamp is clamped on the first conductor and the second grounding clamp is separated from the second conductor) according to the embodiment.

[0038] Figure 3 It is a schematic diagram of the three-dimensional structure of the automatic hanging and removing device, the insulating rope, the first conductor and the second conductor (in a state where the first grounding clamp is clamped on the first conductor and the second grounding clamp is clamped on the second conductor) according to the embodiment.

[0039] Figure 4 for Figure 3 Enlarged schematic diagram of point N in the middle.

[0040] Figure 5 Schematic diagram of the three-dimensional structure of the grounding clamp described in the embodiment.

[0041] Figure 6 Schematic diagram of the three-dimensional structure of the grounding robot arm and the local device bracket described in the embodiment.

[0042] Figure 7 It is a schematic diagram of the three-dimensional structure of the device bracket, the first grounding clamp and the hoisting mechanism described in the embodiment.

[0043] Figure 8 It is a schematic diagram of the three-dimensional structure of the hoisting mechanism and the local device bracket described in the embodiment.

[0044] Figure 9 Schematic diagram of the three-dimensional structure of the cable arrangement shaft described in the embodiment.

[0045] In the picture:

[0046] 1. Automatic grounding wire hanging and removing device; 10. Device bracket; 100. Limiting groove; 101. First damping sliding structure; 102. Second damping sliding structure; 103. Guide structure; 103a. Guide surface; 11. Hoisting mechanism; 110. Cable arrangement assembly; 1101. Limiting slide shaft; 1102. Cable arrangement shaft; 11020. Slide groove; 11020a. First groove; 11020b. Second groove; 1103. Cable arrangement slider; 1103a. Cable arrangement hole; 111. Cable winding shaft; 112. Rotating drive member 12. Grounding manipulator; 120. Manipulator body; 1201. First portion; 1202. Second portion; 121. Driving mechanism; 1211. First driving module; 1211a. Driving member; 1211b. Transmission; 1212. Second driving module; 122. Coil spring; 13. Grounding chuck; 130. Chuck bracket; 1301. Opening; 131. Elastic clamp; 13a. First grounding chuck; 1301a. First opening; 13b. Second grounding chuck; 1301b. Second opening;

[0047] 21. First conductor; 22. Second conductor; 23. Insulating rope. DETAILED DESCRIPTION

[0048] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0049] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0050] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0051] like Figures 1 to 4 As shown, the present invention provides an automatic hanging and removing device 1 for grounding wires, which is used for automatically hanging and removing grounding wires for three-phase conductors. The three-phase conductors include a first conductor 21 and two second conductors 22. The two second conductors 22 are respectively located on two opposite sides of the first conductor 21 along the horizontal direction Y. An insulating rope 23 is hung on the first conductor 21.

[0052] Specifically, the grounding wire automatic hanging and removing device 1 includes a device bracket 10, a first grounding clamp 13a, a hoisting mechanism 11 and two grounding mechanical arms 12. The first grounding clamp 13a is provided on the device bracket 10, and the first grounding clamp 13a is used to connect to the first grounding wire (not shown in the figure), and the first grounding clamp 13a is used to approach and clamp the first wire 21 along the vertical direction X, so that the first wire 21 and the first grounding wire are electrically conductive through the first grounding clamp 13a. The hoisting mechanism 11 is provided on the device bracket 10, and the hoisting mechanism 11 is used to connect and pull or unwind the insulating rope 23 to drive the grounding wire automatic hanging and removing device 1 as a whole to approach or move away from the first wire 21 along the vertical direction X. The two grounding mechanical arms 12 are used to correspond to the two The grounding robot arm 12 includes a robot body 120, a second grounding clamp 13b and a driving mechanism 121. The robot body 120 is connected between the second grounding clamp 13b and the device bracket 10. The second grounding clamp 13b is used to connect to the second grounding wire (not shown in the figure). The driving mechanism 121 can drive the robot body 120 to move relative to the device bracket 10, so as to drive the second grounding clamp 13b to approach and clamp the corresponding second wire 22, so that the corresponding second wire 22 and the second grounding wire are electrically conductive through the second grounding clamp 13b.

[0053] The vertical direction X is parallel to the direction of gravity, and the horizontal direction Y is perpendicular to the direction of gravity. Figures 1 to 4 The coordinates in FIG. 1 show the horizontal direction Y and the vertical direction X.

[0054] By setting up a hoisting mechanism 11, the hoisting mechanism 11 pulls the insulating rope 23 hung on the first conductor 21, so as to drive the automatic hanging and removing device 1 of the grounding wire as a whole to approach the first conductor 21 along the vertical direction X, so that the first grounding clamp 13a brings one end of the first grounding wire close to and clamps it on the first conductor 21 along the vertical direction X, thereby realizing the operation of automatically hanging the first grounding wire on the first conductor 21 through the first grounding clamp 13a, and by making the hoisting mechanism 1 unwind the insulating rope 23, it can drive the automatic hanging and removing device 1 of the grounding wire as a whole to move away from the first conductor 21 along the vertical direction X, so that the first grounding clamp 13a brings the first grounding wire away from the first conductor 21, thereby realizing the operation of automatically removing the first grounding wire from the first conductor 21. Furthermore, by providing two grounding manipulators 12, one end of the second grounding wire is connected to the second grounding clamp 13b, and the driving mechanism 121 can drive the manipulator body 120 to drive the second grounding clamp 13b to clamp the second conductor 22 accordingly, so as to automatically connect the second grounding wire to the second conductor 22 through the second grounding clamp 13b. By driving the manipulator body 120 to drive the second grounding clamp 13b to detach from the corresponding second conductor 22, the second grounding wire can be automatically detached from the second conductor 22. Therefore, the automatic grounding wire hanging and detaching device 1 provided by the present invention can realize the operation of automatically hanging and detaching three grounding wires from the three conductors included in the three-phase conductor.

[0055] Optionally, the automatic hanging and removing device for grounding wire 1 may further include a partition cover, which is arranged on at least part of the periphery of the device bracket 10, the hoisting mechanism 11 and the driving mechanism 121 as a whole, so as to isolate the hoisting mechanism 11 and the driving mechanism 121 from the external space, thereby improving the safety of the automatic hanging and removing device for grounding wire 1.

[0056] Optionally, the device bracket 10 has a limiting groove 100 for the insulating rope 23 to pass through, and the first grounding clamp 13a is adjacent to the upper side of the limiting groove 100 along the vertical direction X. The hoisting mechanism 11 is used to connect and pull or unwind the insulating rope 23 passing through the limiting groove 100, so that the relative posture of the insulating rope 23 and the device bracket 10 can be limited by the limiting groove 100, thereby making the posture stability of the grounding wire automatic hanging and removing device 1 higher during use, and the stability of the grounding wire automatic hanging and removing operation of the grounding wire automatic hanging and removing device 1 is higher.

[0057] The insulating rope 23 can be fixedly hung on the first conductor 21, or the insulating rope 23 can be temporarily hung on the first conductor 21 only during power construction. When the insulating rope 23 is only temporarily hung on the first conductor 21 during power construction, optionally, before using the automatic hanging and removing device 1 for grounding wires, the operator can first hang the insulating rope 23 on the first conductor 21 by operating a drone or an insulating rod. Since the insulating rope 23 only needs to be simply hung on the first conductor 21 and does not need to be aligned and clamped with the first conductor 21, the hanging operation of the insulating rope 23 is relatively easy.

[0058] Optionally, the first grounding clamp 13a and the second grounding clamp 13b can each have a variety of different structures, such as any type of clamp that can automatically open and close to automatically clamp and release the corresponding wire. Furthermore, the structures of the first grounding clamp 13a and the second grounding clamp 13b can be identical or different. The following describes a specific structure of the grounding clamp 13 using the example of the first grounding clamp 13a and the second grounding clamp 13b having the same structure, with reference to the accompanying drawings.

[0059] like Figure 5 As shown, optionally, the grounding clamp 13 may include a clamp bracket 130 and two elastic clamps 131. The clamp bracket 130 is a U-shaped bracket structure. An opening 1301 for the wire to enter and exit is formed between the two opposite ends of the clamp bracket 130. The two elastic clamps 131 are respectively connected between the two opposite ends and the middle of the clamp bracket 130, and the two elastic clamps 131 are bent so that the two elastic clamps 131 are relatively protruding. When the wire enters the space inside the clamp bracket 130 through the opening 1301, the wire can be elastically clamped by the two elastic clamps 131. When the wire passes through the opening 1301 and detaches from the space inside the clamp bracket 130, the wire can automatically detach from the two elastic clamps 131.

[0060] Furthermore, the grounding clamp 13 may be provided with a pressure sensor, which is located in the middle of the clamp bracket 130 and connected between the two elastic clamps 131. The pressure sensor can detect whether the two elastic clamps 131 are clamped on the wire by detecting the pressure between the two elastic clamps 131. Specifically, when no wire is clamped between the two elastic clamps 131, the pressure value between the two elastic clamps 131 is a first pressure threshold. When a wire is clamped between the two elastic clamps 131, the pressure value between the two elastic clamps 131 is a second pressure threshold. The second pressure threshold is less than the first pressure threshold. When the real-time threshold detected by the pressure sensor is greater than or equal to the first pressure threshold, the wire is in a state of being detached from the grounding clamp 13. When the real-time threshold detected by the pressure sensor is less than or equal to the second pressure threshold, the wire is in a state of being clamped by the grounding clamp 13.

[0061] See Figure 3The grounding arm 12 can be of various structures, for example, any conventional arm capable of making the second grounding clamp 13b approach and clamp the corresponding second wire 22. Next, a specific structure of the grounding arm 12 will be described with reference to the accompanying drawings.

[0062] Please combine Figure 3 and Figure 6 As shown, optionally, the driving mechanism 121 includes a first driving module 1211 and a second driving module 1212, the robot arm body 120 includes a first part 1201 and a second part 1202, the first driving module 1211 is connected between the first part 1201 and the device bracket 10, the second driving module 1212 is connected between the first part 1201 and the second part 1202, the second grounding clamp 13b is connected to the end of the second part 1202 away from the first part 1201, and the first driving module 1211 is connected to the second part 1202. The assembly 1211 can drive the first portion 1201 to rotate relative to the device bracket 10, thereby driving the second grounding clamp 13b to correspond to the corresponding second wire 22. The second driving module 1212 may include but is not limited to a linear motor, a cylinder, or a screw driving module. The second driving module 1212 can drive the second portion 1202 to extend and retract relative to the first portion 1201, thereby driving the second grounding clamp 13b to approach and clamp the corresponding second wire 22, or driving the second grounding clamp 13b to detach from the corresponding second wire 22. This configuration can ensure that the direction in which the second grounding clamp 13b approaches or detaches from the second wire 22 is the relative extension and retraction direction of the second portion 1202 and the first portion 1201. This facilitates the second grounding clamp 13b to approach or detach from the second wire 22 in a specific posture, thereby improving the controllability of the second grounding clamp 13b automatically clamping or releasing the corresponding second wire 22, and improving the reliability of the grounding wire automatic hanging and removing device 1.

[0063] The second grounding clamp 13b has an opening 1301 (see Figure 5 ) is the second opening 1301b. In order to enable the second grounding clamp 13b to approach the corresponding second wire 22 along the relative expansion and contraction direction of the second part 1202 and the first part 1201, the second wire 22 can enter the second opening 1301b and be clamped by the second grounding clamp 13b. Preferably, the second opening 1301b is facing one side along the relative expansion and contraction direction of the second part 1202 and the first part 1201.

[0064] In order to ensure that the second wire 22 always remains at the position corresponding to the second opening 1301b when the second part 1202 is extended or retracted relative to the first part 1201, preferably, during the process of the second part 1202 extending or retracting relative to the first part 1201, the second part 1202 or the first part 1201 can be made to abut against the second wire 22 to limit the local position of the second wire 22 to always be at the position corresponding to the second opening 1301b. At this time, it can be understood that the second grounding clamp 13b is always at least partially located on the side of the corresponding second wire 22 away from the device bracket 10. Therefore, when the second driving module 1212 drives the second part 1202 to retract relative to the first part 1201, it can drive the second grounding clamp 13b to approach and clamp the corresponding second wire 22. When the second part 1202 extends relative to the first part 1201, the second driving module 1212 can drive the second grounding clamp 13b to approach and detach from the corresponding second wire 22. Based on this, more preferably, along the relative expansion and contraction direction of the second portion 1202 and the first portion 1201 , the second opening 1301 b faces the side where the device bracket 10 is located.

[0065] Optionally, the first drive module 1211 includes a drive member 1211a and a transmission 1211b. The drive member 1211a may include, but is not limited to, a rotary motor, a linear motor, or a cylinder. The transmission 1211b is connected between the drive member 1211a and the first portion 1201, thereby enabling the transmission 1211b to adjust the transmission ratio between the drive member 1211a and the first portion 1201. Preferably, the transmission 1211b can make the rotation speed of the first portion 1201 lower than the rotation speed of the drive member 1211a, thereby achieving higher angular accuracy when the drive member 1211a drives the first portion 1201 to rotate relative to the device bracket 10, and improving the controllability of the movement of the grounded robotic arm 12.

[0066] It can be understood that when the driving member 1211a is a rotating motor and the driving output shaft of the driving member 1211a forms an angle with the rotation axis of the first part 1201 relative to the transmission 1211b, the driving member 1211a and the transmission 1211b can be connected through a bevel gear. When the driving member 1211a is used to output linear driving motion, the driving member 1211a and the transmission 1211b can be connected through a rack and a gear so as to convert the linear driving motion output by the driving member 1211a into the rotational motion of the gear through the rack and the gear.

[0067] In order to reduce the vibration amplitude of the first part 1201 relative to the device bracket 10 during use, so as to further improve the controllability of the movement of the grounded robotic arm 12, optionally, a coil spring 122 is connected between the first part 1201 and the device bracket 10, and the first driving module 1211 can drive the first part 1201 to rotate relative to the device bracket 10 around the central axis of the coil spring 122, so that the coil spring 122 can apply a certain elastic force to the first part 1201, so that the first part 1201 can be more easily maintained in a relatively stable state relative to the device bracket 10.

[0068] Preferably, the first driving module 1211 includes a driving member 1211a and a transmission 1211b, and a coil spring 122 is connected between the first part 1201 and the device bracket 10, so that the angular rotation accuracy of the first part 1201 relative to the device bracket 10 is higher, and the vibration amplitude of the first part 1201 relative to the device bracket 10 is smaller, so that the movement controllability of the grounding robot arm 12 is better.

[0069] Preferably, the automatic hanging and removing device 1 for the grounding wire also includes a first sensor, which is used to detect the corresponding state of the second grounding clamp 13b and the corresponding second wire 22. The first driving module 1211 can receive the corresponding state detected by the first sensor. When the first sensor detects that the second grounding clamp 13b corresponds to the corresponding second wire 22, the first driving module 1211 stops working to make the second grounding clamp 13b in a state corresponding to the corresponding second wire 22.

[0070] Exemplarily, the first sensor may include but is not limited to an image sensor, a distance sensor, and a pressure sensor. When the first sensor includes an image sensor or a distance sensor, the first sensor may be set toward a position corresponding to the second grounding clamp 13b to detect whether the second wire 22 is present at the position corresponding to the second grounding clamp 13b. When, as described in the aforementioned technical solution, during the extension and contraction of the second part 1202 relative to the first part 1201, the second part 1202 or the first part 1201 is made to abut against the second wire 22 to limit the local position of the second wire 22 to always be located at the position corresponding to the second opening 1301b, the first sensor may include a pressure sensor to detect the pressure exerted on the first part 1201 and the second part 1202 as a whole through the first sensor, and then the first sensor can detect whether the first part 1201 or the second part 1202 is abutting against the second wire 22, so that the local position of the second wire 22 is always located at the position corresponding to the second opening 1301b.

[0071] Preferably, the automatic hanging and removing device 1 for the grounding wire also includes a second sensor, which is used to detect the clamping state of the second grounding clamp 13b on the second wire 22. The second driving module 1212 can receive the clamping state detected by the second sensor. When the second sensor detects that the second grounding clamp 13b is clamped on the second wire 22, the second driving module 1212 stops working so that the second grounding clamp 13b can be clamped on the second wire 22, while preventing the second grounding clamp 13b from driving the clamped second wire 22 to move a long distance, thereby preventing the second grounding clamp 13b from excessively pulling the second wire 22, causing damage to the second wire 22.

[0072] For example, the second sensor may include but is not limited to an image sensor, a distance sensor, or a pressure sensor. When the second sensor includes an image sensor or a distance sensor, the second sensor may be disposed toward the inner space of the second grounding clamp 13b to detect whether the second wire 22 enters the second grounding clamp 13b and is located in a position where it can be clamped. Figure 5 As shown, when the second grounding clamp 13b is a structure as described in the above technical solution, including a clamp bracket 130 and two elastic clamp strips 131, the second sensor can be a pressure sensor, which is arranged in the middle of the clamp bracket 130 and connected between the two elastic clamp strips 131.

[0073] Please combine Figure 7 As shown, optionally, the first grounding clamp 13a is connected to a first damping sliding structure 101, the device bracket 10 is provided with a second damping sliding structure 102, the first damping sliding structure 101 can be slidably connected to the second damping sliding structure 102 along the vertical direction X, and when the device bracket 10 and the first grounding clamp 13a are not subjected to additional external force, the first damping sliding structure 101 and the second damping sliding structure 102 can remain relatively still under the action of the damping force, so that the first grounding clamp 13a approaches and clamps the first wire 21 along the vertical direction X, and the grounding wire automatic hanging and removing device If the overall upward climbing movement is not stopped in time, the first damping sliding structure 101 and the second damping sliding structure 102 can provide a buffering function for the first grounding clamp 13a along the vertical direction X, so that the first grounding clamp 13a and the first damping sliding structure 101 can move downward relative to the device bracket 10 and the second damping sliding structure 102 along the vertical direction X. This prevents the first grounding clamp 13a from causing the clamped first wire 21 to move a long distance, thereby preventing the first grounding clamp 13a from excessively pulling the first wire 21 and causing damage to the first wire 21.

[0074] like Figure 4 and Figure 7As shown, the opening 1301 of the first grounding clamp 13a is the first opening 1301a. In order to enable the first wire 21 to enter the first opening 1301a and be clamped by the first grounding clamp 13a when the first grounding clamp 13a approaches the first wire 21 upward along the vertical direction X, preferably, the first opening 1301a faces upward along the vertical direction X.

[0075] Furthermore, the automatic hanging and removing device 1 for grounding wire also includes a guide structure 103, which has a guide surface 103a. One side of the guide surface 103a is located above the first opening 1301a in the vertical direction X and is used to be away from the outer periphery of the first conductor 21, and the other side of the guide surface 103a is adjacent to the first opening 1301a. When the first grounding clamp 13a approaches the first conductor 21 upward along the vertical direction X, the guide surface 103a is used to abut against the first conductor 21 and guide the first conductor 21 into the first opening 1301a, thereby improving the success rate of the first grounding clamp 13a being able to clamp the first conductor 21 when the automatic hanging and removing device 1 for grounding wire as a whole approaches the first conductor 21 upward along the vertical direction X, thereby improving the reliability of the automatic hanging and removing device 1 for grounding wire.

[0076] Optionally, the automatic hanging and removing device 1 for the grounding wire also includes a third sensor, which is used to detect the clamping state of the first grounding clamp 13a on the first wire 21. The hoisting mechanism 11 can receive the clamping state detected by the third sensor. When the third sensor detects that the first grounding clamp 13a is clamped on the first wire 21, the hoisting mechanism 11 stops working to avoid the first grounding clamp 13a driving the clamped first wire 21 to move a long distance, thereby avoiding the first grounding clamp 13a excessively pulling the first wire 21, causing damage to the first wire 21.

[0077] For example, the third sensor may include but is not limited to an image sensor, a distance sensor, or a pressure sensor. When the third sensor includes an image sensor or a distance sensor, the third sensor may be disposed toward the interior space of the first grounding clamp 13a to detect whether the first wire 21 enters the interior of the first grounding clamp 13a and is located in a position where it can be clamped. Figure 5 As shown, when the first grounding clamp 13a is a structure as described in the aforementioned technical solution, including a clamp bracket 130 and two elastic clamp strips 131, the third sensor can be a pressure sensor, which is arranged in the middle of the clamp bracket 130 and connected between the two elastic clamp strips 131.

[0078] It can be understood that the hoisting mechanism 11 may include any existing mechanism that can pull and loosen the insulating rope 23 so that the hoisting mechanism 11 can climb and descend along the vertical direction X using the insulating rope 23. This embodiment does not limit the specific structure of the hoisting mechanism 11.

[0079] like Figure 3 、 Figure 7 and Figure 8 As shown, for example, the hoisting mechanism 11 may include a winding shaft 111 and a rotating drive member 112. The winding shaft 111 can be rotatably arranged on the device bracket 10. The rotating drive member 112 is arranged on the device bracket 10 and the rotating drive member 112 is transmission-connected to the winding shaft 111. The rotating drive member 112 can drive the winding shaft 111 to rotate so that the winding shaft 111 is used to reel in the insulating rope 23 or unreel the insulating rope 23.

[0080] Please combine Figure 9 As shown, optionally, the hoisting mechanism 11 may further include a cable assembly 110, the cable assembly 110 includes a limiting sliding shaft 1101, a cable arrangement shaft 1102 and a cable arrangement slider 1103, the limiting sliding shaft 1101, the cable arrangement shaft 1102 and the winding shaft 111 are spaced apart and parallel to each other and are arranged on the device bracket 10, the outer periphery of the cable arrangement shaft 1102 is provided with a sliding groove 11020, the sliding groove 11020 includes a first spiral groove 11020a and a second groove 11020b with opposite rotation directions, the first groove 11020a and the second groove 11020b are opposite to each other, and the first groove 11020a and the second groove 11020b are opposite to each other. The 020b parts are cross-arranged, and the two opposite ends of the first groove 11020a are respectively connected to the two opposite ends of the second groove 11020b. The cable sliding block 1103 can be slidably connected to the limiting sliding shaft 1101 along the extension direction of the limiting sliding shaft 1101. The cable sliding block 1103 is also provided with a sliding protrusion and a cable hole 1103a. The sliding protrusion can be slidably matched with the sliding groove 11020. The cable shaft 1102 can rotate relative to the device bracket 10, so that the groove wall of the sliding groove 11020 pushes the sliding protrusion to drive the cable sliding block 1103 along the cable shaft 1102. The cable arrangement hole 1103a is used for passing the insulating rope 23, and the winding shaft 111 can rotate relative to the device bracket 10 to wind or unwind the insulating rope 23. The rotating driving member 112 is provided on the device bracket 10. The output shaft of the rotating driving member 112, the winding shaft 111 and the cable arrangement shaft 1102 are sequentially connected in transmission. Therefore, when the rotating driving member 112 drives the winding shaft 111 to wind the insulating rope 23, the cable arrangement shaft 1102 can rotate synchronously to push the cable arrangement through the groove wall of the slide groove 11020. The slider 1103 and the sliding protrusion as a whole slide back and forth along the extension direction of the wire arrangement shaft 1102, thereby driving the insulating rope 23 to be wound to different positions along the extension direction of the winding shaft 111 through the wire arrangement hole 1103a, so as to control the winding area of ​​the insulating rope 23 on the periphery of the winding shaft 111, and make the insulating rope 23 evenly wound to the periphery of the winding shaft 111, which can effectively avoid the problem of excessive insulating rope 23 being wound locally on the periphery of the winding shaft 111, and the insulating rope 23 being knotted when the winding shaft 111 is wound and released.

[0081] To ensure a more balanced force when the hoisting mechanism 11 pulls and unwinds the insulating rope 23 as it ascends and descends, the insulating rope 23 can optionally be provided as multiple, spaced-apart strands, suspended from the first conductor 21, with the hoisting mechanism 11 simultaneously pulling and unwinding the multiple insulating ropes 23. For example, the ends of the insulating rope 23 are suspended from the first conductor 21 at intervals, and the hoisting mechanism 11 simultaneously pulls and unwinds the ends of the insulating rope 23. Accordingly, the cable routing slider 1103 has two spaced-apart cable routing holes 1103a, through which the ends of the insulating rope 23 are passed.

[0082] Please combine Figures 1 to 3 As shown, the present invention also provides a method for automatically hanging and removing a grounding wire, using the automatic hanging and removing device 1 for a grounding wire as described in the above technical solution to automatically hang and remove a grounding wire on a three-phase conductor. The three-phase conductor includes a first conductor 21 and two second conductors 22. The two second conductors 22 are respectively located on two opposite sides of the first conductor 21 along the horizontal direction Y. An insulating rope 23 is hung on the first conductor 21. The method for automatically hanging and removing a grounding wire includes the following steps:

[0083] Step S1 : The operator connects one end of the insulating rope 23 hanging naturally to the hoisting mechanism 11 , connects the first grounding wire to the first grounding clamp 13 a , and connects the second grounding wire to the second grounding clamp 13 b .

[0084] like Figure 1 As shown, Figure 1 FIG. 2 shows that one end of the insulating rope 23 hanging naturally is connected to the hoisting mechanism 11, and Figure 1 The first ground line and the second ground line are not shown.

[0085] When the device bracket 10 has the limiting groove 100 as described in the above technical solution, step S1 includes:

[0086] In step S10, the operator passes the naturally hanging end of the insulating rope 23 through the limiting groove 100 of the device bracket 10 and connects it to the hoisting mechanism 11, connects the first grounding wire to the first grounding clamp 13a, and connects the second grounding wire to the second grounding clamp 13b.

[0087] Optionally, the insulating rope 23 may be fixedly hung on the first conductor 21, or the insulating rope 23 may be temporarily hung on the first conductor 21 only during power construction. When the insulating rope 23 is temporarily hung on the first conductor 21 only during power construction, optionally, before step S1, the grounding wire automatic hanging and removing method may further include:

[0088] In step S1a, an operator controls a drone or an insulating rod to hang the insulating rope 23 on the first conductive wire 21 .

[0089] Step S2, start the hoisting mechanism 11, so that the hoisting mechanism 11 pulls the insulating rope 23, so as to drive the automatic hanging and removing device 1 of the grounding wire as a whole to approach the first conductor 21 along the vertical direction X until the first grounding clamp 13a is clamped on the first conductor 21, so that the first grounding wire is electrically connected to the first conductor 21 through the first grounding clamp 13a.

[0090] like Figure 2 As shown, Figure 2 , the automatic grounding wire hanging and removing device 1 as a whole is shown approaching the first wire 21 along the vertical direction X, and the first grounding clamp 13 a is clamped on the first wire 21 .

[0091] Therefore, the automatic hanging and removing device for the grounding wire 1 can be used to automatically hang the first grounding wire on the first conducting wire 21 .

[0092] Step S3, start the driving mechanism 121, so that the driving mechanism 121 drives the robot arm body 120 to move relative to the device bracket 10 until the robot arm body 120 drives the second grounding clamp 13b to approach and clamp the second wire 22, so that the second grounding wire is electrically connected to the second wire 22 through the second grounding clamp 13b.

[0093] like Figure 3 As shown, Figure 3 FIG. 4 shows that the second grounding clamp 13 b is close to and clamped to the second wire 22 .

[0094] Therefore, the automatic grounding wire hanging and detaching device 1 can be used to automatically hang the two second grounding wires on the two second conductive wires 22 respectively.

[0095] As described in the above technical solution, the driving mechanism 121 includes the first driving module 1211 and the second driving module 1212, the robot arm body 120 includes the first part 1201 and the second part 1202, and the grounding wire automatic hanging and removing device 1 further includes the first sensor and the second sensor. Optionally, step S3 includes:

[0096] In step S30 , the first driving module 1211 drives the first portion 1201 to rotate relative to the device bracket 10 until the first sensor detects that the second grounding clamp 13 b corresponds to the corresponding second wire 22 .

[0097] In step S31, the second driving module 1212 drives the second portion 1202 to extend and retract relative to the first portion 1201, thereby driving the second grounding clamp 13b to approach the corresponding second wire 22 until the second sensor detects that the second grounding clamp 13b is clamped on the second wire 22, thereby achieving electrical connection between the second grounding wire and the second wire 22 through the second grounding clamp 13b.

[0098] Step S4 , starting the driving mechanism 121 again, so that the robot arm body 120 drives the second grounding clamp 13 b to separate from the second wire 22 , thereby detaching the second grounding wire from the second wire 22 .

[0099] Therefore, the automatic hanging and detaching device 1 for the grounding wire can be used to automatically detach the two second grounding wires from the two second conductive wires 22 .

[0100] Step S5, start the hoisting mechanism 11 again to unwind the insulating rope 23, so as to drive the automatic hanging and removing device 1 of the grounding wire to move away from the first conductor 21 along the vertical direction X. The first grounding clamp 13a is separated from the first conductor 21, thereby removing the first grounding wire from the first conductor 21.

[0101] Therefore, the automatic hanging and detaching device 1 for the grounding wire can be used to automatically detach the first grounding wire from the first conductive wire 21 .

[0102] In order to realize the recovery of the automatic hanging and removing device, optionally, after step S5, the grounding wire automatic hanging and removing method may further include:

[0103] Step S6: continuously start the hoisting mechanism 11 to continuously unwind the insulating rope 23, thereby driving the grounding wire automatic hanging and removing device 1 as a whole to move away from the first conductor 21 along the vertical direction X until the hoisting mechanism 11 is at a height that can be retrieved by the operator.

[0104] In step S7 , the operator detaches the insulating rope 23 from the hoisting mechanism 11 to recover the automatic hanging and removing device.

[0105] The automatic hanging and removing device 1 for grounding wires for three-phase conductors has fewer operation steps, lower operation difficulty and higher operation safety.

[0106] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0107] In this specification, reference to terms such as "one embodiment" or "example" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0108] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0109] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A grounding wire automatic hanging and removing device, characterized in that: The device is used for automatically hanging and removing a grounding wire for a three-phase conductor of an overhead power grid line. The three-phase conductor includes a first conductor and two second conductors, the two second conductors are respectively located on two opposite sides of the first conductor in a horizontal direction, and an insulating rope is hung on the first conductor. The automatic hanging and removing device for the grounding wire includes: Device bracket; a first grounding clamp, the first grounding clamp being provided on the device bracket, the first grounding clamp being used to be connected to a first grounding wire, and the first grounding clamp being used to be close to and clamped to the first wire in a vertical direction so that the first wire and the first grounding wire are electrically connected through the first grounding clamp; a hoisting mechanism, the hoisting mechanism being provided on the device bracket, the hoisting mechanism being used to connect and pull or unwind the insulating rope to drive the grounding wire automatic hanging and removing device as a whole to move closer to or away from the first conductor along the vertical direction; Two grounding mechanical arms, each of the two grounding mechanical arms being used to correspond to the two second conductive wires, the grounding mechanical arms comprising a mechanical arm body, a second grounding clamp, and a driving mechanism, the mechanical arm body being connected between the second grounding clamp and the device bracket, the second grounding clamp being used to connect to the second grounding wire, the driving mechanism being capable of driving the mechanical arm body to move relative to the device bracket to drive the second grounding clamp to approach and clamp the corresponding second conductive wire, so that the corresponding second conductive wire and the second grounding wire are connected to each other through the second grounding clamp to achieve electrical conduction; The first grounding clamp is connected to a first damping sliding structure, and the device bracket is provided with a second damping sliding structure. The first damping sliding structure can be slidably connected to the second damping sliding structure along the vertical direction, and when the device bracket and the first grounding clamp are not subjected to additional external force, the first damping sliding structure and the second damping sliding structure can remain relatively stationary under the action of the damping force.

2. The automatic hanging and removing device for grounding wire according to claim 1, characterized in that: The driving mechanism includes a first driving module and a second driving module, the robot arm body includes a first portion and a second portion, the first driving module is connected between the first portion and the device bracket, the second driving module is connected between the first portion and the second portion, and the second grounding clamp is connected to an end of the second portion away from the first portion; The first driving module can drive the first part to rotate relative to the device bracket to drive the second grounding clamp to correspond to the corresponding second wire. The second driving module can drive the second part to extend and retract relative to the first part to drive the second grounding clamp to approach and clamp the corresponding second wire.

3. The automatic hanging and removing device for grounding wire according to claim 2, characterized in that: The first driving module includes a driving member and a transmission, the transmission is connected between the driving member and the first part; and / or, a coil spring is connected between the first part and the device bracket, and the first driving module can drive the first part to rotate relative to the device bracket around the central axis of the coil spring.

4. The automatic hanging and removing device for grounding wire according to claim 2 or 3, characterized in that: The automatic grounding wire hanging and removing device further includes a first sensor, the first sensor being configured to detect a corresponding state between the second grounding clamp and the corresponding second wire. The first driving module is configured to receive the corresponding state detected by the first sensor. When the first sensor detects that the second grounding clamp corresponds to the corresponding second wire, the first driving module stops operating. The automatic hanging and removing device for the grounding wire also includes a second sensor, which is used to detect the clamping state of the second grounding clamp on the second wire. The second driving module can receive the clamping state detected by the second sensor. When the second sensor detects that the second grounding clamp is clamped on the second wire, the second driving module stops working.

5. The automatic hanging and removing device for grounding wire according to claim 1, characterized in that: The first grounding clamp has a first opening facing upward along the vertical direction, and the first opening is used for the first wire to pass through. The automatic hanging and removing device for the grounding wire also includes a guide structure, and the guide structure has a guide surface. One side of the guide surface is located above the first opening along the vertical direction and is used to be away from the outer periphery of the first wire, and the other side of the guide surface is adjacent to the first opening. When the first grounding clamp approaches the first wire upward along the vertical direction, the guide surface is used to abut against the first wire and guide the first wire into the first opening.

6. The automatic hanging and removing device for grounding wire according to claim 1, characterized in that: The automatic hanging and removing device for the grounding wire also includes a third sensor, which is used to detect the clamping state of the first grounding clamp on the first wire. The hoisting mechanism can receive the clamping state detected by the third sensor. When the third sensor detects that the first grounding clamp is clamped on the first wire, the hoisting mechanism stops working.

7. The automatic hanging and removing device for grounding wire according to any one of claims 1 to 3 or claim 5 or 6, characterized in that: The hoisting mechanism includes a wire arrangement assembly, a wire winding shaft and a rotating drive member; The cam is adapted to engage the first end of the second guide rail and engage the second end of the second guide rail, wherein the cam is adapted to engage the first end of the second guide rail and engage the second end of the second guide rail. The wire arrangement hole is used for passing the insulating rope, and the winding shaft can rotate relative to the device bracket to wind or unwind the insulating rope. The rotating drive member is provided on the device bracket, and the output shaft of the rotating drive member, the winding shaft and the wire arrangement shaft are sequentially connected in transmission.

8. A method for automatically hanging and removing a grounding wire, characterized in that: The automatic hanging and removing device for a grounding wire according to any one of claims 1 to 7 is used to automatically hang and remove a grounding wire on a three-phase conductor, wherein the three-phase conductor includes a first conductor and two second conductors, the two second conductors are respectively located on two opposite sides of the first conductor in a horizontal direction, and an insulating rope is hung on the first conductor. The automatic hanging and removing method for a grounding wire includes the following steps: Step S1: The operator connects the naturally hanging end of the insulating rope to the hoisting mechanism, connects the first grounding wire to the first grounding clamp, and connects the second grounding wire to the second grounding clamp; Step S2: starting the hoisting mechanism to pull the insulating rope, thereby driving the grounding wire automatic hanging and removing device as a whole to approach the first conductor in a vertical direction until the first grounding clamp is clamped on the first conductor, thereby achieving electrical connection between the first grounding wire and the first conductor through the first grounding clamp; Step S3: activating the driving mechanism to drive the robotic arm body to move relative to the device bracket until the robotic arm body drives the second grounding clamp to approach and clamp the second wire, thereby electrically connecting the second grounding wire to the second wire through the second grounding clamp; Step S4: starting the driving mechanism again, causing the robot arm body to drive the second grounding clamp to separate from the second wire, thereby detaching the second grounding wire from the second wire; Step S5: start the hoisting mechanism again to unwind the insulating rope, thereby driving the grounding wire automatic hanging and removing device as a whole to move away from the first conductor in the vertical direction, and the first grounding clamp is detached from the first conductor, thereby realizing the removal of the first grounding wire from the first conductor.

9. The automatic hanging and removing method of the grounding wire according to claim 8, characterized in that: The driving mechanism includes a first driving module and a second driving module, the robot arm body includes a first part and a second part, the grounding wire automatic hanging and removing device also includes a first sensor and a second sensor, and step S3 includes: Step S30: The first driving module drives the first part to rotate relative to the device bracket until the first sensor detects that the second grounding clamp corresponds to the corresponding second wire; Step S31: The second driving module drives the second part to extend and retract relative to the first part, so as to drive the second grounding clamp to approach the corresponding second wire until the second sensor detects that the second grounding clamp is clamped on the second wire, thereby electrically connecting the second grounding wire to the second wire through the second grounding clamp.

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