Grounding device and method for hanging and detaching grounding wire

Abstract

This invention discloses a grounding device and a method for attaching and detaching a grounding wire. The grounding device includes a grounding wire attachment / detachment mechanism, a winch mechanism, and a locking mechanism. The grounding attachment / detachment mechanism is used to connect to the grounding wire and to approach and clamp the corresponding overhead line, so that the overhead line and the grounding wire are electrically connected through the grounding attachment / detachment mechanism. The winch mechanism is used to connect to and pull or unwind the insulating rope hanging on the overhead line, so as to drive the grounding device as a whole to move towards or away from the overhead line in a vertical direction. The locking mechanism is provided in the grounding attachment / detachment mechanism or the winch mechanism, and the locking mechanism can automatically lock or unlock the grounding attachment / detachment mechanism and the winch mechanism. When the grounding wire is attached to the overhead line, this grounding device can prevent the overhead line from being in a state of hanging heavy objects for a long time, thereby avoiding additional damage to the overhead line due to excessive pulling.

Description

Technical Field

[0001] This invention relates to the field of power construction technology, and in particular to a grounding device and a method for hanging and removing grounding wires. Background Technology

[0002] When performing power outage maintenance on the power grid, in order to prevent the power grid lines from being suddenly powered on or from generating induced voltage from nearby high-voltage equipment, which could cause harm to the construction personnel, it is usually necessary to test the line for voltage and connect the grounding wire to the power grid line before construction. During the construction process, the grounding wire should be kept connected to the power grid line, which is usually an overhead line.

[0003] In related technologies, to reduce the labor intensity and operational hazards of workers, automatic grounding devices can be used for the automatic connection and disconnection of grounding wires. Specifically, automatic grounding devices typically include a fixed grounding wire connection / disconnection mechanism and a winch mechanism. The winch mechanism pulls the insulating rope suspended on the overhead line, enabling the automatic grounding device to climb along the insulating rope to a position close to the overhead line, where the grounding wire connection / disconnection mechanism can then connect or disconnect the grounding wire to the overhead line.

[0004] However, since the hoisting mechanism and the grounding wire hanging and dismantling mechanism consist of a large number of parts and are heavy, and in order to ensure construction safety, the automatic grounding device needs to keep the grounding wire connected to the overhead line throughout the entire power outage maintenance process. This results in the overhead line being in a state of hanging heavy objects for a long time, which will cause excessive pulling on the overhead line and make it prone to additional damage. Summary of the Invention

[0005] One object of the present invention is to provide a grounding device that, when the grounding wire is connected to an overhead line, prevents the overhead line from being in a state of hanging heavy objects for a long time, thereby avoiding additional damage to the overhead line due to excessive pulling.

[0006] Another objective of this invention is to provide a method for attaching and detaching grounding wires, which enables the automatic attachment and detachment of grounding wires for overhead lines using the aforementioned grounding device, and avoids additional damage to overhead lines caused by excessive pulling during power outage maintenance.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] In a first aspect, a grounding device is provided, comprising:

[0009] A grounding wire hanging and detaching mechanism is used to connect to a grounding wire, and the grounding wire hanging and detaching mechanism is used to approach and clamp the corresponding overhead line so that the overhead line and the grounding wire are electrically connected through the grounding wire hanging and detaching mechanism;

[0010] A winch mechanism, used to connect to and pull or unwind the insulating rope hanging on the overhead line, so as to move the grounding device as a whole vertically closer to or further away from the overhead line; and,

[0011] A locking mechanism is provided on the grounding wire hanging and unhanging mechanism or the hoisting mechanism, and the locking mechanism can automatically lock or unlock the grounding wire hanging and unhanging mechanism and the hoisting mechanism.

[0012] As a preferred technical solution of the grounding device, the locking mechanism includes a first driving structure and a locking member connected to each other. The first driving structure is disposed on the grounding wire hanging and unhanging mechanism or the hoisting mechanism. The first driving structure can automatically drive the locking member to move so that the locking member locks or unlocks the grounding wire hanging and unhanging mechanism with the hoisting mechanism.

[0013] As a preferred embodiment of the grounding device, the grounding wire attachment / removal mechanism includes a first insertion structure with a first insertion hole. The hoisting mechanism, corresponding to the first insertion structure, includes a second insertion structure. The second insertion structure and the first insertion structure are vertically interchangeable. The second insertion structure has a second insertion hole corresponding to the first insertion hole. The locking member is sequentially inserted into the first insertion hole and the second insertion hole to lock the first insertion structure and the second insertion structure together. Alternatively...

[0014] Of the grounding wire hanging and unhanging mechanism and the hoisting mechanism, the one without the locking mechanism has a locking post. The outer periphery of the locking post has a locking groove. The locking mechanism includes two locking members. The first driving structure can drive the two locking members to approach each other so that both locking members enter the locking groove and abut against the two opposite sides of the locking post.

[0015] As a preferred technical solution of the grounding device, the overhead line includes three-phase conductors, the three-phase conductors include a first conductor and two second conductors, the two second conductors are respectively located on two opposite sides of the first conductor in the horizontal direction, and the insulating rope is hung on the first conductor;

[0016] The grounding wire attachment / removal mechanism includes a main body and two grounding robotic arms. The main body is provided with a first grounding clamp, which is used to connect to a first grounding wire and to approach and clamp the first conductor in a vertical direction, so that the first conductor and the first grounding wire are electrically connected through the first grounding clamp. The two grounding robotic arms are spaced apart from the main body. Each grounding robotic arm includes a robotic arm body, a second grounding clamp, and a second driving structure. The robotic arm body is connected between the second grounding clamp and the main body. The second grounding clamp is used to connect to a second grounding wire. The second driving structure can drive the robotic arm body to move relative to the main body, so as to drive the second grounding clamp to approach and clamp the corresponding second conductor, so that the corresponding second conductor and the second grounding wire are electrically connected through the second grounding clamp.

[0017] As a preferred technical solution of the grounding device, the two robotic arm bodies are respectively located on two opposite sides of the mechanism body along the first direction. Along the second direction, the ends of the two robotic arm bodies connected to the mechanism body are respectively located on two opposite sides of the first grounding clamp. When the grounding robotic arm is in the storage state, the projections of the two robotic arm bodies on the same plane along the first direction intersect.

[0018] Wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other.

[0019] As a preferred technical solution of the grounding device, the second driving structure includes a first driving module and a second driving module, the main body of the robotic arm includes a first part and a second part, the first driving module is connected between the first part and the main body of the mechanism, the second driving module is connected between the first part and the second part, and the second grounding clamp is connected to the end of the second part away from the first part;

[0020] The first drive module can drive the first part to rotate relative to the main body of the mechanism, so as to drive the second grounding clamp to correspond to the corresponding second wire. The second drive module can drive the second part to extend and retract relative to the first part, so as to drive the second grounding clamp to approach and clamp the corresponding second wire.

[0021] As a preferred technical solution for the grounding device, the grounding device includes a plurality of locking mechanisms, which are spaced apart; and / or,

[0022] The grounding device also includes a voltage testing mechanism integrally disposed on the grounding wire hanging and dismantling mechanism. The voltage testing mechanism includes a voltage detector and a voltage testing contact connected to the phase. When the grounding wire hanging and dismantling mechanism is used to correspond to the corresponding overhead line, the voltage testing contact is located on the side of the grounding wire hanging and dismantling mechanism facing the corresponding overhead line.

[0023] Secondly, a method for attaching and removing grounding wires is provided, which uses the grounding device described in the first aspect to automatically attach and remove grounding wires from overhead lines, wherein an insulating rope is attached to the overhead lines, and the method for attaching and removing grounding wires includes:

[0024] Step S1: Pull the insulating rope through the winch mechanism to drive the grounding wire hook-and-unhook mechanism, which is attached to the grounding wire, to approach the overhead line so that the grounding wire hook-and-unhook mechanism clamps onto the overhead line. Then, unlock the grounding wire hook-and-unhook mechanism from the winch mechanism through the locking mechanism. The winch mechanism unwinds the insulating rope to retract the winch mechanism.

[0025] Step S2: The hoisting mechanism pulls the insulating rope to bring it close to the grounding wire attachment / removal mechanism. Then, the locking mechanism locks the grounding wire attachment / removal mechanism to the hoisting mechanism. The hoisting mechanism then unwinds the insulating rope to remove the grounding wire and retract the grounding device as a whole.

[0026] As a preferred technical solution of the grounding wire hanging and removing method, step S1 includes:

[0027] Step S10: Provide the grounding device that is locked to the grounding wire hanging and removing mechanism and the hoisting mechanism through the locking mechanism. The operator connects the naturally hanging end of the insulating rope to the hoisting mechanism and connects the grounding wire to the grounding wire hanging and removing mechanism.

[0028] Step S11: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the overhead line in the vertical direction until the grounding wire hanging and dismantling mechanism clamps onto the overhead line, so as to realize the grounding wire being electrically connected to the overhead line through the grounding wire hanging and dismantling mechanism.

[0029] Step S12: Activate the locking mechanism to unlock the grounding wire hooking / unhooking mechanism from the winch mechanism;

[0030] Step S13: Start the winch mechanism to unwind the insulating rope, so as to drive the winch mechanism away from the overhead line and the grounding wire hook-and-unhooking mechanism in the vertical direction until the winch mechanism is in a position that can be retrieved by the operator.

[0031] Step S14: The operator detaches the winch mechanism from the insulating rope to retrieve the winch mechanism;

[0032] Step S2 includes:

[0033] Step S20: The operator connects the naturally hanging end of the insulating rope to the winch mechanism;

[0034] Step S21: Start the hoisting mechanism to pull the insulating rope, so that the hoisting mechanism moves as a whole along the vertical direction closer to the overhead line and the grounding wire hanging and dismantling mechanism, until the hoisting mechanism is connected to the grounding wire hanging and dismantling mechanism.

[0035] Step S22: Activate the locking mechanism to lock the grounding wire hooking / unhooking mechanism with the winch mechanism;

[0036] Step S23: Start the hoisting mechanism to loosen the insulating rope, so as to drive the grounding device as a whole away from the overhead line in the vertical direction, and the grounding wire hooking and unhooking mechanism is detached from the overhead line, thereby removing the grounding wire from the overhead line.

[0037] Step S24: When the grounding device is in a position where it can be retrieved by the operator, the hoisting mechanism is turned off, and the operator disconnects the hoisting mechanism from the insulating rope to retrieve the grounding device and the grounding wire.

[0038] As a preferred technical solution of the grounding wire hanging and removing method, step S10 includes:

[0039] Step S101: Provide the grounding device in which the grounding wire hanging and removing mechanism and the hoisting mechanism are locked together by the locking mechanism. 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.

[0040] Step S11 includes:

[0041] Step S111: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the first conductor in the vertical direction until the first grounding clamp is clamped to the first conductor, so as to realize the first grounding wire being electrically connected to the first conductor through the first grounding clamp.

[0042] Step S112: Activate the second drive structure to drive the main body of the robotic arm to move relative to the main body of the mechanism until the main body of the robotic arm drives the second grounding clamp to approach and clamp the second wire, so as to realize the second grounding wire being electrically connected to the second wire through the second grounding clamp;

[0043] After step S22 and before step S23, the grounding wire hanging / removing method further includes:

[0044] Step S230: Activate the second drive structure to cause the main body of the robotic arm to drive the second grounding clamp to detach from the second conductor, thereby disassembling the second grounding wire from the second conductor;

[0045] Step S23 includes:

[0046] Step S231: Start the hoisting mechanism to loosen the insulating rope, so as to drive the grounding device as a whole away from the first conductor in the vertical direction, and the first grounding clamp is disengaged from the first conductor, thereby disassembling the first grounding wire from the first conductor.

[0047] As a preferred technical solution of the grounding wire hanging and removing method, step S11 includes:

[0048] Step S11a: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the overhead line in the vertical direction until the voltage testing contact touches the overhead line.

[0049] Step S11b: Use a voltage detector to check whether the overhead line contacted by the voltage detector is energized;

[0050] Step S11c: If the overhead line is not energized, continue to start the hoisting mechanism until the grounding wire hanging and unhanging mechanism clamps onto the overhead line, so as to electrically connect the grounding wire to the overhead line through the grounding wire hanging and unhanging mechanism.

[0051] The beneficial effects of this invention are as follows:

[0052] By locking the grounding wire attachment / removal mechanism to the winch mechanism, after the winch mechanism transports the grounding wire attachment / removal mechanism to the corresponding overhead line and clamps it, thereby energizing the grounding wire and the overhead line through the grounding wire attachment / removal mechanism, the locking mechanism can unlock the grounding wire attachment / removal mechanism from the winch mechanism. This allows the winch mechanism to descend along the insulating rope for the operator to retrieve the device, while keeping the grounding wire attachment / removal mechanism in the state of attaching the grounding wire to the overhead line. This reduces the weight of the device structure hanging on the overhead line, thus preventing additional damage to the overhead line caused by excessive pulling. Attached Figure Description

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0054] Figure 1 This is a three-dimensional structural diagram of the grounding device (locking mechanism including crank connecting rod), insulating rope, and overhead line described in the embodiment.

[0055] Figure 2 for Figure 1 The diagram shows a three-dimensional structure of the grounding device, insulating rope, and overhead line (with the grounding wire hanging and removing mechanism clamped to the overhead line and the hoisting mechanism separated from the grounding wire hanging and removing mechanism).

[0056] Figure 3 for Figure 2 A magnified diagram of point N in the diagram.

[0057] Figure 4 This is a three-dimensional structural diagram of the grounding device (locking mechanism includes two locking elements) described in the embodiment.

[0058] Figure 5 for Figure 4 The diagram shows a three-dimensional structure of the first insertion structure, the second insertion structure, the locking mechanism, and part of the hoisting mechanism.

[0059] Figure 6 This is a three-dimensional structural diagram of the grounding device (grounding wire hanging and unhanging mechanism includes the main body of the mechanism and two grounding mechanical arms) described in the embodiment.

[0060] Figure 7 for Figure 4 The diagram shows a three-dimensional structure of the grounding device connected to the three-phase conductors.

[0061] Figure 8 This is a schematic flowchart of the grounding wire hanging and removing method described in the embodiment.

[0062] Figure 9 This is another flowchart illustrating the grounding wire hanging and removing method described in the embodiment.

[0063] Figure 10 This is a partial flowchart of the grounding wire hanging and removing method described in the embodiment.

[0064] Figure 11 This is another part of the flowchart of the grounding wire hanging and removing method described in the embodiment.

[0065] In the picture:

[0066] 1. Grounding device; 10. Grounding wire hanging and detaching mechanism; 100. First plug-in structure; 1001. First guide surface; 100a. First insertion hole; 100b. Locking groove; 101. Mechanism body; 101a. First grounding clamp; 102. Grounding robotic arm; 1020. Robotic arm body; 1021. Second grounding clamp; 1022. Second drive structure; 11. Hoisting mechanism; 110. Second plug-in structure; 1101. Second guide surface; 110a. Second insertion hole; 12. Locking mechanism; 120. First drive structure; 121. Locking element; 121a. Sliding hole; 121b. Threaded hole; 122. Crank connecting rod; 123. Limiting slide rod; 124. Screw;

[0067] 2. Overhead line; 20. Insulating rope; 21. First conductor; 22. Second conductor. Detailed Implementation

[0068] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0070] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0071] like Figure 1 and Figure 2 As shown, the first aspect of the present invention provides a grounding device 1 including a grounding wire attachment / removal mechanism 10, a winch mechanism 11, and a locking mechanism 12. The grounding wire attachment / removal mechanism 10 is used to connect to a grounding wire (not shown in the figure), and is used to approach and clamp onto a corresponding overhead line 2, so that the overhead line 2 and the grounding wire are electrically connected through the grounding wire attachment / removal mechanism 10. The winch mechanism 11 is used to connect to and pull or unwind the insulating rope 20 hanging on the overhead line 2, so as to drive the grounding device 1 as a whole to approach or move away from the overhead line 2 in the vertical direction X. The locking mechanism 12 is provided on the grounding wire attachment / removal mechanism 10 or the winch mechanism 11, and the locking mechanism 12 can automatically lock or unlock the grounding wire attachment / removal mechanism 10 and the winch mechanism 11. Figure 1 and Figure 2 The arrows in the text all indicate the vertical direction X.

[0072] By locking the grounding wire attachment / removal mechanism 10 to the hoisting mechanism 11 via the locking mechanism 12, after the hoisting mechanism 11 transports the grounding wire attachment / removal mechanism 10 to the corresponding overhead line 2 and the grounding wire and the overhead line 2 are electrically connected through the grounding wire attachment / removal mechanism 10, the locking mechanism 12 can unlock the grounding wire attachment / removal mechanism 10 from the hoisting mechanism 11. This allows the hoisting mechanism 11 to descend along the insulating rope 20 for the operator to retrieve, while keeping the grounding wire attachment / removal mechanism 10 in the state of attaching the grounding wire to the overhead line 2. This reduces the weight of the device structure hanging on the overhead line 2 and avoids additional damage to the overhead line 2 caused by excessive pulling.

[0073] The insulating rope 20 can be fixedly hung on the overhead line 2, or the insulating rope 20 can be temporarily hung on the overhead line 2 only during power construction. When the insulating rope 20 is only temporarily hung on the overhead line 2 during power construction, optionally, before using the grounding device 1, the operator can first hang the insulating rope 20 on the overhead line 2 by operating a drone or an insulating pole. Since the insulating rope 20 only needs to be simply hung on the overhead line 2 and does not need to be aligned and clamped with the overhead line 2, the hanging operation of the insulating rope 20 is relatively easy.

[0074] It is understood that the hoisting mechanism 11 may include any existing mechanism capable of pulling and releasing the insulating rope 20 so that the hoisting mechanism 11 can climb and descend in the vertical direction X using the insulating rope 20. This embodiment does not limit the specific structure of the hoisting mechanism 11.

[0075] Optionally, the winch mechanism 11 may be equipped with a gyroscope sensor to detect the horizontal and vertical tilt angles of the winch mechanism 11 during its ascent and descent along the insulating rope 20, so as to coordinate with the winch action of the winch mechanism 11 and make the attitude stability of the winch mechanism 11 better.

[0076] Optionally, the grounding wire attachment / removal mechanism 10 is provided with a first insertion structure 100, and the winch mechanism 11 is provided with a second insertion structure 110 corresponding to the first insertion structure 100. One of the second insertion structure 110 and the first insertion structure 100 includes a plug and the other includes a slot. The second insertion structure 110 and the first insertion structure 100 can be inserted and removed in the vertical direction X. Thus, when the grounding wire attachment / removal mechanism 10 is connected to the winch mechanism 11, the second insertion structure 110 and the first insertion structure 100 can be inserted into each other, so that the relative position of the grounding wire attachment / removal mechanism 10 and the winch mechanism 11 is more stable. This makes the overall structure of the grounding device 1 more stable on the one hand, and makes it easier for the locking mechanism 12 to be aligned with the grounding wire attachment / removal mechanism 10 or the winch mechanism 11 to lock the grounding wire attachment / removal mechanism 10 and the winch mechanism 11 together.

[0077] Furthermore, the first plug-in structure 100 may be provided with a first guide surface 1001, which can guide the second plug-in structure 110 to be plugged into the first plug-in structure 100; or the second plug-in structure 110 may be provided with a second guide surface 1101, which can guide the first plug-in structure 100 to be plugged into the second plug-in structure 110; or the first plug-in structure 100 may be provided with a first guide surface 1001, and the second plug-in structure 110 may be provided with a second guide surface 1101, so that the first plug-in structure 100 and the second plug-in structure 110 can be automatically aligned and plugged in.

[0078] Optionally, the grounding wire hanging and detaching mechanism 10 may be provided with a plurality of first plug-in structures 100 at intervals, and correspondingly, the hoisting mechanism 11 may be provided with a plurality of second plug-in structures 110 at intervals. The first plug-in structures 100 and the second plug-in structures 110 can be plugged into each other in a one-to-one correspondence, so that the grounding wire hanging and detaching mechanism 10 and the hoisting mechanism 11 can be limited from multiple different positions at intervals by the plurality of first plug-in structures 100 and the second plug-in structures 110 respectively, so that when the grounding wire hanging and detaching mechanism 10 and the hoisting mechanism 11 are connected, the overall structural stability of the grounding device 1 is better.

[0079] Please combine Figure 3 As shown, optionally, the locking mechanism 12 may include a first drive structure 120 and a locking member 121 connected to each other. The first drive structure 120 is disposed on the grounding wire hanging and unhanging mechanism 10 or the hoisting mechanism 11. The first drive structure 120 may include, but is not limited to, a linear motor, a cylinder, a rotary motor, or a lead screw motor. The first drive structure 120 can automatically drive the locking member 121 to move so that the locking member 121 locks or unlocks the grounding wire hanging and unhanging mechanism 10 and the hoisting mechanism 11, thereby realizing the function of automatically locking or unlocking the grounding wire hanging and unhanging mechanism 10 and the hoisting mechanism 11.

[0080] Depending on the actual use and design requirements, the locking mechanism 12 can have a variety of different structures. Next, we will introduce the specific structures of two different locking mechanisms 12 in detail with reference to the attached drawings.

[0081] In one optional embodiment, the grounding wire attachment / removal mechanism 10 is provided with a first connecting structure, the first connecting structure having a first socket 100a, and the hoisting mechanism 11 having a second connecting structure corresponding to the first connecting structure. The second connecting structure and the first connecting structure can approach or disengage along the vertical direction X. The second connecting structure has a second socket 110a corresponding to the first socket 100a. The locking member 121 can be sequentially inserted into the first socket 100a and the second socket 110a to lock the first connecting structure and the second connecting structure, thereby locking the grounding wire attachment / removal mechanism 10 and the hoisting mechanism 11. It can be understood that the locking member 121 can disengage from the first socket 100a or from the second socket 110a, or simultaneously disengage from both the first socket 100a and the second socket 110a, under the drive of the first driving structure 120, so that the first connecting structure and the second connecting structure are unlocked, thereby unlocking the grounding wire attachment / removal mechanism 10 and the hoisting mechanism 11.

[0082] When, as described in the aforementioned technical solution, the grounding wire hanging and unhanging mechanism 10 is provided with a first plug-in structure 100, and the hoisting mechanism 11 is provided with a second plug-in structure 110 corresponding to the first plug-in structure 100, optionally, the first plug-in structure 100 is provided with a first plug hole 100a, and the second plug-in structure 110 is provided with a second plug hole 110a corresponding to the first plug hole 100a. In other words, the first plug-in structure 100 can be used as a first connection structure, and the second plug-in structure 110 can be used as a second connection structure. By reusing the structure of the first plug-in structure 100 and the second plug-in structure 110, the structure of the grounding device 1 becomes more compact.

[0083] In one alternative example, the first drive structure 120 can be used to output linear motion, or the first drive structure 120 can be used to output rotational motion, and a crank connecting rod 122 is connected between the first drive structure 120 and the locking member 121 so that the locking member 121 can enter or disengage from the first socket 100a and the second socket 110a along a linear trajectory under the drive of the first drive structure 120.

[0084] In another alternative example, the first drive structure 120 may be used to output rotational motion so that the locking member 121 can enter or disengage from the first socket 100a and the second socket 110a along an arcuate trajectory under the drive of the first drive structure 120.

[0085] like Figure 2 and Figure 3 As shown, Figure 2 and Figure 3 The diagram exemplarily shows a first drive structure 120 disposed on a hoisting mechanism 11, a locking member 121 being a pin structure, a crank connecting rod 122 connecting the first drive structure 120 and the locking member 121, a first plug structure being a plug and having a through first socket 100a, a second plug structure 110 including a slot, and a second socket 110a communicating with the slot on the outer periphery of the second plug structure 110.

[0086] In other embodiments, the first drive structure 120 may be disposed on the grounding wire hanging and unhanging mechanism 10.

[0087] like Figure 4 and Figure 5As shown, in another optional embodiment, the one without a locking mechanism 12, whichever of the grounding wire attachment / removal mechanism 10 and the hoisting mechanism 11, has a locking post. The outer periphery of the locking post has a locking groove 100b. The locking mechanism 12 includes two locking members 121. A first driving structure 120 can drive the two locking members 121 closer together, so that both locking members 121 enter the locking groove 100b and abut against the two opposite sides of the locking post, thereby locking the grounding wire attachment / removal mechanism 10 and the hoisting mechanism 11. It can be understood that the two locking members 121 can move away from each other under the drive of the first driving structure 120, thereby disengaging both locking members 121 from the locking groove 100b, and thus unlocking the grounding wire attachment / removal mechanism 10 and the hoisting mechanism 11.

[0088] In one optional example, the locking member 121 has a sliding hole 121a and a threaded hole 121b spaced apart. The locking mechanism 12 also includes a limiting slide rod 123 and a screw 124 that are parallel and spaced apart. The limiting slide rod 123 is slidably inserted through the sliding hole 121a. The first drive structure 120 is used to output rotational motion. The screw 124 is connected to the output shaft of the first drive structure 120 and screwed into the threaded hole 121b. The threads of the threaded holes 121b of the two locking members 121 have opposite rotation directions, or the threads of the two parts of the screw 124 connected to the two locking members 121 have opposite rotation directions. Thus, the two locking members 121 can approach each other along the extension direction of the screw 124 to hold the locking post under the drive of the first drive structure 120, or move away from each other to disengage from the locking post.

[0089] As described in the aforementioned technical solution, when the grounding wire attachment / removal mechanism 10 is provided with a first insertion structure 100, and the hoisting mechanism 11 is provided with a second insertion structure 110 corresponding to the first insertion structure 100, and one of the second insertion structure 110 and the first insertion structure 100 includes a plug and the other includes a slot, the plug can be a locking post, and the outer periphery of the plug is provided with a locking groove 100b. This allows for structural reuse of the plug, making the structure of the grounding device 1 more compact. Figure 4 and Figure 5 As shown, Figure 4 and Figure 5 The example shows a first plug structure 100 including a plug, and a locking groove 100b is provided on the outer periphery of the first plug structure 100. A first drive structure 120 is capable of driving two locking members 121 to approach each other so that both locking members 121 enter the locking groove 100b and abut against the two opposite sides of the first plug structure 100.

[0090] Optionally, the grounding device 1 includes multiple locking mechanisms 12, which are spaced apart, so that the grounding wire hanging and unhanging mechanism 10 and the hoisting mechanism 11 can be locked from multiple different positions spaced apart by the multiple locking mechanisms 12, so that the overall structural stability of the grounding device 1 is better when the grounding wire hanging and unhanging mechanism 10 and the hoisting mechanism 11 are locked.

[0091] Optionally, the multiple locking mechanisms 12 may all have the same structure, or at least two locking mechanisms 12 with different structures may be included among the multiple locking mechanisms 12.

[0092] like Figure 6 and Figure 7 As shown, typically, overhead line 2 includes three-phase conductors, including a first conductor 21 and two second conductors 22. The two second conductors 22 are located on opposite sides of the first conductor 21 in the horizontal direction, wherein the horizontal direction is perpendicular to the vertical direction X. Optionally, an insulating rope 20 can be hung on the first conductor 21. The grounding wire hanging and unhanging mechanism 10 includes a mechanism body 101 and two grounding mechanical arms 102. The mechanism body 101 is provided with a first grounding clamp 101a, which is used to connect to the first grounding wire and is used to approach and clamp the first conductor 21 in the vertical direction X, so that the first conductor 21 and the first grounding wire are electrically connected through the first grounding clamp 101a. The two grounding mechanical arms 102 are spaced apart from the mechanism body 101. The grounding mechanical arms 102 include a mechanical arm body 1020, a first grounding clamp 101a, a second grounding clamp 101a, and a third grounding clamp 102a. The robotic arm body 1020 is connected between the second grounding clamp 1021 and the mechanism body 101. The second grounding clamp 1021 is used to connect to the second grounding wire. The second driving structure 1022 can drive the robotic arm body 1020 to move relative to the mechanism body 101, so as to drive the second grounding clamp 1021 to approach and clamp the corresponding second conductor 22, so that the corresponding second conductor 22 and the second grounding wire are connected through the second grounding clamp 1021 to conduct electricity. Thus, the grounding device 1 provided in this embodiment can realize the operation of automatically attaching and disconnecting the three grounding wires to the three conductors included in the three-phase conductors. On the one hand, it can improve the efficiency of the grounding process. On the other hand, it can free the workers from high-risk high-altitude operations and reduce the safety hazards of falling from heights and electric shock faced by the workers.

[0093] Optionally, the two robotic arm bodies 1020 are located on opposite sides of the mechanism body 101 along the first direction Y1 and along the second direction Y2. The ends of the two robotic arm bodies 1020 connected to the mechanism body 101 are located on opposite sides of the first grounding clamp 101a, and the grounding robotic arm 102 is in a retracted state (e.g., ...). Figure 6As shown), the projections of the two robotic arm bodies 1020 along the first direction Y1 on the same plane intersect. The first direction Y1 and the second direction Y2 are mutually perpendicular to the vertical direction X. It is understood that the horizontal direction includes various directions, including the first direction Y1 and the second direction Y2. Therefore, when the grounding robotic arm 102 is in its retracted state, the overall structure of the grounding device 1 is more compact and smaller. Figure 6 and Figure 7 As shown, Figure 6 and Figure 7 The coordinates in the figure all show the vertical direction X, the first direction Y1, and the second direction Y2.

[0094] Optionally, each grounding clamp may be equipped with a pressure sensor to monitor the clamping pressure of the grounding clamp on the corresponding conductor, so that the grounding clamp can maintain a tight grip on the corresponding conductor and avoid excessive clamping force applied by the grounding clamp, which could damage the surface structure of the conductor.

[0095] Optionally, the main body 1020 of the robotic arm is a telescopic rod structure. The second drive structure 1022 includes a first drive module and a second drive module. The first drive module is connected between the main body 1020 of the robotic arm and the main body 101 of the mechanism. The second drive module is disposed on the main body 1020 of the robotic arm. The first drive module can drive the main body 1020 of the robotic arm to rotate relative to the main body 101 of the mechanism, so as to drive the second grounding clamp 1021 to correspond to the corresponding second wire 22. The second drive module may include, but is not limited to, a linear motor, a cylinder, or a lead screw drive module. The second drive module can drive the main body 1020 of the robotic arm to extend and retract, so as to drive the second grounding clamp 1021 to approach and clamp the corresponding second wire 22, or drive the second grounding clamp 1021 to disengage from the corresponding second wire 22. This configuration allows the direction in which the second grounding clamp 1021 approaches or detaches from the second conductor 22 to be the extension and retraction direction of the robotic arm body 1020. This facilitates the second grounding clamp 1021 approaching or detaching from the second conductor 22 in a specific posture, thus improving the controllability of the second grounding clamp 1021 automatically clamping or releasing the corresponding second conductor 22 and enhancing the reliability of the grounding wire hanging and unhanging operation of the grounding device 1.

[0096] To ensure that the second wire 22 remains in the position corresponding to the second grounding clamp 1021 during the extension and retraction of the robotic arm body 1020, preferably, during the extension and retraction of the robotic arm body 1020, the robotic arm body 1020 can abut against the second wire 22 to limit the local position of the second wire 22 from always being in the position corresponding to the second grounding clamp 1021. In this case, it can be understood that the second grounding clamp 1021 is always at least partially located on the side of the corresponding second wire 22 away from the main body 101. Therefore, when the second drive module drives the robotic arm body 1020 to retract, it can drive the second grounding clamp 1021 to approach and clamp the corresponding second wire 22. When the second drive module drives the robotic arm body 1020 to extend, it can drive the second grounding clamp 1021 away from and disengage from the corresponding second wire 22.

[0097] Preferably, the grounding robotic arm 102 further includes an alignment sensor, which is used to detect the alignment status of the second grounding clamp 1021 and the corresponding second wire 22. The first drive module can receive the alignment status detected by the alignment sensor. When the alignment sensor detects that the second grounding clamp 1021 corresponds to the corresponding second wire 22, the first drive module stops working so that the second grounding clamp 1021 is in the state corresponding to the corresponding second wire 22.

[0098] For example, the alignment sensor may include, but is not limited to, an image sensor, a distance sensor, a pressure sensor, an angle sensor, a photoelectric sensor, and a displacement sensor adjacent to the second grounding clamp 1021. When the alignment sensor includes an image sensor or a distance sensor, the alignment sensor may be positioned towards the location corresponding to the second grounding clamp 1021 to detect whether the second wire 22 exists at the location corresponding to the second grounding clamp 1021. When, as described in the foregoing technical solution, during the extension and retraction of the robotic arm body 1020, the robotic arm body 1020 abuts 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 grounding clamp 1021, the alignment sensor may include a pressure sensor to detect the pressure on the robotic arm body 1020, thereby enabling the alignment sensor to detect whether the robotic arm body 1020 abuts 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 grounding clamp 1021.

[0099] To avoid accidents, safety regulations for power construction typically stipulate that grounding wires cannot be connected to overhead line 2 while it is energized. Therefore, optionally, the grounding device 1 also includes a voltage testing mechanism (not shown in the figure) integrally mounted on the grounding wire connection / removal mechanism 10. The voltage testing mechanism includes a voltage detector and voltage testing contacts connected to the phase. When the grounding wire connection / removal mechanism 10 is used to connect to the corresponding overhead line 2, the voltage testing contacts are located on the side of the grounding wire connection / removal mechanism 10 facing the corresponding overhead line 2. This allows the grounding wire connection / removal mechanism 10 to first contact the corresponding overhead line 2 through the voltage testing contacts and detect whether the corresponding overhead line 2 is energized through the voltage detector. Only after confirming through the voltage detector that the corresponding overhead line 2 is not energized can the grounding wire connection / removal mechanism 10 be clamped onto the corresponding overhead line 2.

[0100] When, as described in the aforementioned technical solution, the grounding wire hanging and detaching mechanism 10 includes a mechanism body 101 and two grounding mechanical arms 102, and the grounding wire hanging and detaching mechanism 10 includes a first grounding clamp 101a and two second grounding clamps 1021, specifically, the voltage testing mechanism may include three voltage testing contacts. Each of the three voltage testing contacts is electrically connected to a voltage detector. The three voltage testing contacts are respectively a first voltage testing contact and two second voltage testing contacts. The first voltage testing contact is located on the mechanism body 101. When the first grounding clamp 101a is used to correspond to the corresponding first conductor 21, the first voltage testing contact is located on the side of the first grounding clamp 101a facing the corresponding first conductor 21. Therefore, during the process of the grounding wire hanging and detaching mechanism 10 approaching the corresponding overhead line 2, it can first contact the first conductor 21 through the first voltage testing contact, and then... An electroscope detects whether the first conductor 21 is energized. After confirming that the first conductor 21 is not energized by the electroscope, the first grounding clamp 101a is then clamped onto the first conductor 21. Two second voltage detection contacts are respectively provided on the two grounding robotic arms 102. When the second grounding clamp 1021 is used to correspond to the corresponding second conductor 22, the second voltage detection contact is located on the side of the second grounding clamp 1021 facing the corresponding second conductor 22. Thus, during the process of the robotic arm body 1020 driving the second grounding clamp 1021 to approach the corresponding second conductor 22, the second voltage detection contact can be used to contact the second conductor 22 first, and the electroscope can detect whether the second conductor 22 is energized. After confirming that the second conductor 22 is not energized by the electroscope, the second grounding clamp 1021 is then clamped onto the corresponding second conductor 22.

[0101] like Figure 1 and Figure 8 As shown, the second aspect of the present invention provides a method for attaching and removing a grounding wire, which uses a grounding device 1 as described in the first aspect to automatically attach and remove the grounding wire of an overhead line 2. An insulating rope 20 is attached to the overhead line 2. The method for attaching and removing the grounding wire includes:

[0102] Step S1: By pulling the insulating rope 20 through the winch mechanism 11, the grounding wire hook-and-unhooking mechanism 10, which is attached to the grounding wire, is brought close to the overhead line 2 so that the grounding wire hook-and-unhooking mechanism 10 is clamped to the overhead line 2. Then, the grounding wire hook-and-unhooking mechanism 10 is unlocked from the winch mechanism 11 through the locking mechanism 12, and the winch mechanism 11 unwinds the insulating rope 20 to retrieve the winch mechanism 11.

[0103] Step S2: Pull the insulating rope 20 by the winch mechanism 11 to bring the winch mechanism 11 close to the grounding wire hanging and dismantling mechanism 10. Then, lock the grounding wire hanging and dismantling mechanism 10 with the winch mechanism 11 by the locking mechanism 12. The winch mechanism 11 unwinds the insulating rope 20 to remove the grounding wire and recycle the grounding device 1 as a whole.

[0104] Therefore, during power outage maintenance, the grounding wire can be kept connected to the overhead line 2 by the grounding wire hanging and removing mechanism 10. At the same time, the weight of the device structure hanging on the overhead line 2 can be reduced by the retraction winch mechanism 11, thereby avoiding additional damage to the overhead line 2 caused by excessive pulling. After the power outage maintenance work is completed, the grounding device 1 can be retrieved as a whole.

[0105] Specifically, step S1 may include:

[0106] Step S10: Provide a grounding device 1 that is locked to the grounding wire hanging and removing mechanism 10 and the hoisting mechanism 11 by the locking mechanism 12. The operator connects the naturally hanging end of the insulating rope 20 to the hoisting mechanism 11 and connects the grounding wire to the grounding wire hanging and removing mechanism 10.

[0107] Step S11: Start the hoisting mechanism 11 to pull the insulating rope 20, so that the grounding device 1 moves as a whole along the vertical direction X closer to the overhead line 2, until the grounding wire hanging and removing mechanism 10 clamps onto the overhead line 2, so that the grounding wire is electrically connected to the overhead line 2 through the grounding wire hanging and removing mechanism 10.

[0108] like Figure 9 and Figure 10 As shown, when the overhead line 2 includes three-phase conductors as described in the first aspect of the technical solution, the three-phase conductors include a first conductor 21 and two second conductors 22, an insulating rope 20 is hung on the first conductor 21, and the grounding wire hanging and removing mechanism 10 includes a mechanism body 101 and two grounding mechanical arms 102, step S10 may optionally include:

[0109] Step S101: Provide a grounding device 1 that is locked to the grounding wire hanging and removing mechanism 10 and the hoisting mechanism 11 by the locking mechanism 12. The operator connects the naturally hanging end of the insulating rope 20 to the hoisting mechanism 11, connects the first grounding wire to the first grounding clamp 101a, and connects the second grounding wire to the second grounding clamp 1021.

[0110] And step S11 may include:

[0111] Step S111: Start the hoisting mechanism 11 to pull the insulating rope 20, so as to drive the grounding device 1 as a whole to approach the first conductor 21 in the vertical direction X, until the first grounding clamp 101a clamps the first conductor 21, so as to realize the first grounding wire is electrically connected to the first conductor 21 through the first grounding clamp 101a.

[0112] Step S112: Activate the second drive structure 1022 to drive the robotic arm body 1020 to move relative to the mechanism body 101 until the robotic arm body 1020 drives the second grounding clamp 1021 to approach and clamp the second wire 22, thereby realizing the electrical conduction of the second grounding wire to the second wire 22 through the second grounding clamp 1021.

[0113] This allows for the separate connection of three grounding wires to the three conductors included in the three-phase conductor.

[0114] Step S12: Activate the locking mechanism 12 to unlock the grounding wire hooking / unhooking mechanism 10 from the hoisting mechanism 11.

[0115] Step S13: Start the winch mechanism 11 to unwind the insulating rope 20, so that the winch mechanism 11 moves away from the overhead line 2 and the grounding wire hook-and-drop mechanism 10 in the vertical direction X, until the winch mechanism 11 is in a position that can be retrieved by the operator.

[0116] Step S14: The operator removes the hoisting mechanism 11 from the insulating rope 20 to retrieve the hoisting mechanism 11.

[0117] in, Figure 10 The example sequentially illustrates the three-dimensional structure of the grounding device 1 or the grounding wire hanging and unhanging mechanism 10 and the overhead line 2 after steps S101, S111, S112, S13 and S14 when the overhead line 2 includes three-phase conductors.

[0118] Furthermore, step S2 may include:

[0119] Step S20: The operator connects the end of the insulating rope 20 that hangs down naturally to the winch mechanism 11.

[0120] Step S21: Start the winch mechanism 11, so that the winch mechanism 11 pulls the insulating rope 20, thereby driving the entire winch mechanism 11 to move along the vertical direction X towards the overhead line 2 and the grounding wire hanging and dismantling mechanism 10, until the winch mechanism 11 is connected to the grounding wire hanging and dismantling mechanism 10.

[0121] Step S22: Activate the locking mechanism 12 to lock the grounding wire hanging and unhanging mechanism 10 with the hoisting mechanism 11.

[0122] Step S23: Start the hoisting mechanism 11 to loosen the insulating rope 20, so as to drive the grounding device 1 as a whole away from the overhead line 2 in the vertical direction X, and the grounding wire hanging and unhanging mechanism 10 is disengaged from the overhead line 2, thereby realizing the removal of the grounding wire from the overhead line 2.

[0123] Therefore, after the operators finish their retrieval work, the grounding device 1 can be automatically recovered as a whole.

[0124] Please combine Figure 11 As shown, when the overhead line 2 includes three-phase conductors as described in the first aspect of the technical solution, the three-phase conductors include a first conductor 21 and two second conductors 22, an insulating rope 20 is hung on the first conductor 21, and the grounding wire hanging / removing mechanism 10 includes a mechanism body 101 and two grounding mechanical arms 102, optionally, after step S22 and before step S23, the grounding wire hanging / removing method further includes:

[0125] Step S230: Activate the second drive structure 1022, so that the main body of the robotic arm 1020 drives the second grounding clamp 1021 to detach from the second conductor 22, thereby removing the second grounding wire from the second conductor 22.

[0126] And step S23 includes:

[0127] Step S231: Start the hoisting mechanism 11 to loosen the insulating rope 20, so as to drive the grounding device 1 as a whole away from the first conductor 21 in the vertical direction X, and the first grounding clamp 101a disengages from the first conductor 21, thereby realizing the disassembly of the first grounding wire from the first conductor 21.

[0128] This allows the three grounding wires to be disconnected from the three conductors included in the three-phase conductors, respectively.

[0129] Step S24: When the grounding device 1 is in a position where it can be retrieved by the operator, the hoisting mechanism 11 is closed, and the operator removes the hoisting mechanism 11 from the insulating rope 20 to retrieve the grounding device 1 as a whole.

[0130] in, Figure 11The example sequentially illustrates the three-dimensional structure of the grounding device 1 and the overhead line 2 after steps S20, S22, S230 and S231 when the overhead line 2 includes three-phase conductors.

[0131] When the grounding device 1 further includes a voltage detection mechanism as described in the first aspect of the technical solution, step S11 may optionally include:

[0132] Step S11a: Start the hoisting mechanism 11, so that the hoisting mechanism 11 pulls the insulating rope 20, thereby driving the grounding device 1 as a whole to approach the overhead line 2 in the vertical direction X, until the voltage testing contact touches the overhead line 2.

[0133] Step S11b: Use a voltage detector to check whether the overhead line 2, which is in contact with the voltage detector contact, is energized.

[0134] Step S11c: If the overhead line 2 is not energized, continue to start the hoisting mechanism 11 until the grounding wire hanging and removing mechanism 10 clamps onto the overhead line 2, so that the grounding wire is electrically connected to the overhead line 2 through the grounding wire hanging and removing mechanism 10.

[0135] This avoids connecting the grounding wire to the overhead line 2 when it is energized, ensuring that the process of automatically connecting the grounding wire through the grounding device 1 complies with safety regulations.

[0136] When, as described in the first aspect of the technical solution above, the overhead line 2 includes a first conductor 21 and two second conductors 22, the grounding wire hanging and removing mechanism 10 includes a mechanism body 101 and two grounding mechanical arms 102, and includes a first grounding clamp 101a and two second grounding clamps 1021, and the voltage testing mechanism includes a first voltage testing contact and two second voltage testing contacts, specifically, step S11 may include:

[0137] Step S111a: Start the hoisting mechanism 11, so that the hoisting mechanism 11 pulls the insulating rope 20, thereby driving the grounding device 1 as a whole to approach the first conductor 21 in the vertical direction X, until the first voltage detection contact touches the first conductor 21.

[0138] Step S111b: Use a voltage detector to check whether the first wire 21, which is abutted by the first voltage detector contact, is energized.

[0139] Step S111c: If the first conductor 21 is not energized, continue to start the hoisting mechanism 11 until the first grounding clamp 101a clamps the first conductor 21, so as to realize the first grounding wire is electrically connected to the first conductor 21 through the first grounding clamp 101a.

[0140] Step S112a: Activate the second drive structure 1022 to drive the robotic arm body 1020 to move relative to the mechanism body 101 until the second voltage detection contact abuts against the corresponding second wire 22.

[0141] Step S112b: Use a voltage detector to check whether the second conductor 22, which is abutted by the second voltage detector contact, is energized.

[0142] Step S112c: If the second conductor 22 is not energized, continue to start the second drive structure 1022 until the second grounding clamp 1021 clamps the corresponding second conductor 22, so as to realize the second grounding wire is electrically connected to the second conductor 22 through the second grounding clamp 1021.

[0143] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0144] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0145] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0146] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A grounding device, characterized in that, include: A grounding wire hanging and detaching mechanism is used to connect to a grounding wire, and the grounding wire hanging and detaching mechanism is used to approach and clamp the corresponding overhead line so that the overhead line and the grounding wire are electrically connected through the grounding wire hanging and detaching mechanism; A winch mechanism is used to connect to and pull or unwind the insulating rope hanging on the overhead line, so as to drive the grounding device as a whole to move closer to or away from the overhead line in the vertical direction. as well as, A locking mechanism is provided on the grounding wire hanging and unhanging mechanism or the hoisting mechanism, and the locking mechanism can automatically lock or unlock the grounding wire hanging and unhanging mechanism and the hoisting mechanism; The locking mechanism includes a first drive structure and a locking member connected to each other. The first drive structure is disposed on the grounding wire hanging and detaching mechanism or the hoisting mechanism. The first drive structure can automatically drive the locking member to move so that the locking member locks or unlocks the grounding wire hanging and detaching mechanism and the hoisting mechanism. The overhead line includes three-phase conductors, which include a first conductor and two second conductors. The two second conductors are located on opposite sides of the first conductor in the horizontal direction, and the insulating rope is hung on the first conductor. The grounding wire hanging and unhanging mechanism includes a main body and two grounding mechanical arms. The main body is provided with a first grounding clamp, which is used to connect to a first grounding wire and to approach and clamp the first conductor in a vertical direction, so that the first conductor and the first grounding wire are electrically connected through the first grounding clamp. The two grounding mechanical arms are spaced apart from the main body. Each grounding mechanical arm includes a mechanical arm body, a second grounding clamp, and a second driving structure. The mechanical arm body is connected between the second grounding clamp and the main body. The second grounding clamp is used to connect to a second grounding wire. The second driving structure can drive the mechanical arm body to move relative to the main body, so as to drive the second grounding clamp to approach and clamp the corresponding second conductor, so that the corresponding second conductor and the second grounding wire are electrically connected through the second grounding clamp. The two robotic arm bodies are respectively located on two opposite sides of the mechanism body along the first direction. Along the second direction, the ends of the two robotic arm bodies connected to the mechanism body are respectively located on two opposite sides of the first grounding clamp. When the grounding robotic arm is in the storage state, the projections of the two robotic arm bodies on the same plane along the first direction intersect. Wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other.

2. The grounding device according to claim 1, characterized in that, The grounding wire attachment / removal mechanism has a first insertion structure with a first insertion hole. The hoisting mechanism has a second insertion structure corresponding to the first insertion structure. The second insertion structure and the first insertion structure can be vertically inserted and removed together. The second insertion structure has a second insertion hole corresponding to the first insertion hole. The locking member can be sequentially inserted into the first insertion hole and the second insertion hole to lock the first insertion structure and the second insertion structure together; or... Of the grounding wire hanging and unhanging mechanism and the hoisting mechanism, the one without the locking mechanism has a locking post. The outer periphery of the locking post has a locking groove. The locking mechanism includes two locking members. The first driving structure can drive the two locking members to approach each other so that both locking members enter the locking groove and abut against the two opposite sides of the locking post.

3. The grounding device according to claim 1, characterized in that, The second drive structure includes a first drive module and a second drive module. The main body of the robotic arm includes a first part and a second part. The first drive module is connected between the first part and the main body of the mechanism. The second drive module is connected between the first part and the second part. The second grounding clamp is connected to the end of the second part away from the first part. The first drive module can drive the first part to rotate relative to the main body of the mechanism, so as to drive the second grounding clamp to correspond to the corresponding second wire. The second drive module can drive the second part to extend and retract relative to the first part, so as to drive the second grounding clamp to approach and clamp the corresponding second wire.

4. A method for hanging and removing a grounding wire, characterized in that, The grounding device as described in any one of claims 1-3 is used to automatically attach and detach the grounding wire of an overhead line, wherein an insulating rope is attached to the overhead line, and the grounding wire attachment and detachment method includes: Step S1: Pull the insulating rope through the winch mechanism to drive the grounding wire hook-and-unhook mechanism, which is attached to the grounding wire, to approach the overhead line so that the grounding wire hook-and-unhook mechanism clamps onto the overhead line. Then, unlock the grounding wire hook-and-unhook mechanism from the winch mechanism through the locking mechanism. The winch mechanism unwinds the insulating rope to retract the winch mechanism. Step S2: The hoisting mechanism pulls the insulating rope to bring it close to the grounding wire attachment / removal mechanism. Then, the locking mechanism locks the grounding wire attachment / removal mechanism to the hoisting mechanism. The hoisting mechanism then unwinds the insulating rope to remove the grounding wire and retract the grounding device as a whole.

5. The grounding wire hanging and removing method according to claim 4, characterized in that, Step S1 includes: Step S10: Provide the grounding device that is locked to the grounding wire hanging and removing mechanism and the hoisting mechanism through the locking mechanism. The operator connects the naturally hanging end of the insulating rope to the hoisting mechanism and connects the grounding wire to the grounding wire hanging and removing mechanism. Step S11: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the overhead line in the vertical direction until the grounding wire hanging and dismantling mechanism clamps onto the overhead line, so as to realize the grounding wire being electrically connected to the overhead line through the grounding wire hanging and dismantling mechanism. Step S12: Activate the locking mechanism to unlock the grounding wire hooking / unhooking mechanism from the winch mechanism; Step S13: Start the winch mechanism to unwind the insulating rope, so as to drive the winch mechanism away from the overhead line and the grounding wire hook-and-unhooking mechanism in the vertical direction until the winch mechanism is in a position that can be retrieved by the operator. Step S14: The operator detaches the winch mechanism from the insulating rope to retrieve the winch mechanism; Step S2 includes: Step S20: The operator connects the naturally hanging end of the insulating rope to the winch mechanism; Step S21: Start the hoisting mechanism to pull the insulating rope, so that the hoisting mechanism moves as a whole along the vertical direction closer to the overhead line and the grounding wire hanging and dismantling mechanism, until the hoisting mechanism is connected to the grounding wire hanging and dismantling mechanism. Step S22: Activate the locking mechanism to lock the grounding wire hooking / unhooking mechanism with the winch mechanism; Step S23: Start the hoisting mechanism to loosen the insulating rope, so as to drive the grounding device as a whole away from the overhead line in the vertical direction, and the grounding wire hooking and unhooking mechanism is detached from the overhead line, thereby removing the grounding wire from the overhead line. Step S24: When the grounding device is in a position where it can be retrieved by the operator, the hoisting mechanism is turned off, and the operator disconnects the hoisting mechanism from the insulating rope to retrieve the grounding device and the grounding wire.

6. The grounding wire hanging and removing method according to claim 5, characterized in that, Step S10 includes: Step S101: Provide the grounding device in which the grounding wire hanging and removing mechanism and the hoisting mechanism are locked together by the locking mechanism. 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 S11 includes: Step S111: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the first conductor in the vertical direction until the first grounding clamp is clamped to the first conductor, so as to realize the first grounding wire being electrically connected to the first conductor through the first grounding clamp. Step S112: Activate the second drive structure to drive the main body of the robotic arm to move relative to the main body of the mechanism until the main body of the robotic arm drives the second grounding clamp to approach and clamp the second wire, so as to realize the second grounding wire being electrically connected to the second wire through the second grounding clamp; After step S22 and before step S23, the grounding wire hanging / removing method further includes: Step S230: Activate the second drive structure to cause the main body of the robotic arm to drive the second grounding clamp to detach from the second conductor, thereby disassembling the second grounding wire from the second conductor; Step S23 includes: Step S231: Start the hoisting mechanism to loosen the insulating rope, so as to drive the grounding device as a whole away from the first conductor in the vertical direction, and the first grounding clamp is disengaged from the first conductor, thereby disassembling the first grounding wire from the first conductor.

7. The grounding wire hanging and removing method according to claim 5 or 6, characterized in that, Step S11 includes: Step S11a: Start the hoisting mechanism to pull the insulating rope, thereby driving the grounding device as a whole to approach the overhead line in the vertical direction until the voltage testing contact touches the overhead line. Step S11b: Use a voltage detector to check whether the overhead line contacted by the voltage detector is energized; Step S11c: If the overhead line is not energized, continue to start the hoisting mechanism until the grounding wire hanging and unhanging mechanism clamps onto the overhead line, so as to electrically connect the grounding wire to the overhead line through the grounding wire hanging and unhanging mechanism.

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