Ground wire robot

Abstract

The invention discloses a ground wire robot which comprises a connecting frame, a bare conductor lap joint device and a cross arm lap joint device, an unmanned aerial vehicle connecting device is arranged above the connecting frame, and the connecting frame and the bare conductor lap joint device are detachably connected through a locking structure; the bare conductor lapping device comprises a winding and unwinding mechanism used for winding and unwinding a grounding conductor and further comprises a bare conductor clamping mechanism used for being in conductive contact with the bare conductor, and the bare conductor clamping mechanism is electrically connected with one end of the grounding conductor. The other end of the grounding wire is connected to the cross arm lapping device, and the cross arm lapping device comprises a cross arm clamping device used for keeping conductive contact between the grounding wire and the cross arm. The ground wire robot provided by the invention is simple, convenient and rapid to hang, safe, reliable and easy to carry, and has a good application prospect.

Description

Technical Field

[0001] The invention relates to the field of power grid maintenance, and in particular to a grounding wire robot. Background Art

[0002] In recent years, with the continuous development of power grid technology, the increase in distribution lines and the aging of lines, the number of lines that need maintenance has also increased. Before maintenance, it is necessary to shut down the power, test the electricity and hang the ground wire.

[0003] When manually hanging the ground wire, a lot of auxiliary tools need to be prepared in advance, such as: safety ropes, safety helmets, enclosure nets, safety signs, insulating rods, grounding wires, electrical testing tools, etc. The workers are also required to carry dozens of kilograms of grounding wires and electrical testing tools and climb up poles (towers) several dozen meters high. There is a risk of falling from a high altitude during the tower climbing process.

[0004] When the insulated boom truck is hung with the ground wire, the site requirements are high. For example, the support legs cannot be deployed on narrow township roads, the field roads cannot be entered, and the roads with soft soil cannot support the weight of the insulated boom truck. The preliminary preparation work is as cumbersome as manually hanging the ground wire.

[0005] In addition, there is the use of existing drones to hang ground wires, and drones are already used for electrical testing. However, when a drone is hung with a ground wire, it has high requirements for the pilot (the person who remotely controls the drone). In the early stage, it is necessary to fly to the wire with a heavy grounding clamp, and then the operator slowly pulls the grounding wire up through a rope. There are the following problems in the process of pulling the grounding wire: there is a risk of electric shock due to sudden power, and it may be stuck in mid-air and cannot be pulled up, and it is impossible to determine whether it is properly docked. The grounding clamp clamps the wire by gravity, and the clamping force is not enough, there is a problem of insufficient contact area, and it needs to take off and hang multiple times. Improper operation poses a risk of crashing. Summary of the invention

[0006] The purpose of the present invention is to provide a grounding wire robot which is simple and fast to hang, safe and reliable, easy to carry, and has good application prospects.

[0007] To achieve the above-mentioned purpose, the present invention provides a grounding wire robot, including a connecting frame, a bare wire splicing device and a cross-arm splicing device. A drone connecting device is provided above the connecting frame, and the connecting frame and the bare wire splicing device are detachably connected through a locking structure; the bare wire splicing device includes a reeling and unreeling mechanism for reeling and unreeling the grounding wire, and also includes a bare wire clamping mechanism for conductive contact with the bare wire, and the bare wire clamping mechanism is electrically connected to one end of the grounding wire; the other end of the grounding wire is connected to the cross-arm splicing device, and the cross-arm splicing device includes a cross-arm clamping device for maintaining conductive contact between the grounding wire and the cross-arm.

[0008] As a further improvement of the present invention, it also includes a real-time monitoring device and a universal damper. The real-time monitoring device is installed on the connecting frame, and the universal damper is connected between the drone connecting device and the connecting frame.

[0009] As a further improvement of the present invention, the connecting frame includes an upper rod body and a lower rod body that are slidably connected to each other; the bare wire splicing device includes a first bracket, a V-shaped connecting ring guide is connected to the first bracket, and a connecting ring limiting groove is provided at the bottom of the connecting ring guide; the locking structure includes a matching connecting ring and a hook, the connecting ring is connected to the lower rod body, the hook is rotatably connected to one side of the connecting ring limiting groove, and the hook is linked to a hook driving device.

[0010] As a further improvement of the present invention, the first bracket of the bare wire splicing device is provided with a bare wire limiting groove opening downward, and the opening edge of the bare wire limiting groove is provided with a bare wire guide extending obliquely downward; the bare wire clamping mechanism includes a first clamping part and a second clamping part arranged opposite to each other, and the first clamping part and the second clamping part are respectively located on both sides of the opening of the bare wire limiting groove; the first clamping part is slidably matched with the first bracket and is threadedly connected with a screw, and the screw is linked with a screw driving device; one end of the second clamping part is rotatably connected to the first bracket, and a first spring is connected between the other end of the second clamping part and the first bracket.

[0011] As a further improvement of the present invention, the reeling and winding mechanism includes a reeling and winding wheel rotatably connected to the first bracket, and also includes a reeling and winding wheel driving device linked to the reeling and winding wheel; the reeling and winding wheel is electrically connected to the bare wire clamping mechanism through a conductive structure.

[0012] As a further improvement of the present invention, the conductive structure includes a third conductive plate and a second conductive plate which are in rotational contact with each other, and also includes a first conductive plate electrically connected to the second conductive plate, the third conductive plate is fixedly connected to the reel and electrically connected to one end of the grounding wire, the second conductive plate is fixedly arranged on the first bracket, and the first conductive plate is electrically connected to the bare wire clamping mechanism.

[0013] As a further improvement of the present invention, a card-connecting frame is connected to the bottom of the first bracket, and a card-connecting interface with an opening facing downward is provided on the card-connecting frame, and the card-connecting interface of the card-connecting frame is adapted to the cross-arm overlapping device; at least one set of wire-releasing auxiliary wheels is provided on the card-connecting frame, and the grounding wire passes between a set of two wire-releasing auxiliary wheels.

[0014] As a further improvement of the present invention, the cross-arm overlapping device includes a second bracket, which is engaged with the card interface of the card frame; the first cross-arm isolator and the second cross-arm guide are respectively connected to the two sides below the second bracket, and a cross-arm guide groove is formed between the first cross-arm isolator and the second cross-arm guide; the second bracket is provided with a grounding wire fixing portion, which is fixedly connected to the lower part of the grounding wire.

[0015] As a further improvement of the present invention, the cross-arm clamping device includes a third clamping part and a fourth clamping part that cooperate with each other, and the third clamping part is located in the cross-arm guide groove; the lower end of the grounding wire is fixedly connected to the clamping surface of the third clamping part, and the cross-arm clamping device also includes a fixed seat connected to the second bracket, and the third clamping part is connected to a guide rod, the guide rod passes through the fixed seat and the two are slidably connected, and a second spring is provided between the fixed seat and the third clamping part; one end of the fourth clamping part is rotatably connected to the second bracket, and the fourth clamping part is linked to a clamping part driving device.

[0016] As a further improvement of the present invention, a guide mounting portion is provided on the second cross arm guide, and the second bracket is connected to the guide mounting portion via a spacing adjustment structure.

[0017] Beneficial Effects

[0018] Compared with the prior art, the advantages of the grounding wire robot of the present invention are:

[0019] 1. During operation, the entire grounding wire robot is lifted by a drone. The drone first places the crossarm splicing device on the crossarm, and the crossarm clamping device is used to keep the lower end of the grounding wire in electrical contact with the crossarm. Then the reeling and unreeling mechanism on the bare wire splicing device begins to unwind the grounding wire downward, and at the same time the drone climbs, allowing the bare wire splicing device to detach upward from the crossarm splicing device. Then the drone suspends the connecting frame and the bare wire splicing device, and moves to the top of the bare wire between the two crossarms. By operating the drone, the bare wire splicing device is placed on the bare wire and clamped by the bare wire clamping mechanism. At this time, the bare wire, the bare wire clamping mechanism, the grounding wire, and the crossarm are electrically connected in turn, and the crossarm is grounded. At this time, the locking structure between the connecting frame and the bare wire splicing device is released, and the drone flies back to the bottom surface with the connecting frame suspended. When the bare wire splicing device and the crossarm splicing device need to be recovered, the drone with the connecting frame suspended can be used to recycle the above structure. This method only requires remote control by the pilot to complete the operation. It can operate at a long distance without the need for operators to climb the tower, avoiding safety issues caused by sudden power-on of bare wires. It also does not require personnel to pull the grounding wires, making it easy to operate.

[0020] 2. In order to improve the accuracy of remote operation, the real-time monitoring device transmits the picture to the pilot in real time. The universal damper avoids the hard connection between the drone as a whole and the structure below the universal damper, reduces the shaking of the drone during flight, and at the same time, the damping effect can eliminate the shaking of the structure below the universal damper in the grounded robot as soon as possible, ensuring the flight stability of the drone.

[0021] 3. When recovering the bare wire splicing device through a drone with a connecting frame, operate the drone to let the connecting ring slide into the connecting ring limit groove under the guidance of the V-shaped connecting ring guide. Due to the limitations of human eyes and remote images, the attitude of the drone cannot be accurately judged and controlled during this process. If a fixed-structure connecting frame is used, when the connecting ring has successfully entered the connecting ring limit groove and the personnel still issue a descending command to the drone, there is a risk that the drone will tilt due to failure to descend normally. For this reason, the upper rod and the lower rod of the connecting frame are designed to be relatively sliding structures, so that it has a certain fault tolerance, but is more conducive to the stability of the drone during operation.

[0022] 4. The first clamping part of the bare wire clamping mechanism is connected to the lead screw threadedly, and has a self-locking function to avoid the problem of accidental retreat, ensuring the stability of the first clamping part and the second clamping part in clamping the bare wire, and not loosening, so as to ensure a higher and more stable conductivity between the bare wire and the first clamping part. A first spring is provided on one side of the second clamping part to avoid damage to the bare wire surface due to excessive clamping force. Once the bare wire surface is broken, the local resistance increases, and long-term power supply is prone to local heating and greatly shorten the life of the bare wire.

[0023] 5. The reel is driven by a reel driving device and can be remotely controlled, making operation easy.

[0024] 6. The bottom of the first bracket of the bare wire splicing device is snap-fitted with the second bracket of the cross arm splicing device through a snap-fit ​​frame to prevent the cross arm splicing device from shaking relative to the bare wire splicing device during flight.

[0025] 7. By arranging the first cross arm isolator and the second cross arm guide on the cross arm overlapping device, the success rate of overlapping the cross arms can be effectively improved.

[0026] 8. When the cross arm and the lower end of the grounding wire are clamped together by the cross arm clamping device, a second spring is provided to avoid damage to the grounding wire due to excessive clamping force.

[0027] 9. The second bracket is connected to the guide installation part through a spacing adjustment structure. The spacing between the first cross arm isolator and the second cross arm guide can be pre-adjusted according to the size of the cross arm to be overlapped, thereby improving its versatility.

[0028] The present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, which are used to illustrate embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 One of the three-dimensional images of the grounding wire robot;

[0031] Figure 2 This is the second stereoscopic image of the grounding robot;

[0032] Figure 3 It is the front view of the ground wire robot;

[0033] Figure 4 It is one of the three-dimensional diagrams of the bare wire splicing device;

[0034] Figure 5 This is the second stereoscopic diagram of the bare wire splicing device;

[0035] Figure 6 This is the front view of the bare wire splicing device;

[0036] Figure 7 for Figure 6 AA view;

[0037] Figure 8 It is the right view of the bare wire splicing device;

[0038] Fig. 9 for Figure 8 BB direction view;

[0039] Fig.10 It is a front view of the cross arm clamping device of the cross arm lap joint device;

[0040] Fig.11 This is a three-dimensional diagram of the grounding robot in use;

[0041] Fig.12 This is the main view of the grounding robot in use;

[0042] Fig.13 This is an enlarged view of the connecting frame. DETAILED DESCRIPTION

[0043] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0044] Example

[0045] The specific embodiments of the present invention are as follows Figures 1 to 13 As shown, a grounding wire robot includes a connecting frame 1, a bare wire splicing device 2 and a cross-arm splicing device 5. A drone connecting device 9 is provided above the connecting frame 1. In this embodiment, the drone connecting device 9 is a crossbar. The connecting frame 1 and the bare wire splicing device 2 are detachably connected via a locking structure. The bare wire splicing device 2 includes a reeling and unreeling mechanism for reeling and unreeling the grounding wire 3, and also includes a bare wire clamping mechanism 25 for conductive contact with the bare wire 4. The bare wire clamping mechanism 25 is electrically connected to one end of the grounding wire 3. The other end of the grounding wire 3 is connected to the cross-arm splicing device 5, and the cross-arm splicing device 5 includes a cross-arm clamping device 55 for maintaining conductive contact between the grounding wire 3 and the cross-arm 6. The entire device adopts high-strength carbon fiber and aviation aluminum alloy fuselage, and is lightweight, with an overall weight of about 5 kilograms.

[0046] The grounding robot also includes a real-time monitoring device 7 and a universal damper 8. The real-time monitoring device 7 is mounted on the connecting frame 1, and the universal damper 8 is connected between the drone connecting device 9 and the connecting frame 1. In this embodiment, the real-time monitoring device 7 uses a camera, which transmits the acquired real-time picture to the display screen on the pilot's remote control by wireless communication, so that the pilot can monitor the working status in real time.

[0047] The connecting frame 1 includes an upper rod body 11 and a lower rod body 12 that are slidably connected to each other. The bare wire splicing device 2 includes a first bracket 21, and a V-shaped connecting ring guide 22 is connected to the first bracket 21. The bottom of the connecting ring guide 22 is provided with a connecting ring limit groove 221. The locking structure includes a matching connecting ring 13 and a hook 232. The connecting ring 13 is connected to the lower rod body 12, and the lower end of the hook 232 is rotatably connected to one side of the connecting ring limit groove 221. The hook 232 is linked to a hook driving device 231, and the hook driving device 231 can use a motor and is installed on the first bracket 21.

[0048] The first bracket 21 of the bare wire splicing device 2 is provided with a bare wire limiting groove 211 with an opening facing downward, and the edge of the opening of the bare wire limiting groove 211 is provided with a bare wire guide 24 extending obliquely downward. The bare wire clamping mechanism 25 includes a first clamping portion 251 and a second clamping portion 252 arranged opposite to each other, and the first clamping portion 251 and the second clamping portion 252 are respectively located on both sides of the opening of the bare wire limiting groove 211. The first clamping portion 251 is slidably matched with the first bracket 21 and is threadedly connected with a screw rod 254, and the screw rod 254 is linked with a screw rod driving device 253. The screw rod driving device 253 is a motor and is installed on the first bracket 21, and can be linked with the screw rod 254 through a gear group transmission mechanism. The lower end of the second clamping portion 252 is rotatably connected to the first bracket 21, and a first spring (not shown in the figure) is connected between the upper end of the second clamping portion 252 and the first bracket 21. In this embodiment, one end of the first clamping portion 251 is a concave semi-cylindrical surface, which can increase the surface contact area between the first clamping portion 251 and the bare wire 4 and adapt to wires of various specifications without the need for operators to replace the first clamping portion 251 .

[0049] The reeling and winding mechanism includes a reeling and winding wheel 26 rotatably connected to the first bracket 21, and also includes a reeling and winding wheel driving device 27 linked to the reeling and winding wheel 26. The reeling and winding wheel driving device 27 includes a first motor 272 and a first gear 271, the first motor 272 is mounted on the first bracket 21, the first gear 271 is arranged on the outer circumference of the reeling and winding wheel 26, the first motor 272 is linked with a transmission gear, the transmission gear is meshed with the first gear 271, and the reeling and winding wheel 26 can be driven to rotate by the reeling and winding wheel driving device 27.

[0050] The reel 26 is electrically connected to the bare wire clamping mechanism 25 through the conductive structure 28. In the present embodiment, the conductive structure 28 includes a third conductive plate 283 and a second conductive plate 282 that are in rotational contact with each other, and also includes a first conductive plate 281 that is electrically connected to the second conductive plate 282. In the present embodiment, the third conductive plate 283 and the second conductive plate 282 are both circular, and each conductive plate is made of copper. The third conductive plate 283 is fixedly connected to the reel 26 and electrically connected to one end of the grounding wire 3, the second conductive plate 282 is fixedly arranged on the first bracket 21, and the first conductive plate 281 is electrically connected to the first clamping portion 251 of the bare wire clamping mechanism 25.

[0051] The bottom of the first bracket 21 is connected to a clamping frame 29, and a clamping interface with an opening facing downward is provided on the clamping frame 29, and the clamping interface of the clamping frame 29 is adapted to the cross arm lap device 5. The clamping frame 29 is provided with at least one set of two wire-releasing auxiliary wheels 291, and the grounding wire 3 passes between the two wire-releasing auxiliary wheels 291. The wire-releasing auxiliary wheels 291 can prevent the grounding wire 3 from shaking when winding and unwinding.

[0052] The cross arm lap device 5 includes a second bracket 51, and the top of the second bracket 51 is engaged with the card interface of the card connection frame 29. The first cross arm isolator 52 and the second cross arm guide 53 are connected to the two sides below the second bracket 51, respectively. The first cross arm isolator 52 and the second cross arm guide 53 form a cross arm guide groove 54 between them, and the cross arm guide groove 54 is in an inverted V shape. In this embodiment, the first cross arm isolator 52 is arranged vertically, and the second cross arm guide 53 is arranged obliquely. The grounding wire 3 vertically passes through the middle of the second bracket 51, and the second bracket 51 is provided with a grounding wire fixing portion 56, and the grounding wire fixing portion 56 is fixedly connected to the lower part of the grounding wire 3. The grounding wire fixing portion 56 can adopt a U-shaped pressing block, and the U-shaped pressing block is connected to the second bracket 51 by screws, so as to fix the lower part of the grounding wire 3 on the second bracket 51.

[0053] The cross arm clamping device 55 includes a third clamping portion 552 and a fourth clamping portion 554 which cooperate with each other, and the third clamping portion 552 is located inside the cross arm guide groove 54. The lower end of the grounding wire 3 is L-shaped, and its transversely extending portion is integrally fixedly connected to the clamping surface of the third clamping portion 552. In this embodiment, the clamping surface of the third clamping portion 552 faces downward. The cross arm clamping device 55 also includes a fixing seat 551 connected to the second bracket 51, and two vertically arranged guide rods 553 are connected to the third clamping portion 552. The guide rods 553 pass through the fixing seat 551 and the two are slidably connected. A second spring (not shown in the figure) is provided between the fixing seat 551 and the third clamping portion 552. By providing the second spring, when the third clamping portion 552 and the fourth clamping portion 554 jointly clamp the cross arm 6 and the lower end of the grounding wire 3 in the middle, it can be avoided that the surface of the grounding wire 3 is damaged due to excessive clamping force.

[0054] One end of the fourth clamping part 554 is rotatably connected to the second bracket 51, and the fourth clamping part 554 is linked to a clamping part driving device 555. In this embodiment, the fourth clamping part 554 is fan-shaped, and its outer edge is arc-shaped and provided with second gear teeth. The clamping part driving device 555 is a motor and is installed on the second bracket 51. The gear of the output shaft of the clamping part driving device 555 meshes with the second gear teeth of the fourth clamping part 554. When the clamping part driving device 555 is working, the fourth clamping part 554 can be driven to swing, so that one side of it is close to or away from the third clamping part 552.

[0055] The second cross arm guide 53 is provided with a guide mounting portion 531, and the second bracket 51 is connected to the guide mounting portion 531 via a spacing adjustment structure. The spacing adjustment structure includes a plurality of mounting holes, and the guide mounting portion 531 is connected to the corresponding mounting holes on the second bracket 51 by bolts, so that the position of the second cross arm guide 53 can be adjusted, thereby adapting to poles of various specifications.

[0056] The operation of hanging the ground wire by the ground wire robot using this solution is as follows:

[0057] Connect the drone connection device 9 to the tripod of the drone 10;

[0058] Put the connecting ring 13 of the connecting frame 1 into the connecting ring limiting groove 221, and use the hook 232 to hook the connecting ring 13. After the hook 232 hooks the connecting ring 13, a signal will be fed back to the remote control, and the remote control will light up red, and light up green when released;

[0059] The screw drive device 253 drives the screw 254 to retract the first clamping part 251 into the chuck chamber. When it is in place, it will automatically stop and feed back a signal to the remote control. The remote control lights up green and lights up red when clamping.

[0060] Connect the grounding wire 3 to the third clamping portion 552 of the cross arm clamping device 55;

[0061] The first motor 272 of the reel driving device 27 drives the reel 26 to reel in the wire, so that the cross arm lap device 5 and the ground wire 3 are reeled in together, and the second bracket 51 is retracted to the clamping frame 29, and it will automatically stop when it is in place, and a signal is fed back to the remote control, and the remote control lights up green, and lights up red when the wire is released;

[0062] The spacing adjustment structure of the cross arm overlapping device 5 adjusts the appropriate width of the cross arm guide groove 54 through screws;

[0063] The clamping part driving device 555 of the cross arm clamping device 55 drives the fourth clamping part 554 to open, and stops automatically after reaching the position, and feeds back a signal to the remote controller, which lights up green, and lights up red when clamping;

[0064] After the grounding robot is connected to the drone, all power switches are turned on and it is placed flat on the ground. The drone slowly takes off with the grounding robot and flies above the cross arm 6. The posture of the grounding robot is observed through the real-time monitoring device 7, and its posture is adjusted through the drone so that the second cross arm guide 53 of the grounding robot is aligned with the cross arm 6 of the pole tower. After alignment, the drone slowly descends, so that the grounding robot uses the second cross arm guide 53 to slide into the cross arm 6 of the pole tower, and after sliding into the cross arm 6, the cross arm clamping device 55 is controlled by the remote control to clamp the cross arm of the pole tower. After clamping, the remote control lights up red; the drone slowly rises, and at the same time, the retractable wire wheel 26 starts to release the wire until the grounding wire 3 is released (the remote control lights up red); at this time, the drone with the bare The wire splicing device 2 flies to above the bare wire 4, and the posture of the bare wire splicing device 2 is observed by the real-time monitoring device 7. The posture is adjusted by the drone so that the bare wire guide 24 of the bare wire splicing device 2 is aligned with the bare wire 4. After alignment, the drone 10 slowly descends, so that the bare wire splicing device 2 slowly slides in using the bare wire guide 24 to hang on the bare wire 4. After hanging, the remote control controls the screw drive device 253 to drive the first clamping part 251 to clamp the bare wire 4 through the screw. The clamping force is adjusted by the first spring of the second clamping part 252, and bare wires of different wire diameters can be clamped. After the bare wire is clamped, the remote control lights up red; at this time, the hook 232 can be unhooked, and the drone 10 returns to the ground to complete the wire hanging work.

[0065] To remove the grounding wire robot, proceed as follows:

[0066] The drone 10 flies to the top of the bare wire 4 with the connecting frame 1, observes the posture of the connecting frame 1 through the real-time monitoring device 7, adjusts its posture through the drone 10, aligns the connecting ring 13 with the connecting ring guide 22, and after alignment, the drone slowly descends to slide the connecting ring 13 into the connecting ring limit groove 221, observes whether it has completely slid into the connecting ring limit groove 221 through the real-time monitoring device 7, uses the hook 232 to hook the connecting ring 13, and turns on the red light when clamped; after hooking the connecting frame 1, release the first clamping part 251, and turn on the green light when it is completely released; after the green light is on, the drone 10 slowly rises to separate the bare wire splicing device 2 from the bare wire 4, and after separation, the drone 10 flies to the top of the cross arm splicing device 5, and the take-up wheel 26 starts to retract the grounding wire 3; when the grounding wire 3 is retracted to the remaining 20 cm, the cross arm clamping device 55 releases the pole tower cross arm 6, and when the remote control lights up the green light, the drone slowly rises and returns to the ground, successfully completing the grounding wire robot recovery work.

[0067] The present invention has been described above in conjunction with the best embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present invention.

Claims

1. A grounding wire robot, characterized in that: The invention comprises a connecting frame (1), a bare wire splicing device (2) and a cross arm splicing device (5); a drone connecting device (9) is arranged above the connecting frame (1); the connecting frame (1) and the bare wire splicing device (2) are detachably connected via a locking structure; the bare wire splicing device (2) comprises a retracting and unreeling mechanism for retracting and unreeling a grounding wire (3), and also comprises a bare wire clamping mechanism (25) for making conductive contact with the bare wire (4); the bare wire clamping mechanism (25) is electrically connected to one end of the grounding wire (3); the other end of the grounding wire (3) is connected to the cross arm splicing device (5); the cross arm splicing device (5) comprises a cross arm clamping device (55) for keeping the grounding wire (3) and the cross arm (6) in conductive contact.

2. A grounding wire robot according to claim 1, characterized in that: It also includes a real-time monitoring device (7) and a universal damper (8), wherein the real-time monitoring device (7) is mounted on the connecting frame (1), and the universal damper (8) is connected between the drone connecting device (9) and the connecting frame (1).

3. The grounding wire robot according to claim 1, characterized in that: The connecting frame (1) comprises an upper rod body (11) and a lower rod body (12) which are slidably sleeved with each other; the bare wire splicing device (2) comprises a first bracket (21), a V-shaped connecting ring guide (22) is connected to the first bracket (21), and a connecting ring limiting groove (221) is provided at the bottom of the connecting ring guide (22); the locking structure comprises a matching connecting ring (13) and a hook (232), the connecting ring (13) is connected to the lower rod body (12), the hook (232) is rotatably connected to one side of the connecting ring limiting groove (221), and the hook (232) is linked to a hook driving device (231).

4. A grounding wire robot according to claim 3, characterized in that: The first bracket (21) of the bare wire splicing device (2) is provided with a bare wire limiting groove (211) with an opening facing downward, and the edge of the opening of the bare wire limiting groove (211) is provided with a bare wire guide (24) extending obliquely downward; the bare wire clamping mechanism (25) comprises a first clamping portion (251) and a second clamping portion (252) arranged opposite to each other, and the first clamping portion (251) and the second clamping portion (252) are respectively located on both sides of the opening of the bare wire limiting groove (211); the first clamping portion (251) is slidably matched with the first bracket (21) and is threadedly connected with a screw rod (254), and the screw rod (254) is linked with a screw rod driving device (253); one end of the second clamping portion (252) is rotatably connected to the first bracket (21), and a first spring is connected between the other end of the second clamping portion (252) and the first bracket (21).

5. A grounding wire robot according to claim 1 or 4, characterized in that: The reeling and unwinding mechanism comprises a reeling and winding wheel (26) rotatably connected to the first bracket (21), and also comprises a reeling and winding wheel driving device (27) linked to the reeling and winding wheel (26); the reeling and winding wheel (26) is electrically connected to the bare wire clamping mechanism (25) via a conductive structure (28).

6. A grounding wire robot according to claim 5, characterized in that: The conductive structure (28) comprises a third conductive plate (283) and a second conductive plate (282) which are in rotational contact with each other, and also comprises a first conductive plate (281) electrically connected to the second conductive plate (282); the third conductive plate (283) is fixedly connected to the reel (26) and electrically connected to one end of the grounding wire (3); the second conductive plate (282) is fixedly arranged on the first bracket (21); and the first conductive plate (281) is electrically connected to the bare wire clamping mechanism (25).

7. The grounding wire robot according to claim 3, characterized in that: The bottom of the first bracket (21) is connected to a clamping frame (29), and the clamping frame (29) is provided with a clamping interface with an opening facing downward, and the clamping interface of the clamping frame (29) is compatible with the cross arm overlapping device (5); the clamping frame (29) is provided with at least one set of wire-releasing auxiliary wheels (291), and the grounding wire (3) passes between two wire-releasing auxiliary wheels (291) in a set.

8. The grounding wire robot according to claim 7, characterized in that: The cross arm overlapping device (5) comprises a second bracket (51), and the second bracket (51) is engaged with the card interface of the card connection frame (29); the first cross arm isolator (52) and the second cross arm guide (53) are respectively connected to the two sides below the second bracket (51), and the first cross arm isolator (52) and the second cross arm guide (53) form a cross arm guide groove (54) between them; the second bracket (51) is provided with a grounding wire fixing part (56), and the grounding wire fixing part (56) is fixedly connected to the lower part of the grounding wire (3).

9. The grounding wire robot according to claim 8, characterized in that: The cross arm clamping device (55) comprises a third clamping portion (552) and a fourth clamping portion (554) which cooperate with each other, the third clamping portion (552) being located in the cross arm guide groove (54); the lower end of the grounding wire (3) is fixedly connected to the clamping surface of the third clamping portion (552); the cross arm clamping device (55) further comprises a fixing seat (551) connected to the second bracket (51); the third clamping portion (552) is connected to a guide rod (553); the guide rod (553) passes through the fixing seat (551) and the two are slidably connected; a second spring is provided between the fixing seat (551) and the third clamping portion (552); one end of the fourth clamping portion (554) is rotatably connected to the second bracket (51); the fourth clamping portion (554) is linked to a clamping portion driving device (555).

10. The grounding wire robot according to claim 8, characterized in that: The second cross arm guide (53) is provided with a guide mounting portion (531), and the second bracket (51) and the guide mounting portion (531) are connected via a spacing adjustment structure.

Images