Automatic ground wire hanging device for transformer substation

Abstract

According to the scheme, the automatic ground wire hanging device comprises an insulating telescopic rod assembly, a mechanical vehicle, a first controller and a second controller, and the insulating telescopic rod assembly is arranged on the mechanical vehicle and can stretch or retract in the preset direction; the mechanical vehicle can drive the insulating telescopic rod assembly to move; the first controller is in signal connection with the insulating telescopic rod assembly so as to control the working mode of the insulating telescopic rod assembly and achieve hanging of the hanging ground wire. The second controller is in signal connection with the mechanical vehicle so as to control the working mode of the mechanical vehicle. A worker can control the working mode of the mechanical vehicle to move to a target position by operating the second controller, and can control the working mode of the insulating telescopic rod assembly hung with the ground wire by operating the first controller, so that the ground wire is hung through remote control, and the safety performance and the hanging efficiency of the ground wire are improved.

Description

Technical Field

[0001] The invention relates to the technical field of transformer substations, and in particular to an automatic ground wire hanging device for transformer substations. Background Art

[0002] Currently, when hanging the ground wire during switching operation, the operator uses an insulating rod to pick up the ground wire and hang it on the power outage equipment. However, due to the high position of the ground wire and the heavy weight of the insulating rod and the ground wire, when hanging the ground wire, it often fails to be hung up and the ground wire often falls from the insulating rod and injures people.

[0003] Therefore, how to improve the safety performance and hanging efficiency of the ground wire has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The invention provides an automatic ground wire hanging device for a transformer substation to improve the safety performance and hanging efficiency of the ground wire.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a substation automatic ground wire hanging device, comprising an insulating telescopic rod assembly, a mechanical vehicle, a first controller and a second controller, wherein:

[0007] The insulating telescopic rod assembly is arranged on the mechanical vehicle and can be extended or shortened along a preset direction;

[0008] The mechanical vehicle can drive the insulating telescopic rod assembly to move;

[0009] The first controller is connected to the insulating telescopic rod assembly by signal to control the working mode of the insulating telescopic assembly to achieve the hanging of the ground wire;

[0010] The second controller is connected to the mechanical vehicle signal to control the working mode of the mechanical vehicle.

[0011] In some embodiments, the insulating telescopic rod assembly includes a rotating platform, a first mechanical arm, a second mechanical arm, a plurality of insulating telescopic rods, a mechanical arm, a pressure pipeline, and a third controller, wherein the rotating platform is disposed on the mechanical vehicle;

[0012] The first end of the first mechanical arm is transmission-connected to the rotating platform and can rotate in a first direction relative to the rotating platform;

[0013] The first end of the second mechanical arm is transmission-connected to the second end of the first mechanical arm and can rotate in a second direction relative to the first mechanical arm;

[0014] Multiple insulating telescopic rods are sleeved one by one, and extend or shorten when the power medium moves;

[0015] The manipulator is arranged on an insulating telescopic rod at the end of the plurality of insulating telescopic rods to clamp the ground wire;

[0016] The pressure pipeline is used to circulate the power medium to drive the insulating telescopic rod to extend or shorten;

[0017] The third controller is connected with the first robotic arm, the second robotic arm, the robotic hand and the pressure pipeline signal.

[0018] In some embodiments, the pressure pipeline includes a power source, a main pipeline, multiple branch pipelines and a control valve, wherein the main pipeline is connected to the power source, and the branch pipeline is connected to the cavity of the corresponding insulating telescopic rod; the control valve connects the main pipeline with the multiple branch pipelines to be controlled by a third controller to control the flow direction and on-off of the internal power medium of the branch pipeline.

[0019] In some embodiments, the flow direction includes a first circulation direction in which the power medium fills toward the rodless cavity of the insulating telescopic rod, and a second circulation direction in which the power medium fills toward the rod-containing cavity of the insulating telescopic rod.

[0020] In some embodiments, the control valve includes a plurality of solenoid valves, each of which is signal-connected to the third controller.

[0021] In some embodiments, the working modes of the insulating telescopic rod assembly include a first direction rotation mode, a second direction rotation mode, an extension mode, and a shortening mode;

[0022] In the first direction rotation mode, the first robotic arm operates;

[0023] In the second direction rotation mode, the second robotic arm operates;

[0024] In the extension mode, the pressure line operates and the power medium flows in the first circulation direction;

[0025] In the shortened mode, the pressure line operates and the power medium flows in the second circulation direction;

[0026] The third controller exchanges signals with the first controller via wired or wireless communication.

[0027] In some embodiments, the mechanical vehicle includes a vehicle body, a powertrain, a wheel train and a fourth controller, wherein the powertrain, the wheel train and the fourth controller are arranged on the vehicle body, and the fourth controller controls the operation of the powertrain and drives the vehicle body to move.

[0028] In some embodiments, the fourth controller interacts with the second controller via wired or wireless signals.

[0029] In some embodiments, the working modes of the mechanical vehicle include a moving mode and a hanging mode.

[0030] In mobile mode, the mechanical vehicle moves along a predetermined trajectory;

[0031] In the holding mode, the mechanical vehicle is locked.

[0032] In some embodiments, the mechanical vehicle is a tracked mechanical vehicle.

[0033] In the automatic ground wire hanging device for a substation of the present invention, a worker can control the working mode of the mechanical vehicle to move to a target position by operating the second controller, and can control the working mode of the insulating telescopic rod assembly that holds the ground wire by operating the first controller, and remotely control the hanging of the ground wire, thereby improving the safety performance and hanging efficiency of the ground wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some examples or embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work, and the present invention can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0035] Figure 1 A schematic diagram of an automatic ground wire hanging device for a substation provided by an embodiment of the present invention;

[0036] Figure 2 An operation flow chart of an automatic ground wire hanging device for a substation provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of an insulating telescopic rod assembly provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a first controller provided by an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the operation of an insulating telescopic rod assembly provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of a mechanical vehicle provided by an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of a second controller provided by an embodiment of the present invention;

[0042] Figure 8 A flow chart of the operation of a mechanical vehicle provided by an embodiment of the present invention;

[0043] In the figure, 100 is an insulating telescopic rod assembly; 200 is a mechanical vehicle; 300 is a first controller; 400 is a second controller;

[0044] 110 - rotating table, 120 - first mechanical arm, 130 - second mechanical arm, 140 - insulating telescopic rod, 150 - mechanical hand, 160 - pressure pipeline, 170 - third controller;

[0045] 141-first insulating telescopic rod; 142-first insulating telescopic rod; 143-first insulating telescopic rod;

[0046] 161-power source, 162-main pipeline, 163-branch pipeline, 164-control valve

[0047] 210-vehicle body; 220-powertrain; 230-wheel train; 240-fourth controller;

[0048] 310 - interactive interface; 311 - first button; 312 - second button; 313 - third button; 314 - fourth button;

[0049] 410 - interactive interface; 411 - fifth button; 412 - sixth button; 413 - seventh button; 414 - eighth button. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It will be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0051] Substation switching operation refers to a series of operations on high-voltage electrical equipment in the substation to change the operating status or connection mode of the equipment in order to carry out equipment inspection, testing, maintenance, replacement or adjustment of the power system operation mode. These operations include but are not limited to disconnecting or closing circuit breakers, disconnectors, grounding switches, etc., as well as safety measures such as installing and removing grounding wires. Switching operation is a very important part of the operation and maintenance of the power system, which is directly related to the safe and stable operation of the power system. Hanging the ground wire during the substation switching operation is a very important safety measure. Its main purposes and reasons include: Preventing unexpected calls: During the switching operation, the equipment may receive unexpected calls. If there is no ground wire, this may cause equipment damage or electric shock accidents; Ensure the safety of staff: Hanging the ground wire can ensure that during the operation, even if the equipment is accidentally energized, the current will flow to the ground through the ground wire instead of flowing through the human body, thereby protecting the safety of the staff; Preventing equipment damage: The ground wire can prevent overvoltage caused by accidental energization of the equipment, thereby protecting the equipment from damage; Avoiding induced voltage: When working near high-voltage equipment, induced voltage may be generated. Hanging the ground wire can Reduce the impact of induced voltage on workers and equipment; comply with safety regulations: the safety regulations of the power industry require that a ground wire must be hung during switching operations to ensure the safety of the operation; prevent arcs and sparks: during operation, if the equipment is energized, arcs and sparks may be generated, and hanging a ground wire can reduce this risk; provide clear safety warnings: the ground wire is also a visual warning that the equipment is working or under maintenance, reminding other workers not to approach; prevent misoperation: the ground wire can be used as a physical barrier to prevent misoperation, such as accidental closing of the switch; short circuit protection: in some cases, the ground wire can be used as part of short circuit protection to prevent equipment from being damaged by a short circuit.

[0052] As described in the background technology, during the switching operation of a substation, the ground wire is usually hung by a worker directly operating an insulating rod, which has low safety performance and low hanging efficiency. In order to solve this technical problem, the present application discloses an automatic ground wire hanging device for a substation.

[0053] See also Figure 1 The substation automatic ground wire hanging device includes an insulating telescopic rod assembly 100, a mechanical vehicle 200, a first controller 300 and a second controller 400, wherein the insulating telescopic rod assembly 100 is arranged on the mechanical vehicle 200 and can be extended or shortened along a preset direction; the mechanical vehicle 200 can drive the insulating telescopic rod assembly 100 to move; the first controller 300 is connected to the insulating telescopic rod assembly 100 by signal to control the working mode of the insulating telescopic rod assembly to realize the hanging of the ground wire; the second controller 400 is connected to the mechanical vehicle 200 by signal to control the working mode of the mechanical vehicle 200.

[0054] See also Figure 2The staff can control the working mode of the mechanical vehicle 200 to move to the target position by operating the second controller 400, and can control the working mode of the insulating telescopic rod assembly 100 for holding the ground wire by operating the first controller 300, and remotely control the hanging of the ground wire, thereby improving the safety performance and holding efficiency of the hanging of the ground wire.

[0055] It should be noted that the above preset directions can be adjusted according to the hanging needs, and can be a single direction or a composite direction. The so-called single direction may include, for example, the 12 o'clock direction, the 6 o'clock direction, the 3 o'clock direction, and the 9 o'clock direction; the so-called composite direction may include, for example, the 1 o'clock direction, the 2 o'clock direction, the 10 o'clock direction, the 11 o'clock direction, the 4 o'clock direction, the 5 o'clock direction, the 7 o'clock direction, the 8 o'clock direction, etc.

[0056] See also Figure 3 The function of the insulating telescopic rod assembly 100 is to realize the hanging of the ground wire. The insulating telescopic rod assembly 100 shown in the figure includes a rotating platform 110, a first mechanical arm 120, a second mechanical arm 130, a plurality of insulating telescopic rods 140, a mechanical hand 150, a pressure pipeline 160 and a third controller 170, wherein the rotating platform 110 is arranged on the mechanical vehicle 200; the first end of the first mechanical arm 120 is transmission-connected to the rotating platform 110 and can rotate in a first direction relative to the rotating platform 110; the first end of the second mechanical arm 130 is transmission-connected to the first mechanical arm 12 ... 0 is transmission connected to the second end thereof and can rotate in a second direction relative to the first robotic arm 120; a plurality of insulating telescopic rods 140 are sleeved one by one and extend or shorten when the power medium moves; a manipulator 150 is arranged on the insulating telescopic rod 140 at the end thereof among the plurality of insulating telescopic rods 140 to clamp the ground wire; a power medium is circulated in the pressure pipeline 160 to drive the insulating telescopic rod 140 to extend or shorten; a third controller 170 is signal-connected to the first robotic arm 120, the second robotic arm 130, the manipulator 150 and the pressure pipeline 160.

[0057] It should be noted that the above-mentioned first direction can be understood as the direction of rotation around the axis of the rotation shaft, including clockwise rotation direction and counterclockwise rotation direction; the above-mentioned second direction can be understood as the direction of rotation around the axis of the first robotic arm 120, including clockwise rotation direction and counterclockwise rotation direction.

[0058] In the above example of the present application, the relative angle of the multiple insulating telescopic rods 140 relative to the rotating table 110 is adjusted by the first robotic arm 120, and the rotation angle of the multiple insulating telescopic rods 140 relative to the first robotic arm 120 is adjusted by the second robotic arm 130, thereby achieving direction adjustment of the multiple insulating telescopic rods 140.

[0059] The plurality of insulating telescopic rods 140 are extended or shortened under the action of the pressure pipeline 160 .

[0060] In the figure, the number of insulating telescopic rods 140 is three, and of course the number of insulating telescopic rods 140 can also be two, four, or five. The example of this application is introduced by taking the number of insulating telescopic rods 140 as three as an example, and the three insulating telescopic rods 140 include a first insulating telescopic rod 141, a second insulating telescopic rod 142, and a third insulating telescopic rod 143. Each insulating telescopic rod 140 includes a rod cavity and a rodless cavity, wherein after the rodless cavity is filled with a power medium, the insulating telescopic rod 140 is extended, and after the rodless cavity is filled with a power medium, the insulating telescopic rod 140 is shortened. Of course, in some examples, the insulating telescopic rod 140 can also include only one cavity, and the cavity is filled with a power medium, and the insulating telescopic rod 140 is extended.

[0061] It should be noted that the insulating telescopic rod 140 is made of insulating material, including but not limited to glass fiber.

[0062] The function of the pressure pipeline 160 is to provide a power medium for the insulating telescopic rod 140 to extend or shorten. The pressure pipeline 160 includes a power source 161, a main pipeline 162, a plurality of branch pipelines 163, and a control valve 164, wherein the main pipeline 162 is connected to the power source 161, and the branch pipeline 163 is connected to the corresponding cavity of the insulating telescopic rod 140; the control valve 164 connects the main pipeline 162 with the plurality of branch pipelines 163, so as to be controlled by the third controller 170 to control the flow direction and on-off of the internal power medium of the branch pipeline 163. The flow direction includes a first circulation direction in which the power medium fills the direction of the rodless cavity of the insulating telescopic rod 140, and a second circulation direction in which the power medium fills the direction of the rod cavity of the insulating telescopic rod 140.

[0063] Taking three insulating telescopic rods 140 as an example, the number of branch pipelines 163 is three, namely the first branch pipeline 163, the second branch pipeline 163 and the third branch pipeline 163, wherein the first branch pipeline 163 is connected to the first insulating telescopic rod 141, the second branch pipeline 163 is connected to the second insulating telescopic rod 142, and the third branch pipeline 163 is connected to the third insulating telescopic rod 143. The third controller 170 can also control one branch pipeline 163 to be turned on, two branch pipelines 163 to be turned on, three branch pipelines 163 to be turned on, none of them to be turned on, etc. as needed. When the third controller 170 controls one branch pipeline 163 to be turned on, only the first insulating telescopic rod 141 is extended or shortened; when two branch pipelines 163 are turned on, the first insulating telescopic rod 141 and the second insulating telescopic rod 142 are extended or shortened; when three branch pipelines 163 are turned on, the first insulating telescopic rod 141, the second insulating telescopic rod 142 and the third insulating telescopic rod 143 are extended or shortened; when none of them are turned on, the three insulating telescopic rods 140 do not move.

[0064] The control valve 164 includes a plurality of solenoid valves, each of which is connected to the third controller 170 by signal. The solenoid valve can adjust the conductance of the corresponding branch pipeline 163 to switch the flow direction and on-off of the power medium.

[0065] It should be noted that the power medium may be gas or liquid, and the power source 161 may be an air pump or a hydraulic motor.

[0066] To facilitate the control of the first controller 300 , the third controller 170 may also integrate the working modes of the insulating telescopic rod assembly 100 , which include a first direction rotation mode, a second direction rotation mode, an extension mode and a shortening mode.

[0067] In the first direction rotation mode, the first robot arm 120 operates.

[0068] In the second direction rotation mode, the second robot arm 130 operates.

[0069] In the extension mode, the pressure line 160 operates and the power medium flows in the first circulation direction.

[0070] In the shortened mode, the pressure line 160 operates and the power medium flows in the second circulation direction.

[0071] For example: after the third controller 170 receives the first control instruction from the first controller 300, the insulating telescopic rod assembly 100 executes the first direction rotation mode; after the third controller 170 receives the second control instruction from the first controller 300, the insulating telescopic rod assembly 100 executes the second direction rotation mode; after the third controller 170 receives the third control instruction from the first controller 300, the insulating telescopic rod assembly 100 executes the extension mode; after the third controller 170 receives the fourth control instruction from the first controller 300, the insulating telescopic rod assembly 100 executes the shortening mode.

[0072] The third controller 170 and the first controller 300 perform signal interaction via wired or wireless communication, preferably wireless communication, such as Wi-Fi, Bluetooth, Zigbee, NFC (near field communication), RFID (radio frequency identification), etc.

[0073] See also Figure 4When wireless signal interaction is used, the first controller 300 and the third controller 170 both include a transmitter and a receiver for signal interaction. The first controller 300 may also include a human-machine interaction interface 310 to facilitate the staff to input instructions. For example, it includes a first button 311, a second button 312, a third button 313, and a fourth button 314. By pressing the first button 311, the first controller 300 generates a first control instruction, wherein the first button 311 includes a left button and a right button. By pressing the left button on the left side, the insulated telescopic rod assembly 100 rotates counterclockwise in the first direction, and by pressing the right button on the right side, the insulated telescopic rod assembly 100 rotates counterclockwise in the first direction; by pressing the second button 312, the first controller 300 generates a second control instruction, and the second button 312 includes an up and down button. By pressing the up button on the top side, the insulated telescopic rod assembly 100 rotates counterclockwise in the second direction, and by pressing the down button on the bottom side, the insulated telescopic rod assembly 100 rotates counterclockwise in the second direction; similarly, by pressing the third button 313, the first controller 300 generates a third control instruction, and the insulated telescopic rod assembly 100 extends; by pressing the fourth button 314, the first controller 300 generates a fourth control instruction, and the insulated telescopic rod assembly 100 shortens.

[0074] See also Figure 5 The insulating telescopic rod assembly 100 uses a Bluetooth module to receive instructions sent by the first controller 300. The instructions can control the power source 161 and the control valve 164, thereby controlling the extension and shortening of the insulating telescopic rod 140.

[0075] The above human interaction is achieved by pressing buttons. The human-computer interaction of the first controller 300 of the present application can also be achieved through a touch screen, which will not be described in detail here.

[0076] The above mainly introduces the insulating telescopic rod assembly 100, and the following mainly introduces the structure of the mechanical vehicle 200, see Figure 6 The mechanical vehicle 200 includes a vehicle body 210, a powertrain 220, a wheel train 230 and a fourth controller 240, wherein the powertrain 220, the wheel train 230 and the fourth controller 240 are arranged on the vehicle body 210, and the fourth controller 240 controls the operation of the powertrain 220 and drives the vehicle body 210 to move.

[0077] The powertrain 220 may include a motor and a transmission mechanism; the wheel train 230 may be a wheel or a track. The vehicle body 210 is made of insulating materials, including but not limited to glass fiber.

[0078] The working modes of the mechanical vehicle 200 include a moving mode and a hanging mode. In the moving mode, the mechanical vehicle 200 moves according to a predetermined track; in the hanging mode, the mechanical vehicle 200 is locked. The moving mode includes moving forward, moving backward, rotating left, and rotating right.

[0079] For example: after the fourth controller 240 receives the fifth control instruction from the second controller 400, the mechanical vehicle 200 moves forward; after the fourth controller 240 receives the sixth control instruction from the second controller 400, the mechanical vehicle 200 moves backward; after the fourth controller 240 receives the seventh control instruction from the second controller 400, the mechanical vehicle 200 rotates to the left; after the fourth controller 240 receives the eighth control instruction from the second controller 400, the mechanical vehicle 200 rotates to the right. After the fourth controller 240 receives the ninth control instruction from the second controller 400, the mechanical vehicle 200 stops.

[0080] The fourth controller 240 and the second controller 400 perform signal interaction via wired or wireless communication, preferably wireless communication, such as Wi-Fi, Bluetooth, Zigbee, NFC (near field communication), RFID (radio frequency identification), etc.

[0081] See also Figure 7 , when wireless signal interaction is adopted, the second controller 400 and the fourth controller 240 both include a transmitter and a receiver for signal interaction. Among them, the second controller 400 may also include a human-computer interaction interface 410 to facilitate the staff to input instructions. For example, it includes a fifth button 411, a sixth button 412, a seventh button 413 and an eighth button 414. Pressing the fifth button 411, the second controller 400 generates the fifth control instruction, and the mechanical vehicle 200 moves forward; pressing the sixth button 412, the second controller 400 generates the sixth control instruction, and the mechanical vehicle 200 moves backward; similarly, pressing the seventh button 413, the second controller 400 generates the seventh control instruction, and the mechanical vehicle 200 rotates to the left; pressing the eighth button 414, the second controller 400 generates the eighth control instruction, and the mechanical vehicle 200 rotates to the right. Pressing the ninth button, the second controller 400 generates the eighth control instruction, and the mechanical vehicle 200 stops moving to the right.

[0082] In order to improve the grip stability of the mechanical vehicle 200 , the mechanical vehicle 200 is a tracked mechanical vehicle 200 .

[0083] See also Figure 8 The mechanical vehicle 200 uses a Bluetooth module to receive control instructions from the second controller 400. After receiving the Bluetooth module instructions from the second controller 400, the powertrain 220 can remotely control the mechanical vehicle 200 to move forward, backward, left and right.

[0084] In the above, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0085] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used, and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. The scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above-mentioned technical features, but also should cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. A substation automatic ground wire hanging device, characterized in that: It includes an insulating telescopic rod assembly, a mechanical vehicle, a first controller and a second controller, wherein: The insulating telescopic rod assembly is arranged on the mechanical vehicle and can be extended or shortened along a preset direction; The mechanical vehicle can drive the insulating telescopic rod assembly to move; The first controller is connected to the insulating telescopic rod assembly by signal to control the working mode of the insulating telescopic assembly to achieve the hanging of the ground wire; The second controller is connected to the mechanical vehicle signal to control the working mode of the mechanical vehicle.

2. The automatic ground wire hanging device for a substation according to claim 1, characterized in that: The insulating telescopic rod assembly comprises a rotating platform, a first mechanical arm, a second mechanical arm, a plurality of insulating telescopic rods, a mechanical hand, a pressure pipeline and a third controller, wherein the rotating platform is arranged on the mechanical vehicle; The first end of the first mechanical arm is transmission-connected to the rotating platform and can rotate in a first direction relative to the rotating platform; The first end of the second mechanical arm is transmission-connected to the second end of the first mechanical arm and can rotate in a second direction relative to the first mechanical arm; A plurality of insulating telescopic rods are sleeved one by one, and extend or shorten when the power medium moves; The manipulator is disposed on the insulating telescopic rod at the end of the plurality of insulating telescopic rods to clamp the ground wire; The pressure pipeline is used to circulate the power medium to drive the insulating telescopic rod to extend or shorten; The third controller is signal-connected to the first robotic arm, the second robotic arm, the robotic hand, and the pressure pipeline.

3. The automatic ground wire hanging device for a substation according to claim 2, characterized in that: The pressure pipeline includes a power source, a main pipeline, multiple branch pipelines and a control valve, wherein the main pipeline is connected to the power source, and the branch pipeline is connected to the cavity of the corresponding insulating telescopic rod; the control valve connects the main pipeline with the multiple branch pipelines to be controlled by the third controller to control the flow direction and on-off of the internal power medium of the branch pipeline.

4. The automatic ground wire hanging device for a substation according to claim 3, characterized in that: The flow direction includes a first circulation direction in which the power medium is filled toward the rodless cavity of the insulating telescopic rod, and a second circulation direction in which the power medium is filled toward the rod-containing cavity of the insulating telescopic rod.

5. The automatic ground wire hanging device for a substation according to claim 4, characterized in that: The control valve includes a plurality of solenoid valves, each of which is signal-connected to the third controller.

6. The automatic ground wire hanging device for a substation according to claim 5, characterized in that: The working modes of the insulating telescopic rod assembly include a first direction rotation mode, a second direction rotation mode, an extension mode and a shortening mode; In the first direction rotation mode, the first mechanical arm operates; In the second direction rotation mode, the second mechanical arm operates; In the extension mode, the pressure pipeline operates and the power medium flows in the first circulation direction; In the shortening mode, the pressure pipeline operates and the power medium flows in the second circulation direction; The third controller exchanges signals with the first controller via wired or wireless communication.

7. The automatic ground wire hanging device for a substation according to claim 1, characterized in that: The mechanical vehicle comprises a vehicle body, a powertrain, a wheel train and a fourth controller, wherein the powertrain, the wheel train and the fourth controller are arranged on the vehicle body, and the fourth controller controls the operation of the powertrain and drives the vehicle body to move.

8. The automatic ground wire hanging device for a substation according to claim 7, characterized in that: The fourth controller exchanges signals with the second controller via wired or wireless communication.

9. The automatic ground wire hanging device for a substation according to claim 8, characterized in that: The working modes of the mechanical vehicle include a moving mode and a hanging mode. In the moving mode, the mechanical vehicle moves along a predetermined trajectory; In the holding mode, the mechanical vehicle is locked.

10. The automatic ground wire hanging device for a substation according to any one of claims 1 to 9, characterized in that: The mechanical vehicle is a tracked mechanical vehicle.

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