1000kV extra-high voltage unmanned aerial vehicle hanging and dismounting grounding device and method

Abstract

The invention discloses a 1000kV extra-high voltage unmanned aerial vehicle hanging and dismounting grounding device and method, and the device comprises two side frames, a straight notch cross beam is welded between the outer walls of the opposite sides of the two side frames, and the top ends of the two side frames are provided with an unmanned aerial vehicle hanging ring which is used for being connected with the bottom end of an unmanned aerial vehicle. Elastic self-embedded type clamps are installed on the outer walls of the opposite sides of the two side frames, and an opening part for a tower cross arm angle steel to penetrate through is arranged between the two elastic self-embedded type clamps. The grounding wire can be stably and accurately connected to the angle steel of the tower cross arm of the 1000 kV extra-high voltage tower, the elastic self-embedded clamp can be tightly connected with the angle steel of the tower cross arm in a lap joint mode, connection between the grounding wire and the angle steel is firmer, the wire winding hanging and dismounting structure is formed by winding the grounding wire on the angle steel in an O-shaped mode, and therefore the grounding wire can be stably and accurately connected to the angle steel of the tower cross arm of the 1000 kV extra-high voltage tower. And the contact area between the grounding wire and the angle steel can be increased, so that the grounding wire forms closer contact on the angle steel.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid operation, maintenance and repair, and in particular to a 1000kV ultra-high voltage unmanned aerial vehicle hanging and removing grounding device and method. Background Art

[0002] The UHV UAV grounding device is an innovative power maintenance tool designed to improve the safety and efficiency of high-voltage power line maintenance. Its main function is to replace traditional manual grounding operations through UAV technology, significantly reducing the safety risks faced by operators when working at high altitudes. Traditional grounding operations require operators to be near high-voltage lines, which poses the risk of electric shock and falling from heights. The use of drones can complete the installation and removal of grounding wires in an unmanned state, ensuring the safety of operators. The device is mainly composed of a drone platform, a grounding wire hook, a control system, sensors, and cameras. The drone platform usually adopts a multi-rotor design with good hovering ability and stability, and can fly safely in a high-voltage environment. The grounding wire hook is specially designed to firmly hang the grounding wire and release it when needed. The control system enables operators to control the drone in real time through the ground control station to ensure the smooth progress of the grounding operation;

[0003] For example, an auxiliary grounding wire removal and hanging device for unmanned aerial vehicles disclosed in the authorization announcement number CN220156090U includes: a wire clamp, the wire clamp includes multiple arc-shaped clamping flaps, two adjacent arc-shaped clamping flaps are hinged, and the two arc-shaped clamping flaps located at the open ends are respectively provided with an electromagnet and a permanent magnet. When the electromagnet is energized, the wire clamp is in a released state; when the electromagnet is de-energized, the wire clamp is in a locked state; a grounding wire, the grounding wire has a connecting wire and an electromagnet wire built in, one end of the connecting wire is connected to the inner layer of the arc-shaped clamping flap, and the other end thereof is grounded; the electromagnet wire is electrically connected to the electromagnet, and the electromagnet wire is also electrically connected to a control switch, and the control switch is electrically connected to a power supply to control the electromagnet to be energized and de-energized; a guide rope, one end of the guide rope is fixed on the permanent magnet, and the other end thereof is connected to a load-bearing member, and the load-bearing member can be fixed on the unmanned aerial vehicle, which can realize the removal and hanging operation of the grounding wire and effectively shorten the operation time;

[0004] The existing methods of grounding wire operations using drones are basically the same. The grounding wire clamp is fixed on the low-voltage side, and then the drone is equipped with the high-voltage side grounding wire clamp and flies to the vicinity of the conductor to clamp it. Next, the grounding wire is lifted to the end of the conductor using an insulating rope to ensure that the operator is away from the power supply to avoid the risk of electric shock. Finally, the grounding wire is connected to the crossarm of the pole tower to complete the grounding. However, when the grounding wire is connected to the crossarm of the pole tower, the grounding wire is placed on the grounding end of the crossarm of the pole tower in an inverted U shape. At this time, due to the gravity of the grounding wire and the influence of high-altitude wind, the grounding wire will slide or deviate, resulting in unstable grounding, resulting in grounding failure or potential threats to electrical equipment. In addition, due to the inverted U-shaped connection method, the contact surface between the grounding wire and the crossarm angle steel is relatively small. Once the contact area between the grounding wire and the crossarm of the pole tower is insufficient, the current cannot be effectively introduced into the ground, further affecting the safety of personnel operations. Summary of the invention

[0005] The object of the present invention is to provide a 1000kV ultra-high voltage unmanned aerial vehicle hanging and detaching grounding device and method, fix the grounding wire to the winding hanging and detaching structure, and drive the side frame straight slot crossbeam, elastic self-embedded clamp, multi-guide rod outward-expanding elastic clamp, winding hanging and detaching structure, grounding wire and other components to the angle steel position of the tower crossarm by the unmanned aerial vehicle through the unmanned aerial vehicle lifting ring, and make the elastic self-embedded clamp overlap with the tower crossarm angle steel, and the multi-guide rod outward-expanding elastic clamp is supported on the angle steel. At this time, the grounding device remains stable, and the winding hanging and detaching structure allows the insulating wire to be wound on the angle steel in an O-shaped manner to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a 1000kV UHV UAV hanging and removing grounding device, comprising:

[0007] Side frames, two of which are provided, a straight notch crossbeam is welded between the outer walls on opposite sides of the two side frames, a drone lifting ring for connecting to the bottom of the drone is installed on the top of the two side frames, elastic self-embedded clamps are installed on the outer walls on opposite sides of the two side frames, and an opening for the tower cross arm angle steel to pass through is provided between the two elastic self-embedded clamps;

[0008] An inverted U-shaped hanger is fixed at the bottom end of a straight slot crossbeam, a multi-guide rod outward-expanding elastic clamp for connecting to a pole tower crossarm angle steel is installed inside the inverted U-shaped hanger, a connecting seat is fixed to one end of the surface of the straight slot crossbeam, and a C-shaped outer ring frame is fixed to the outer wall of the connecting seat on a side away from the straight slot crossbeam, a winding and hanging structure for driving a grounding wire to be wound around the pole tower crossarm angle steel in an O-shape is arranged inside the C-shaped outer ring frame, and a dual-wheel drive module for driving two winding and hanging structures in the same Y-axis direction to work synchronously is installed at the top of the inverted U-shaped hanger.

[0009] Preferably, the elastic self-embedded clamp comprises a double-layer oblique pull arm fixed on the outer walls of the opposite sides of the two side frames, a clamp arm hingedly installed at the bottom end of the double-layer oblique pull arm, a U-shaped frame hingedly installed at the top end of the double-layer oblique pull arm, and a lower slide rod slidably installed inside the clamp arm, the U-shaped frame is internally slidably installed with a downwardly extending column, the bottom end of the column is fixed with a fisheye joint for fitting with the lower slide rod, the outer peripheral surface of the column below the U-shaped frame is provided with an elastic member, and the bottom end of the clamp arm is provided with a chamfered portion.

[0010] Preferably, the elastic member is a baffle plate 2 fixed to one end of the column surface and a first spring fixed to the top end of the baffle plate 2, and the top end of the first spring is fixedly connected to the top wall of the U-shaped frame.

[0011] Preferably, a blocking piece 1 is fixed to the top of the column, and arc-shaped sliding grooves for the sliding of the lower slide rod are arranged on the front and rear outer walls of the clamping arm.

[0012] Preferably, the multi-guide rod outward-expanding elastic clamp includes a guide rod fixed inside an inverted U-shaped hanger, a double-wing slide slidably mounted on both ends of the guide rod surface, and a clamping block fixed at the bottom end of the double-wing slide, and sloped portions are provided on the adjacent outer walls of the two clamping blocks, and coil springs are fixed at both ends of the guide rod surface, one end of the coil spring is fixedly connected to an inner wall of one side of the inverted U-shaped hanger, and the other end of the coil spring is fixedly connected to an outer wall of one side of the double-wing slide, and the vertical center reference plane between the two clamping blocks coincides with the vertical center reference plane between the two clamping arms.

[0013] Preferably, T-seats are fixed on the front and rear outer walls of the inverted U-shaped hanger, and cross columns are fixed on the outer walls on both sides of the T-seat. A stop plate is slidably installed on one end of the surface of the cross column, and the bottom end of the stop plate is fixedly connected to the top of the double-wing slide. A second spring is fixed on the outer wall of the stop plate on one side close to the T-seat, and the end of the second spring away from the stop plate is fixedly connected to the outer wall of one side of the T-seat.

[0014] Preferably, the winding hanging and disassembly structure includes an inner notch ring slidably mounted on the inner wall of a C-shaped outer ring frame, a T-axis fixed on the inner wall of one side of the inner notch ring, and an outer ring track integrally formed at the upper edge of the front and rear outer walls of the inner notch ring, the two clamping blocks are located on the inner side of the inner notch ring, and the dual-wheel drive module drives the inner notch ring to rotate via the outer ring track.

[0015] Preferably, the wire winding and hanging structure further comprises a cable guide frame fixed to the bottom end of the C-shaped outer ring frame and a wire groove arranged on the inner wall of the inner notch ring, and the surface of the inner notch ring is provided with an arc hollow portion.

[0016] Preferably, the dual-wheel drive module includes a reserved hole arranged on one side of the top end of the inverted U-shaped hanger, a dual-axis reduction motor installed inside the reserved hole, and a driven shaft installed at the output end of the dual-axis reduction motor, and a rubber wheel is fixed to one end of the driven shaft away from the dual-axis reduction motor, and the rubber wheel and the outer wall of the outer ring road abut against each other.

[0017] The present invention also provides a 1000kV UHV UAV hanging and removing grounding method, such as the 1000kV UHV UAV hanging and removing grounding device described above, comprising the following steps:

[0018] S101: Install a grounding wire clamp on the low-voltage side of the UHV power tower, so that one end of the grounding wire is fixed to the grounding wire clamp, and the other end of the grounding wire is firmly fixed on the winding hanging and disassembly structure as the starting end. After both ends of the grounding wire are fixed, start the drone;

[0019] S102: Control the drone to take off through the remote control system, slowly lift it into the air, and lift the elastic self-embedded fixture, inverted U-shaped hanger, multi-guide rod outward-expanded elastic fixture, winding hanging and disassembly structure, dual-wheel drive module, grounding wire and other components to the cross-arm angle steel at the top of the tower. The height of the elastic self-embedded fixture needs to be higher than the cross-arm angle steel of the tower;

[0020] S103: operate the drone to descend until the pole tower cross arm angle steel passes through between the two elastic self-embedded fixtures. Due to the effect of gravity, the elastic self-embedded fixture will be automatically pushed open by the pole tower cross arm angle steel. The drone continues to descend until the multi-guide rod outward expansion type elastic clamp is connected to the top of the pole tower cross arm angle steel, and the multi-guide rod outward expansion type elastic clamp can be tightly combined with the angle steel;

[0021] S104: After the multi-guide rod outward-expanding elastic clamp forms a preliminary connection with the angle steel, the staff performs the O-shaped winding operation of the grounding wire, and remotely controls the two-wheel drive module through the remote control system to work. The two-wheel drive module drives the two winding and hanging structures to work synchronously by providing sufficient power. The winding and hanging structure actively pulls one end of the grounding wire to move in an O-shaped path and evenly winds it on the angle steel to form an O-shaped winding connection. The winding condition of the grounding wire is continuously checked by the camera of the drone. When everything is confirmed to be correct, the staff releases the drone lifting ring through the remote control drone, and the grounding operation is completed.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: the 1000kV UHV UAV hanging and dismantling grounding device and method can stably and accurately connect the grounding wire to the angle steel of the pole tower cross arm of the 1000kV UHV tower through the coordinated work of the lifting ring, the side frame, the straight slot crossbeam, the elastic self-embedded clamp, the inverted U-shaped hanger, the multi-guide rod outward expansion type elastic clamp, the winding hanging and dismantling structure and other equipment, wherein the elastic self-embedded clamp can be closely overlapped with the angle steel of the pole tower cross arm, so that the connection between the grounding wire and the angle steel is more firm, reducing the external environment The impact The interference of the grounding wire, and the multi-guide rod outward expansion elastic clamp supported on the angle steel can greatly improve the fixing firmness of the grounding wire and avoid the risk of the grounding wire falling off or loosening during operation. The winding and hanging structure can increase the contact area between the grounding wire and the angle steel by winding the grounding wire on the angle steel in an O-shaped manner, so that the grounding wire forms a closer contact on the angle steel, reducing the grounding resistance, and improving the conductivity of the grounding wire. When a fault occurs in the 1000kV ultra-high voltage tower, it is ensured that the grounding wire effectively introduces current into the ground to protect the safety of equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 4 The three-dimensional structure of the present invention is shown in FIG. Figure 3 ;

[0027] Figure 5 The three-dimensional structure of the present invention is shown in FIG. Figure 4 ;

[0028] Figure 6 The three-dimensional structure of the present invention is shown in FIG. Figure 5 ;

[0029] Figure 7 The three-dimensional structure of the elastic self-embedded clamp of the second embodiment of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 8 The three-dimensional structure of the elastic self-embedded clamp of the second embodiment of the present invention is shown in FIG. Figure 2 ;

[0031] Fig. 9 This is a schematic diagram of the three-dimensional structure of an inverted U-shaped hanger according to the third embodiment of the present invention;

[0032] Fig.10 This is a schematic diagram of the three-dimensional structure of a multi-guide rod outward-expanding elastic clamp according to the third embodiment of the present invention;

[0033] Fig.11 This is a schematic diagram of the three-dimensional structure of a dual-wheel drive module according to a fourth embodiment of the present invention;

[0034] Fig.12 It is a schematic diagram of the three-dimensional structure of the winding hanging and disassembling structure of the fourth embodiment of the present invention.

[0035] Figure: 1, side frame; 2, straight slot crossbeam; 3, elastic self-embedded fixture; 301, double-layer inclined arm; 302, clamp arm; 303, beveled part; 304, lower slide bar; 305, U-shaped frame; 306, column; 3061, baffle plate 1; 307, fisheye joint; 308, baffle plate 2; 309, first spring; 4, drone lifting ring; 5, inverted U-shaped hanger; 501, reserved hole; 502, T-shaped seat; 503, cross column; 504, second spring; 6, multi-guide rod outer Expanded elastic clamp; 601, guide rod; 602, double-wing slide; 603, clamping block; 604, slope portion; 605, back plate; 606, coil spring; 7, connecting seat; 8, C-mouth outer ring frame; 9, cable guide frame; 10, winding and hanging structure; 1001, inner notch ring; 1002, T-axis; 1003, outer ring road; 1004, wire groove; 11, dual-wheel drive module; 1101, dual-axis reduction motor; 1102, driven shaft; 1103, rubber wheel. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1, by Figures 1 to 6 The present invention comprises a side frame 1, two side frames 1 are provided, a straight notch crossbeam 2 is welded between the outer walls of the two side frames 1 on opposite sides, a drone lifting ring 4 for connecting with the bottom of the drone is installed on the top of the two side frames 1, an elastic self-embedded clamp 3 is installed on the outer walls of the two side frames 1 on opposite sides, and an opening for the tower cross arm angle steel to pass through is provided between the two elastic self-embedded clamps 3;

[0038] An inverted U-shaped hanger 5 is fixed on the bottom end of the straight slot beam 2, a multi-guide rod outward expansion elastic clamp 6 for connecting to the tower cross arm angle steel is installed inside the inverted U-shaped hanger 5, a connecting seat 7 is fixed to one end of the surface of the straight slot beam 2, and a C-shaped outer ring frame 8 is fixed on the outer wall of the connecting seat 7 on the side away from the straight slot beam 2, a winding and hanging structure 10 for driving the grounding wire to be wound around the tower cross arm angle steel in an O shape is arranged inside the C-shaped outer ring frame 8, and a dual-wheel drive module 11 for driving the two winding and hanging structures 10 in the same Y-axis direction to work synchronously is installed at the top of the inverted U-shaped hanger 5.

[0039] A 1000kV UHV UAV mounting and removal grounding method of this embodiment, such as the above-mentioned 1000kV UHV UAV mounting and removal grounding device, comprises the following steps:

[0040] S101: Install a grounding wire clamp on the low-voltage side of the UHV power tower, so that one end of the grounding wire is fixed to the grounding wire clamp, and the other end of the grounding wire is firmly fixed on the winding hanging and disassembly structure 10 as the starting end. After both ends of the grounding wire are fixed, start the drone;

[0041] S102: Control the drone to take off through the remote control system, slowly lift it into the air, and lift the elastic self-embedded fixture 3, the inverted U-shaped hanger 5, the multi-guide rod outward-expanding elastic fixture 6, the winding hanging and disassembly structure 10, the dual-wheel drive module 11, the grounding wire and other components to the cross arm angle steel at the top of the tower. The height of the elastic self-embedded fixture 3 needs to be higher than the cross arm angle steel of the tower;

[0042] S103: operate the drone to descend until the pole tower cross arm angle steel passes through between the two elastic self-embedded fixtures 3. Due to gravity, the elastic self-embedded fixture 3 will be pushed open by the pole tower cross arm angle steel. The drone continues to descend until the multi-guide rod outward expansion type elastic clamp 6 is connected to the top of the pole tower cross arm angle steel. The multi-guide rod outward expansion type elastic clamp 6 can be tightly combined with the angle steel.

[0043] S104: After the multi-guide rod outward-expanding elastic clamp 6 forms a preliminary connection with the angle steel, the staff performs the O-shaped winding operation of the grounding wire, and remotely controls the two-wheel drive module 11 through the remote control system to work. The two-wheel drive module 11 provides sufficient power to drive the two winding and hanging structures 10 to work synchronously. The winding and hanging structures 10 actively pull one end of the grounding wire to move in an O-shaped path and evenly wind it on the angle steel to form an O-shaped winding connection. The winding condition of the grounding wire is continuously checked through the camera of the drone. When everything is confirmed to be correct, the staff releases the drone lifting ring 4 through the remote control of the drone, and the grounding operation is completed.

[0044] Embodiment 2, based on embodiment 1, Figure 7 and Figure 8It is given that the elastic self-embedded clamp 3 includes a double-layer oblique arm 301 fixed on the outer wall of the opposite sides of the two side frames 1, a clamp arm 302 hingedly installed at the bottom end of the double-layer oblique arm 301, a U-shaped frame 305 hingedly installed at the top end of the double-layer oblique arm 301, and a lower slide rod 304 slidably installed inside the clamp arm 302, a downwardly extending column 306 is slidably installed inside the U-shaped frame 305, a fisheye joint 307 for fitting with the lower slide rod 304 is fixed at the bottom end of the column 306, an elastic member is arranged on the outer peripheral surface of the column 306 below the U-shaped frame 305, and a chamfered portion 303 is arranged at the bottom end of the clamp arm 302;

[0045] The elastic member is a second baffle 308 fixed to one end of the surface of the column 306 and a first spring 309 fixed at the top of the second baffle 308. The top of the first spring 309 is fixedly connected to the top wall of the U-shaped frame 305. A baffle 3061 is fixed to the top of the column 306. The front and rear outer walls of the clamp arm 302 are provided with an arc-shaped slide groove for the lower slide bar 304 to slide. Whether the angle steel enters or exits the elastic self-embedded clamp 3, the U-shaped frame 305 can deflect to a certain extent at the end of the double-layer inclined arm 301 to ensure that the clamp arm 302, the column 306 and other components perform corresponding movements to avoid work jamming;

[0046] The staff uses the drone lifting ring 4 to raise the side frame 1, the straight slot crossbeam 2, the elastic self-embedded fixture 3, the multi-guide rod outward expansion elastic fixture 6, the winding hanging and disassembly structure 10 and other components to the top of the angle steel with connection, until the angle steel is located at the chamfered portion 303 at the opposite ends of the two clamping arms 302. The staff drives the drone lifting ring 4, the side frame 1, and the straight slot crossbeam 2 to descend. Due to the effect of gravity and the resistance of the angle steel, the angle steel will force the clamping arm 302 to deflect upward until the two clamping arms 302 are between each other. The opening between the two arms 302 is large enough for the angle steel to pass through. During this process, the arm 302 will drive the lower slide bar 304, the fisheye joint 307, and the column 306 to move upward, and the lower slide bar 304 will slide the arc-shaped slide groove of the arm 302 to a certain extent, and the first spring 309 between the U-shaped frame 305 and the second baffle 308 will be in a compressed state. When the angle steel passes through between the two arms 302, the first spring 309 will force the arm 302 to reset, thereby preliminarily fixing and reinforcing the connection between the grounding wire and the angle steel of the tower;

[0047] When the staff needs to separate the device from the angle steel, the drone pulls the drone lifting ring 4, the side frame 1, the elastic self-embedded clamp 3 and other components upward. Since the angle steel is located on the inner side of the two clamp arms 302, the angle steel will force the clamp arm 302 to swing downward during the upward movement of the clamp arm 302, and the clamp arm 302 drives the fisheye joint 307, the lower slide bar 304, the column 306, the baffle 1 3061 and other components to move downward. At this time, the first spring 309 is stretched by the baffle 2 308 until the angle steel passes between the two clamp arms 302, thereby releasing the connection between the elastic self-embedded clamp 3 and the angle steel; the baffle 1 3061 prevents the column 306 from completely sliding out of the U-frame 305.

[0048] Embodiment 3, based on embodiment 2, Fig. 9 and Fig.10 It is given that the multi-guide rod outward-expanding elastic clamp 6 includes a guide rod 601 fixed inside the inverted U-shaped hanger 5, a double-wing slide 602 slidably installed on the surface of the guide rod 601 at both ends, and a clamping block 603 fixed at the bottom end of the double-wing slide 602. The two clamping blocks 603 are provided with slope parts 604 on the adjacent outer walls. Coil springs 606 are fixed at both ends of the surface of the guide rod 601. One end of the coil spring 606 is fixedly connected to the inner wall of one side of the inverted U-shaped hanger 5, and the other end of the coil spring 606 is fixedly connected to the outer wall of one side of the double-wing slide 602. The vertical center reference plane between the two clamping blocks 603 coincides with the vertical center reference plane between the two clamping arms 302. The staff drives the elastic self-embedded clamp 3 and the multi-guide rod outward-expanding elastic clamp 6 to descend by using a drone, and waits for the angle steel to pass through between the two elastic self-embedded clamps 3. After that, the connection operation of the multi-guide rod outward expansion type elastic clamp 6 and the angle steel will be carried out, that is, after the angle steel passes through between the two elastic self-embedded clamps 3, the angle steel is located between the two clamping blocks 603. At this time, due to the slope portion 604 on the outer wall of the clamping block 603, the angle steel can smoothly enter between the two clamping blocks 603 and force the two clamping blocks 603 and the two double-wing slides 602 to move away from each other. At this time, the spiral spring 606 will be compressed by the double-wing slide 602 and the inverted U-shaped hanger 5, and the elastic force of the spiral spring 606 is used to prompt the clamping block 603 to actively clamp the angle steel, which can provide a stronger clamping force to ensure that the connection and contact between the grounding wire and the pole tower are more firm, and avoid looseness caused by external forces. At this time, the multi-guide rod outward expansion type elastic clamp 6 can maintain the contact area between the grounding wire and the pole tower, thereby effectively reducing the contact resistance and improving the grounding effect;

[0049] A T-shaped seat 502 is fixed on the front and rear outer walls of the inverted U-shaped hanger 5, and a horizontal column 503 is fixed on the outer walls of both sides of the T-shaped seat 502. A stop plate 605 is slidably mounted on one end of the surface of the horizontal column 503. The bottom end of the stop plate 605 is fixedly connected to the top of the double-wing slide 602. A second spring 504 is fixed on the outer wall of the stop plate 605 close to the T-shaped seat 502. One end of the second spring 504 away from the stop plate 605 is fixedly connected to the outer wall of one side of the T-shaped seat 502. The horizontal column 503 supports and guides the sliding of the stop plate 605.

[0050] When the two clamping blocks 603 move away from each other, the clamping block 603 will stretch the second spring 504 through the abutment plate 605. At this time, the second spring 504 will be in a stretched state, and the four second springs 504 can be used to increase the force, thereby further improving the clamping force between the clamping block 603 and the angle steel.

[0051] Embodiment 4, based on embodiment 3, Fig.11 and Fig.12 It is given that the winding hanging and disassembling structure 10 includes an inner notch ring 1001 slidably mounted on the inner wall of the C-shaped outer ring frame 8, a T-shaped shaft 1002 fixed on the inner wall of one side of the inner notch ring 1001, and an outer ring road 1003 integrally formed at the upper edge position of the front and rear outer walls of the inner notch ring 1001. The grounding wire to be used is firmly wound on the T-shaped shaft 1002 on the inner wall of the inner notch ring 1001, and two clamping blocks 603 are located on the inner side of the inner notch ring 1001. The dual-wheel drive module 11 drives the inner notch ring 1001 to rotate through the outer ring road 1003;

[0052] The winding hanging and disassembling structure 10 also includes a cable guide frame 9 fixed to the bottom end of the C-shaped outer ring frame 8 and a wire groove 1004 arranged on the inner wall of the inner notch ring 1001. The surface of the inner notch ring 1001 is provided with an arc hollow part. In order to ensure that the grounding wire is stably embedded in the wire groove 1004, the staff can actively wrap the grounding wire around the inner notch ring 1001 with an adhesive tape;

[0053] The angle steel will enter from the notch of the inner notch ring 1001 and the C-shaped outer ring frame 8, and the cable guide frame 9 actively guides the O-shaped winding of the grounding wire, and the wire groove 1004 is used for the embedding and arrangement of the grounding wire;

[0054] The dual-wheel drive module 11 includes a reserved hole 501 arranged on one side of the top of the inverted U-shaped hanger 5, a dual-axis reduction motor 1101 installed in the reserved hole 501, and a driven shaft 1102 installed at the output end of the dual-axis reduction motor 1101. A rubber wheel 1103 is fixed to the end of the driven shaft 1102 away from the dual-axis reduction motor 1101. The rubber wheel 1103 and the outer wall of the outer ring 1003 abut against each other. The rotational power of the dual-axis reduction motor 1101 is transmitted to the driven shaft 1102, and the driven shaft 1102 drives the rubber wheel 1103 to rotate. Since the rubber wheel 1103 and the outer edge of the rubber wheel 1103 abut against each other, the rubber wheel 1103 is used to drive the outer ring 1003 and the inner notch ring 1001 to rotate until the grounding wire forms an O-shaped structure, and the O-shaped structure is used to make the grounding wire contact with the angle steel and achieve the grounding effect;

[0055] The dual-axis reduction motor 1101 in the dual-wheel drive module 11 is connected to the remote control system of the staff through a wireless communication protocol, so that the staff can remotely control the motor to work.

[0056] When the embodiment of the present application is in use, first check the drone lifting ring 4, side frame 1, straight slot crossbeam 2, elastic self-embedded fixture 3, inverted U-shaped hanger 5, multi-guide rod outward expansion elastic clamp 6, winding hanging and disassembly structure 10 and dual-wheel drive module 11 and other components to ensure that all components are in good working condition, especially the load-bearing capacity of the drone lifting ring 4 and the winding hanging and disassembly structure 10, to ensure that they can effectively bear the weight of the grounding wire and its accessories. Then the staff installs the grounding wire clamp on the low-voltage side of the UHV power tower, so that one end of the grounding wire is fixed to the grounding wire clamp, and the other end of the grounding wire is firmly fixed to the winding hanging and disassembly structure 10 as the starting end. After both ends of the grounding wire are fixed, start the drone, control the drone to take off through the remote control system, and slowly The drone slowly lifts off and lifts the elastic self-embedded fixture 3, the inverted U-shaped hanger 5, the multi-guide rod outward-expanding elastic clamp 6, the winding and hanging structure 10, the dual-wheel drive module 11, the grounding wire and other components to the cross-arm angle steel at the top of the tower. During this process, the drone needs to avoid too fast a lift-off speed to avoid excessive shaking of the grounding wire, and at this time the height of the elastic self-embedded fixture 3 needs to be higher than the cross-arm angle steel of the tower. After the grounding wire, the elastic self-embedded fixture 3, the inverted U-shaped hanger 5, and the multi-guide rod outward-expanding elastic clamp 6 are successfully lifted by the drone and sent to the cross-arm angle steel of the tower, the staff needs to install the elastic self-embedded fixture 3, the multi-guide rod outward-expanding elastic clamp 6, the winding and hanging structure, etc., in order to fix and wind the grounding wire. The staff operates the drone to descend until the pole The tower cross arm angle steel passes through between the two elastic self-embedded clamps 3. Due to the effect of gravity, the elastic self-embedded clamps 3 will be pushed open by the pole tower cross arm angle steel by themselves, and the movable ends of the elastic self-embedded clamps 3 will flip inwards to form a multi-faceted full surround of the pole tower cross arm angle steel. The drone continues to descend until the multi-guide rod outward expansion type elastic clamp 6 is connected to the top of the pole tower cross arm angle steel. The multi-guide rod outward expansion type elastic clamp 6 can be tightly combined with the angle steel to ensure that the grounding wire is firm and not easy to fall off or slip, and to prevent the grounding wire from being disturbed by external forces during the entire subsequent winding process. The multi-guide rod outward expansion type elastic clamp 6 can form a stable connection with the angle steel by itself according to the thickness and width of the angle steel, and ensure that the grounding wire is firmly fixed on the angle steel. The multi-guide rod outward expansion type elastic clamp 6 and the angle steel are shaped After the initial connection is made, the staff performs an O-shaped winding operation on the grounding wire to further strengthen the contact between the grounding wire and the angle steel. At this time, the staff remotely controls the two-wheel drive module 11 through the remote control system to work. The two-wheel drive module 11 provides sufficient power to drive the two winding and hanging structures 10 to work synchronously. The winding and hanging structure 10 actively pulls one end of the grounding wire to move in an O-shaped path and evenly winds it on the angle steel to form an O-shaped winding connection. During the winding process, the staff can continuously check the winding of the grounding wire through the camera of the drone to ensure that the winding is uniform and tight to avoid the loose wire affecting the grounding effect. In addition, during the winding process, attention should be paid to the contact area between the angle steel and the grounding wire to ensure that the grounding effect is maximized.After the grounding wire is wound in O-shape, the staff will confirm the connection between the grounding wire and the cross arm angle steel of the tower again to ensure that the grounding wire is completely fixed and in good contact. When everything is confirmed to be correct, the staff will release the drone lifting ring 4 by remote control, marking the completion of the grounding operation; when the grounding wire needs to be removed, the staff will drive the drone close to the drone lifting ring 4 and connect with it, and control the two-wheel drive module 11 to work in reverse, so that the winding hanging and dismantling structure 10 drives the grounding wire to move back along the O-shaped path until the grounding wire is no longer connected to the angle steel, and then the drone will rise, so that the multi-guide rod outward expansion type elastic clamp 6 and the elastic self-embedded clamp 3 can be separated from the angle steel, thereby completing the hanging and dismantling operation of the grounding wire.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A 1000kV UHV UAV grounding device and method, characterized in that: include: Side frames (1), two side frames (1) are provided, a straight slot crossbeam (2) is welded between the outer walls on opposite sides of the two side frames (1), a drone lifting ring (4) for connecting to the bottom of the drone is installed at the top of the two side frames (1), elastic self-embedded clamps (3) are installed on the outer walls on opposite sides of the two side frames (1), and an opening for the tower cross arm angle steel to pass through is provided between the two elastic self-embedded clamps (3); An inverted U-shaped hanger (5) is fixed to the bottom end of a straight slot crossbeam (2), a multi-guide rod outward expansion type elastic clamp (6) for connecting to a pole tower cross arm angle steel is installed inside the inverted U-shaped hanger (5), a connecting seat (7) is fixed to one end of the surface of the straight slot crossbeam (2), and a C-shaped outer ring frame (8) is fixed on the outer wall of the connecting seat (7) away from the straight slot crossbeam (2), a winding hanging and dismantling structure (10) for driving a grounding wire to be wound around the pole tower cross arm angle steel in an O-shape is arranged inside the C-shaped outer ring frame (8), and a double-wheel drive module (11) for driving two winding hanging and dismantling structures (10) in the same Y-axis direction to work synchronously is installed at the top end of the inverted U-shaped hanger (5).

2. A 1000kV UHV UAV grounding device and method according to claim 1, characterized in that: The elastic self-embedded clamp (3) comprises a double-layer oblique arm (301) fixed on the outer walls of the two opposite sides of the side frames (1), a clamp arm (302) hingedly mounted at the bottom end of the double-layer oblique arm (301), a U-shaped frame (305) hingedly mounted at the top end of the double-layer oblique arm (301), and a lower slide bar (304) slidably mounted inside the clamp arm (302); a column (306) extending downwardly is slidably mounted inside the U-shaped frame (305); a fisheye joint (307) for fitting with the lower slide bar (304) is fixed at the bottom end of the column (306); an elastic member is arranged on the outer peripheral surface of the column (306) below the U-shaped frame (305); and a chamfered portion (303) is arranged at the bottom end of the clamp arm (302).

3. A 1000kV UHV UAV grounding device and method according to claim 2, characterized in that: The elastic member comprises a second baffle (308) fixed to one end of the surface of the column (306) and a first spring (309) fixed to the top end of the second baffle (308); the top end of the first spring (309) is fixedly connected to the top wall of the U-shaped frame (305).

4. A 1000kV UHV UAV grounding device and method according to claim 3, characterized in that: A blocking piece 1 (3061) is fixed to the top of the column (306), and arc-shaped sliding grooves for the lower sliding rod (304) to slide are arranged on the front and rear outer walls of the clamping arm (302).

5. A 1000kV UHV UAV grounding device and method according to claim 2, characterized in that: The multi-guide rod outward-expanding elastic clamp (6) comprises a guide rod (601) fixed inside an inverted U-shaped hanger (5), a double-wing slide (602) slidably mounted on both ends of the surface of the guide rod (601), and a clamping block (603) fixed at the bottom end of the double-wing slide (602), and the two clamping blocks (603) are provided with a slope portion (604) on the adjacent outer walls. The two ends of the surface of the guide rod (601) are fixed with a coil spring (606), one end of the coil spring (606) is fixedly connected to the inner wall of one side of the inverted U-shaped hanger (5), and the other end of the coil spring (606) is fixedly connected to the outer wall of one side of the double-wing slide (602), and the vertical center reference plane between the two clamping blocks (603) coincides with the vertical center reference plane between the two clamping arms (302).

6. A 1000kV UHV UAV grounding device and method according to claim 5, characterized in that: A T-shaped seat (502) is fixed on the front and rear outer walls of the inverted U-shaped hanger (5), and a cross column (503) is fixed on the outer walls on both sides of the T-shaped seat (502). A stop plate (605) is slidably mounted on one end of the surface of the cross column (503), and the bottom end of the stop plate (605) is fixedly connected to the top end of the double-wing slide (602). A second spring (504) is fixed on the outer wall of one side of the stop plate (605) close to the T-shaped seat (502), and one end of the second spring (504) away from the stop plate (605) is fixedly connected to the outer wall of one side of the T-shaped seat (502).

7. A 1000kV UHV UAV grounding device and method according to claim 5, characterized in that: The winding hanging and disassembling structure (10) comprises an inner notch ring (1001) slidably mounted on the inner wall of a C-shaped outer ring frame (8), a T-shaped shaft (1002) fixed on the inner wall of one side of the inner notch ring (1001), and an outer ring track (1003) integrally formed at the upper edge positions of the front and rear outer walls of the inner notch ring (1001), the two clamping blocks (603) are located on the inner side of the inner notch ring (1001), and the dual-wheel drive module (11) drives the inner notch ring (1001) to rotate via the outer ring track (1003).

8. A 1000kV UHV UAV mounting and dismounting grounding device and method according to claim 7, characterized in that: The wire winding and hanging and disassembling structure (10) further comprises a cable guide frame (9) fixed to the bottom end of the C-shaped outer ring frame (8) and a wire groove (1004) arranged on the inner wall of the inner notch ring (1001); the surface of the inner notch ring (1001) is provided with an arc hollow portion.

9. A 1000kV UHV UAV grounding device and method according to claim 7, characterized in that: The dual-wheel drive module (11) comprises a reserved hole (501) arranged at one side of the top end of the inverted U-shaped hanger (5), a dual-shaft reduction motor (1101) installed inside the reserved hole (501), and a driven shaft (1102) installed at the output end of the dual-shaft reduction motor (1101); a rubber wheel (1103) is fixed to one end of the driven shaft (1102) away from the dual-shaft reduction motor (1101); the rubber wheel (1103) and the outer wall of the outer ring road (1003) are in contact with each other.

10. A 1000kV UHV UAV grounding method, comprising the 1000kV UHV UAV grounding device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S101: Install a grounding wire clamp on the low-voltage side of the UHV power tower, so that one end of the grounding wire is fixed to the grounding wire clamp, and the other end of the grounding wire is firmly fixed to the winding hanging and disassembly structure (10) as the starting end. After both ends of the grounding wire are fixed, start the drone; S102: The drone is controlled to take off through the remote control system, slowly ascending into the air, and the elastic self-embedded fixture (3), the inverted U-shaped hanger (5), the multi-guide rod outward-expanding elastic clamp (6), the winding hanging and disassembly structure (10), the dual-wheel drive module (11), the grounding wire and other components are lifted to the cross arm angle steel at the height of the tower. The height of the elastic self-embedded fixture (3) needs to be higher than the cross arm angle steel of the tower; S103: operate the drone to descend until the pole tower cross arm angle steel passes through between the two elastic self-embedded fixtures (3). Due to the effect of gravity, the elastic self-embedded fixture (3) will be automatically pushed open by the pole tower cross arm angle steel. The drone continues to descend until the multi-guide rod outward expansion type elastic clamp (6) is connected to the top of the pole tower cross arm angle steel. The multi-guide rod outward expansion type elastic clamp (6) can be tightly combined with the angle steel. S104: After the multi-guide rod outward expansion type elastic clamp (6) forms a preliminary connection with the angle steel, the staff performs an O-shaped winding operation of the grounding wire, and remotely controls the dual-wheel drive module (11) through the remote control system to work. The dual-wheel drive module (11) drives the two winding and hanging structures (10) to work synchronously by providing sufficient power. The winding and hanging structures (10) actively pull one end of the grounding wire to move in an O-shaped path and evenly wind it on the angle steel to form an O-shaped winding connection. The winding condition of the grounding wire is continuously checked through the camera of the drone. When everything is confirmed to be correct, the staff releases the drone lifting ring (4) through the remote control drone, and the grounding operation is completed.

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