Ground wire hanging and dismounting device and control method thereof

Abstract

The invention provides a grounding wire hanging and detaching device and a control method thereof. The grounding wire hanging and detaching device comprises a clamp action module, a grounding wire insulating rod, an electromagnet, a lifting module and a control terminal. The clamp action module comprises a clamping hand and a first motor; the bottom of the clamping hand is connected with a first motor; the first motor is fixedly connected with a grounding wire insulating rod; the grounding wire insulating rod is fixedly connected with the lifting module; the electromagnet is independently installed in the lifting module, and the first motor, the electromagnet and the lifting module are all electrically connected with the control terminal. And the control terminal is used for controlling the first motor to assist the clamping hand to perform the action of clamping or releasing the grounding wire, controlling the electromagnet to perform the action of adsorbing or desorbing the grounding wire insulating rod and controlling the lifting module to perform the action of adjusting the height of the grounding wire insulating rod. Lightweight design of the ground wire hanging and dismounting device is achieved, the device operation logic is simplified, the safety risk of ground wire hanging and dismounting operation is reduced, and the safety of ground wire connecting and dismounting operation is improved.

Description

Technical Field

[0001] The present invention relates to the field of substation operation and maintenance, and in particular to a grounding wire hanging and removing device and a control method thereof. Background Art

[0002] The substation grounding wire is a core tool to ensure operational safety during power maintenance work. It needs to be connected to the live equipment or line to release residual charge before the work and removed in time after the work is completed.

[0003] At present, the existing technology of grounding wire removal and hanging relies on manual operation of the grounding wire insulating rod. Therefore, multiple attempts are required to ensure good contact when hanging and removing the grounding wire. In addition, during the grounding wire removal and hanging operation, manual operation is required to complete the grounding wire removal and hanging according to strict operating logic. The complex operating logic makes it impossible to effectively deal with sudden faults, resulting in poor safety of grounding wire connection and removal operations. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a grounding wire hanging and removing device and a control method thereof, so as to realize a lightweight design of the grounding wire hanging and removing device, simplify the operation logic of the device, reduce the safety risks of hanging and removing the grounding wire, and improve the safety of the grounding wire connection and removal operation.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention provides a grounding wire hanging and removing device, including: a clamp action module, a grounding wire insulating rod, an electromagnet, a lifting module and a control terminal; the clamp action module includes: a clamp and a first motor; the bottom of the clamp is connected to the first motor; the first motor is fixedly connected to the grounding wire insulating rod; the grounding wire insulating rod is fixedly connected to the lifting module; the electromagnet is independently installed in the lifting module, and the first motor, the electromagnet and the lifting module are all electrically connected to the control terminal; the first motor is used to assist the clamp to clamp or release the grounding wire; the electromagnet is used to adsorb or desorb the grounding wire insulating rod; the lifting module is used to adjust the height of the grounding wire insulating rod; the control terminal is used to control the first motor to assist the clamp to perform the action of clamping or releasing the grounding wire, control the electromagnet to perform the action of adsorbing or desorbing the grounding wire insulating rod, and control the lifting module to perform the action of adjusting the height of the grounding wire insulating rod.

[0006] The embodiment of the present invention proposes a grounding wire hanging and removing device, which only needs the control terminal to control the first motor of the clamp action module to realize the auxiliary clamping hand to complete the clamping and releasing action of the grounding wire. In addition, the control terminal controls the electromagnet to adsorb or desorb the grounding wire insulating rod, and cooperates with the lifting module to adjust the height of the grounding wire insulating rod. It only needs to control the first motor to assist the clamping hand to clamp or release the grounding wire, and control the lifting and lowering of the lifting module and the adsorption or desorption of the electromagnet to complete the grounding wire hanging and removing process, which simplifies the operation logic of the grounding wire hanging and removing. At the same time, the electromagnet adsorbs or desorbs the grounding wire insulating rod to replace manual operation to realize the grounding wire hanging and removing. There is no need to rely on manual operation of the grounding wire insulating rod to complete the grounding wire hanging and removing. The grounding wire hanging and removing device is designed using the first motor and the electromagnet, which are all lightweight component modules, and the operation logic of the device is simplified, thereby reducing the safety risk of the grounding wire hanging and removing operation to improve the safety of the grounding wire connection and removal operation.

[0007] Furthermore, the gripper includes: an upper jaw part, a lower jaw part and a rotating screw; the upper jaw part is slidably connected to the lower jaw part through a slide groove, and the lower jaw part slides with the first motor through a rotating screw to form a screw transmission structure; by responding to the clamping control signal sent by the control terminal, the start, stop and direction of the first motor are adjusted to make the lower jaw part rise or fall along the rotating screw to perform the action of clamping or releasing the grounding wire.

[0008] Through the above scheme, the gripper is composed of an upper jaw part, a lower jaw part and a rotating screw, all of which are lightweight components. The first motor and the lower jaw part of the gripper are connected by a screw transmission structure. Only the first motor needs to be controlled to control the lower jaw part to rise or fall along the rotating screw, thereby completing the action of clamping or releasing the grounding wire. Therefore, through lightweight design and simplified operation logic, the safety risk of hanging and removing the grounding wire operation is reduced to improve the safety of the grounding wire connection and removal operation.

[0009] Furthermore, the control terminal and the first motor are installed inside a metal container; the electromagnet is electrically connected to the control terminal; and by responding to a power-on signal or a power-off signal sent by the control terminal, the electromagnet is adsorbed onto the insulating rod of the grounding wire or detached from the insulating rod of the grounding wire.

[0010] Through the above scheme, by adding a lightweight electromagnet component, the adsorption and desorption of the insulating rod of the grounding wire can be achieved, simulating the manual operation of the insulating rod of the grounding wire. By replacing the manual method, not only the safety of the grounding wire operation can be guaranteed, but also the good contact of the insulating rod of the grounding wire can be further guaranteed through the control terminal. In addition, the electromagnet generates huge suction when it is energized, and loses suction when it is demagnetized when the power is off, so that the automatic adsorption and desorption of the insulating rod of the grounding wire can be achieved. Therefore, the lightweight design and simple operation logic reduce the safety risks of the grounding wire hanging and removing operations to improve the safety of the grounding wire connection and removal operations.

[0011] Furthermore, the lifting module includes: a lifting platform, a second motor, a reducer and a lifting base; a high-strength insulating protective cover is arranged on the outside of the lifting platform; the lifting platform is fixedly connected to the grounding wire insulating rod; the second motor is transmission-connected to the lifting platform; the second motor and the reducer are fixedly connected to the top of the lifting base, and the lifting platform, the second motor and the reducer are all electrically connected to the control terminal; the lifting base is arranged to be fixed with a tripod bracket; by responding to the lifting signal sent by the control terminal, the reducer is controlled to adjust the start, stop and steering of the second motor to execute the action of adjusting the height of the grounding wire insulating rod.

[0012] Through the above scheme, the lightweight components of the second motor and the reducer are adopted in the lifting module. In addition, only the parameters of the second motor need to be set to realize the rising and falling of the transmission lifting platform, and the action of adjusting the height of the insulating rod of the grounding wire has been completed. The parameters of the second motor can also be adjusted by adjusting the parameters of the reducer. Combined with the lifting base fixed with a triangular bracket, the lifting platform can run more smoothly. Through lightweight design and simple operating logic, the safety risks of hanging and removing grounding wires are reduced to improve the safety of grounding wire connection and removal operations.

[0013] Furthermore, a grounding wire hanging and removing device proposed in an embodiment of the present invention also includes: a camera module; the camera module is installed in the clamp action module; the camera module is electrically connected to the control terminal; the camera module is used to monitor the execution process of the grounding wire hanging and removing action, and to feed back the monitoring data to the control terminal in real time, so that the control terminal sends the monitoring data to the user end for display.

[0014] Through the above solution, by adding a camera module, the grounding wire operation process can be monitored in real time, and potential risks in the operation process can be discovered in time to remind operators to obtain response strategies in time, thereby ensuring the safety of the grounding wire connection and removal operations. In addition, the camera module can also assist in monitoring the position of the fixture action module during the grounding wire hanging and removal operations to ensure that the fixture action module does not deviate, thereby ensuring the safety of the grounding wire connection and removal operations.

[0015] Furthermore, a grounding wire hanging and removing device proposed in an embodiment of the present invention also includes: a wireless remote control control module; the wireless remote control control module includes: a first-layer control button, a second-layer control button and a third-layer control button; the wireless remote control control module is connected to the control terminal by telecommunications; the left path of the first-layer control button is used to send a clamping control signal to the control terminal to control the first motor to assist the clamping hand in performing a clamping action; the right path of the first-layer control button is used to send a clamping control signal to the control terminal to control the first motor to assist the clamping hand in performing a releasing action; the left path of the second-layer control button is used to send a power-on signal to the control terminal to control the lifting module to perform an ascending action; the right path of the second-layer control button is used to send a power-off signal to the control terminal to control the lifting module to perform a descending action; the left path of the third-layer control button is used to send a lifting signal to the control terminal to control the electromagnet to perform an adsorption action of the grounding wire insulating rod; the right path of the third-layer control button is used to send a lifting signal to the control terminal to control the electromagnet to perform a detachment action of the grounding wire insulating rod.

[0016] Through the above scheme, the wireless remote control module is used to realize the remote control of the grounding wire hanging and removing device. The control terminal controls each module, and a three-layer left and right two-way control logic is designed. The control of each module is realized with simple control logic, which can ensure the safety of the grounding wire connection and removal operation.

[0017] An embodiment of the present invention also provides a control method for a grounding wire hanging and removing device, which is applied to the grounding wire hanging and removing device, and the grounding wire hanging and removing device includes: a clamp, a first motor and a control terminal; the first motor is used to assist the clamp to clamp or release the grounding wire; the control method for the grounding wire hanging and removing device is executed by the control terminal, including: real-time acquisition of the actual current value of the first motor; acquisition of the target current value based on a preset torque requirement and a preset torque control model; acquisition of the target critical current value based on a preset clamping force requirement; if the actual current value of the first motor is not equal to the target critical current value, then based on the target current value and a preset control algorithm, adjusting the output current of the first motor until the preset requirements are met to complete the process of clamping or releasing the grounding wire.

[0018] The embodiment of the present invention proposes a control method for a grounding wire hanging and removing device, which obtains the actual current value of the current first motor in real time for subsequent judgment, and can provide real-time feedback on the operation status of the first motor. According to the preset torque requirement and the preset torque control model, the target current and the target critical current are respectively obtained, wherein the target current is used to provide a theoretical benchmark for the clamping force, and the target critical current is used to judge whether the clamping state meets the standard. If the actual current value of the current first motor and the target critical current value do not meet the preset requirements, the output current of the first motor is adjusted according to the target current value and the preset control algorithm, so as to complete the process of clamping or releasing the grounding wire. Compared with the simple operation logic of the prior art, the hanging and removing of the grounding wire can be realized, thereby ensuring the safety of the grounding wire connection and removal operations.

[0019] Furthermore, the method of obtaining a target critical current value based on a preset clamping force requirement includes: obtaining the gravity component torque and the friction torque of the first motor based on the preset clamping force requirement; obtaining the total torque of the first motor by adding the gravity component torque of the first motor and the friction torque; and obtaining the target critical current value by dividing the total torque of the first motor by a torque constant of a preset motor.

[0020] Furthermore, if the current actual current value of the first motor is not equal to the target critical current value, then based on the target current value and the preset control algorithm, the output current of the first motor is adjusted until the preset requirements are met to complete the process of clamping or releasing the grounding wire, including: if the current actual current value of the first motor is greater than the target critical current value, then based on the PID control algorithm, the output torque of the first motor is reduced to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value to complete the process of releasing the grounding wire.

[0021] Furthermore, if the current actual current value of the first motor is not equal to the target critical current value, then based on the target current value and the preset control algorithm, the output current of the first motor is adjusted until the preset requirements are met to complete the process of clamping or releasing the grounding wire, including: if the current actual current value of the first motor is less than the target critical current value, then based on the PID control algorithm, the output torque of the first motor is increased to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value to complete the process of clamping the grounding wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the connection structure of a ground wire hanging and removing device provided in one embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the overall structure of a ground wire hanging and removing device provided by a certain embodiment of the present invention;

[0024] Figure 3 A partial enlarged schematic diagram of a ground wire hanging and removing device provided in one embodiment of the present invention Figure 1 ;

[0025] Figure 4 A partial enlarged schematic diagram of a ground wire hanging and removing device provided in one embodiment of the present invention Figure 2 ;

[0026] Figure 5 A schematic diagram of the working principle of a wireless remote control control module of a ground wire hanging and removing device provided by a certain embodiment of the present invention;

[0027] Figure 6 A schematic flow chart of the steps of a method for controlling a ground wire hanging and removing device provided in one embodiment of the present invention;

[0028] Figure numerals: 1. Clamp action module; 11. Clamp hand; 111. Upper jaw part; 112. Lower jaw part; 113. Rotating screw; 12. First motor; 2. Grounding wire insulating rod; 3. Electromagnet; 4. Lifting module; 41. Lifting platform; 42. Second motor; 43. Reducer; 44. Lifting base; 5. Control terminal; 6. Wireless remote control control module; 61. First layer control button; 62. Second layer control button; 63. Third layer control button. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0030] Example 1

[0031] See also Figure 1 , Figure 1 A schematic diagram of the connection structure of a ground wire hanging and removing device provided by a certain embodiment of the present invention. Figure 1 As shown, the embodiment of the present invention provides a grounding wire hanging and removing device, comprising: a clamp action module 1, a grounding wire insulating rod 2, an electromagnet 3, a lifting module 4, a control terminal 5, a camera module and a wireless remote control module 6; the clamp action module 1 comprises: a clamping hand 11 and a first motor 12; the clamping hand 11 comprises: an upper jaw part 111, a lower jaw part 112 and a rotating screw rod 113; the lifting module 4 comprises: a lifting platform 41, a second motor 42, a reducer 43 and a lifting base 44;

[0032] As an example of an embodiment of the present invention, the first motor 12 and the second motor 42 can be DC motors with an operating voltage of 12V, a motor shaft diameter of 8*17mm, a rotation speed of 429 rpm, a static current of 13mA, and a full-load power current of 3A; the operating voltage of the electromagnet 3 is 12V, the suction force reaches 10 kg, and it supports inching, interlocking and cyclic power on and off modes; the camera module can be a WIFI camera, and the size of the camera is length*width*height: 4cm*4cm*5cm; the wireless remote control control module 6 can adopt a 433MHz remote control controller; the lifting platform 41 adopts high-quality SUS304 stainless steel material, which is sturdy and durable, can withstand high-intensity impact and load, and effectively resist erosion from the external environment, ensuring the stability and safety of the device in long-term use; the reducer 43 can adopt a planetary gear reducer 43; in addition, a grounding wire hanging and removal device proposed in an embodiment of the present invention adopts a 12V battery as the power source.

[0033] The connection structure of the above components is as follows: the bottom of the gripper 11 is connected to the first motor 12; the first motor 12 is fixedly connected to the grounding wire insulating rod 2; the grounding wire insulating rod 2 is fixedly connected to the lifting module 4; the electromagnet 3 is independently installed in the lifting module 4, and the first motor 12, the electromagnet 3 and the lifting module 4 are all electrically connected to the control terminal 5;

[0034] The prior art gripper 11 usually generates clamping force by manual driving of an operator in cooperation with a mechanical sliding groove or by hydraulic driving, etc. However, the prior art method of generating clamping force by manual driving of an operator in cooperation with a mechanical sliding groove is complicated to operate and depends on the operator, and the hydraulic driving equipment is usually large in size and heavy in weight. Therefore, the application environment of the prior art is limited. In order to make the grounding wire hanging and removing device lighter and simpler in operation, an embodiment of the present invention proposes a grounding wire hanging and removing device, and the connection structure of its internal components is as follows: Figure 2 , Figure 2 A schematic diagram of the overall structure of a grounding wire hanging and removing device provided for a certain embodiment of the present invention; the upper jaw part 111 of the gripper 11 is slidably connected with the lower jaw part 112 through a slide groove, and the lower jaw part 112 slides with the first motor 12 by rotating the screw rod 113 to form a screw transmission structure; the control terminal 5 and the first motor 12 are installed inside the metal container; a high-strength insulating protective cover is provided on the outside of the lifting platform 41; the lifting platform 41 is fixedly connected to the grounding wire insulating rod 2; the second motor 42 and the reducer 43 are fixedly connected to the top of the lifting base 44; the lifting platform 41, the second motor 42 and the reducer 43 are all electrically connected to the control terminal 5; the lifting base 44 is set to be fixed with a triangular bracket; for a specific possible implementation method, see Figure 3 , Figure 3 A partial enlarged schematic diagram of a ground wire hanging and removing device provided in one embodiment of the present invention Figure 1The upper jaw portion 111 and the lower jaw portion 112 of the gripper 11 are C-shaped, the upper jaw portion 111 is provided with a slide groove, the lower jaw portion 112 is connected to the upper jaw portion 111 through the slide groove, and when the first motor 12 is working, the lower jaw portion 112 can move up and down along the slide groove by rotating the screw rod 113, the control terminal 5 and the first motor 12 are arranged inside the metal container, and the electromagnet 3 is independently installed and can be disassembled, replaced and maintained at any time; see Figure 4 , Figure 4 A partial enlarged schematic diagram of a ground wire hanging and removing device provided in one embodiment of the present invention Figure 2 The protective cover on the outside of the lifting platform 41 is a high-strength insulating protective cover. In addition, the entire exterior of the device is also a high-strength insulating protective cover. The grounding wire insulating rod 2 can be stored in the lifting base 44. The bottom of the lifting base 44 is provided with three brackets that can be stored in the side of the lifting base 44. When the three brackets are unfolded, they are fixed as a triangular bracket. The camera module is installed on the top of the metal container loaded with the control terminal 5 and the first motor 12; the camera module is electrically connected to the control terminal 5; the wireless remote control module 6 is connected to the control terminal 5 by telecommunications;

[0035] The functions of the above-mentioned components are as follows: the first motor 12 is used to assist the gripper 11 to clamp or release the grounding wire; the electromagnet 3 is used to adsorb or desorb the grounding wire insulating rod 2; the lifting module 4 is used to adjust the height of the grounding wire insulating rod 2; the control terminal 5 is used to control the first motor 12 to assist the gripper 11 to perform the action of clamping or releasing the grounding wire, control the electromagnet 3 to perform the action of adsorbing or desorbing the grounding wire insulating rod 2, and control the lifting module 4 to perform the action of adjusting the height of the grounding wire insulating rod 2.

[0036] As an example of an embodiment of the present invention, the clamp action module 1 adjusts the start, stop and direction of the first motor 12 by responding to the clamping control signal sent by the control terminal 5, so that the lower jaw part 112 rises or falls along the rotating screw 113 to perform the action of clamping or releasing the grounding wire. The electromagnet 3 adsorbs the electromagnet 3 on the grounding wire insulating rod 2 or detaches the electromagnet 3 from the grounding wire insulating rod 2 by responding to the power-on signal or power-off signal sent by the control terminal 5. The lifting module 4 controls the reducer 43 to adjust the start, stop and direction of the second motor 42 by responding to the lifting signal sent by the control terminal 5 to perform the action of adjusting the height of the grounding wire insulating rod 2. The camera module is used to monitor the execution process of the grounding wire hanging and removing action, and to feed back the monitoring data to the control terminal 5 in real time, so that the control terminal 5 sends the monitoring data to the user end for display.

[0037] The prior art grounding wire removal and hanging relies on manual operation of the grounding wire insulating rod 2. When hanging and removing the grounding wire, multiple attempts are required to ensure good contact. The grounding wire removal and hanging has a strict set of operating logic. In order to solve the problem of complex operating logic in the prior art, an embodiment of the present invention proposes a grounding wire hanging and removing device. By controlling the first motor 12, the start, stop and direction of the first motor 12 are adjusted respectively, so that the rotary motion of the transmission screw can be converted into linear motion, so that the first motor 12 drives the transmission screw to move the lower jaw part 112 of the clamping hand 11 up and down along the slide groove to realize the action of clamping and releasing the grounding wire; similarly, the start, stop and direction of the second motor 42 are adjusted, and the rotary motion is converted into linear motion in combination with the planetary gear reducer 43, and the control The lifting platform 41 is controlled to rise or fall to adjust the height of the grounding wire insulating rod 2; the electromagnet 3 can generate a huge suction force when it is energized, and adsorb the grounding wire insulating rod 2 to achieve a fixing effect. When the electromagnet 3 is powered off, the electromagnet 3 is demagnetized, the suction force disappears, and the grounding wire insulating rod 2 is detached to achieve a releasing effect. The grounding wire insulating rod 2 can be fixed and released by controlling the power on and off of the electromagnet 3; the camera module can monitor the grounding wire hanging and removing operation process in real time, monitor whether the clamping hand 11 correctly clamps the overhead line, monitor whether the lifting platform 41 has an upward deviation, and feed back the monitoring data to the user end. The operator avoids potential risks through the monitoring data received by the user end to ensure the safety of the grounding wire hanging and removing operation.

[0038] As another example of an embodiment of the present invention, the wireless remote control control module 6 includes: a first-layer control button 61, a second-layer control button 62 and a third-layer control button 63; the left path of the first-layer control button 61 is used to send a clamping control signal to the control terminal 5 to control the first motor 12 to assist the clamping hand 11 in performing a clamping action; the right path of the first-layer control button 61 is used to send a clamping control signal to the control terminal 5 to control the first motor 12 to assist the clamping hand 11 in performing a releasing action; the left path of the second-layer control button 62 is used to send a power-on signal to the control terminal 5 to control the lifting module 4 to perform an ascending action; the right path of the second-layer control button 62 is used to send a power-off signal to the control terminal 5 to control the lifting module 4 to perform a descending action; the left path of the third-layer control button 63 is used to send a lifting signal to the control terminal 5 to control the electromagnet 3 to perform an adsorption action on the grounding wire insulating rod 2; the right path of the third-layer control button 63 is used to send a lifting signal to the control terminal 5 to control the electromagnet 3 to perform a detachment action on the grounding wire insulating rod 2.

[0039] In order to solve the problem that the prior art relies on manual operation of the grounding wire insulation rod 2 to complete the grounding wire hanging and removing operation, the embodiment of the present invention proposes a grounding wire hanging and removing device. Specifically, through the wireless remote control module 6, the control terminal 5 of the remote control grounding wire hanging and removing device controls each module, and designs a three-layer left and right two-way control logic. The control of each module is realized by simple control logic, which can ensure the safety of the grounding wire connection and removal operation. A specific implementation method is: See Figure 5 , Figure 5 A schematic diagram of the working principle of a wireless remote control module 6 of a ground wire hanging and removing device provided by a certain embodiment of the present invention; the first layer control button 61, the second layer control button 62 and the third layer control button 63 of the wireless remote control module 6 can all be regarded as a 433 remote control controller, the wireless remote control module 6 sends a wireless remote control signal through a frequency of 433MHz, and a 433 signal processor is provided in the control terminal 5, which controls the operation of the components respectively by receiving the control signal sent by the wireless remote control. The specific control logic can be set as follows: the first layer control button 61 controls the action of the gripper, the left path: the gripper is tightened, used to lift or clamp the overhead line, the right path: the gripper is loosened, used to lower or loosen the overhead line; the second layer control button 62 controls the movement of the platform, pressing the "up" button makes the platform rise, and pressing the "down" button makes the platform fall; the third layer control button 63 controls the power on and off of the electromagnet 3, the left path is to press the remote control to turn on the power, so that the platform with the gripper can operate, and the right path is to press the remote control to disconnect the power, so that the platform is separated from the gripper.

[0040] The embodiment of the present invention proposes a grounding wire hanging and removing device, which only needs the control terminal 5 to control the first motor 12 of the clamp action module 1 to realize the auxiliary clamping hand 11 to complete the clamping and releasing action of the grounding wire. In addition, the control terminal 5 controls the electromagnet 3 to adsorb or desorb the grounding wire insulating rod 2, and cooperates with the lifting module 4 to adjust the height of the grounding wire insulating rod 2. It only needs to control the first motor 12 to assist the clamping hand 11 to clamp or release the grounding wire, and control the lifting and lowering of the lifting module 4 and the adsorption or desorption of the electromagnet 3 to complete the grounding wire hanging and removing process, which simplifies the operation logic of the grounding wire hanging and removing. At the same time, the electromagnet 3 adsorbs or desorbs the grounding wire insulating rod 2 to replace manual operation to realize the grounding wire hanging and removing. There is no need to rely on manual operation of the grounding wire insulating rod 2 to complete the grounding wire hanging and removing. The grounding wire hanging and removing device is designed using the first motor 12 and the electromagnet 3, which are all lightweight component modules, and by simplifying the operation logic of the device, the safety risk of the grounding wire hanging and removing operation is reduced to improve the safety of the grounding wire connection and removal operation.

[0041] Based on the ground wire hanging and removing device proposed in this embodiment, in order to further explain its working principle, see Figure 6 , Figure 6A schematic flow chart of the steps of a ground wire hanging and removing device control method provided by a certain embodiment of the present invention. Figure 6 As shown, the embodiment of the present invention provides a ground wire hanging and removing device control method, which is executed by a control terminal, including: step 101 to step 104, each step is specifically as follows:

[0042] Step 101, obtaining the actual current value of the first motor in real time;

[0043] As an example of this embodiment, the motor driving current I is obtained by a sensor (such as a Hall sensor). measured ;

[0044] Step 102, obtaining a target current value based on a preset torque requirement and a preset torque control model;

[0045] As an example of this embodiment, a dynamic equation of the gripper and DC motor system is established. The main variables in the system include: torque, friction and gripping force. In the gripper system, it is assumed that the movement of the gripper is controlled by the torque T of the motor, and the current of the motor is proportional to the torque. The operating state of the system is described by the mechanical balance and torque control equation, thereby constructing the dynamic equation, which is as follows:

[0046]

[0047] Wherein, M: total mass of the gripper (including the mass of the gripper and attached items, unit: kg); m: load mass of the gripper (mass of attached items such as cables, unit: kg); c: system damping coefficient, describing the influence of friction and air resistance (unit: Ns / m); k: elastic constant, describing the elastic characteristics of the gripper structure (unit: N / m); x: gripper position (unit: m), For speed, is the acceleration; F motor =T / r: the force generated by the motor, T is the motor output torque, r is the radius of the gripper transmission device (unit: m);

[0048] By simplifying the analysis and ignoring smaller minor items (such as the influence of the damping coefficient c), the torque control model is obtained. The specific formula is as follows:

[0049]

[0050] Generally speaking, during the design stage of the gripper, the maximum torque requirement T during the gripper movement is calculated using the torque control model. max :

[0051]

[0052] According to the maximum torque T max, calculate the target current value:

[0053]

[0054] It is worth mentioning that the target current value can also be used as current limitation and protection;

[0055] Step 103, obtaining a target critical current value based on a preset clamping force requirement;

[0056] As an example of this embodiment, based on the preset clamping force requirement, the gravity component torque and the friction torque of the first motor are obtained; the total torque of the first motor is obtained by adding the gravity component torque of the first motor and the friction torque; the target critical current value is obtained by dividing the total torque of the first motor by the torque constant of the preset motor. In a specific implementation method, the critical torque T of the motor is critical Calculated from the clamping force requirement of the gripper:

[0057] T critical =F g ·r+μN

[0058] Among them: F g r: calculates the gravity F g The torque converted by the gripper arm r; μN: is the additional requirement for friction torque;

[0059] Current critical point I critical It is calculated by the following formula:

[0060]

[0061] A specific explanation is that in a certain operation, taking the first motor 12 as an example, the following parameters are known: motor torque constant K t =0.5Nm / A; Transmission device radius r=0.1m; (rotation radius of the gripper transmission part) Gripper total mass M+m=2.5kg; (including gripper mass and cable mass) Friction coefficient μ=0.2; (friction coefficient between gripper and cable) Gravitational acceleration g=9.81m / s 2 ;

[0062] At this time, the total torque T that the gripper needs to provide critical (equivalent to the total torque of the first motor) is obtained by the combined action of the gravity component torque and the torque of friction. Specifically, the gravity component torque (equivalent to the gravity component torque of the first motor) is: the clamping torque of the clamping hand on the cable.

[0063] F g ·r=(M+m)·g·r

[0064] The torque of friction is: the additional torque generated by the friction between the gripper surface and the cable.

[0065] μN·r=μ(M+m)·g·r

[0066] Substituting the parameters into each item, we can get:

[0067] F g ·r=2.5·9.81·0.1=2.4525Nm

[0068] μN·r=0.2·2.5·9.81·0.1=0.4905Nm

[0069] Then add the gravity component torque and the friction torque together to get the total torque formula:

[0070] T critical =F g ·r+μN·r

[0071] Substituting into the calculation, we get:

[0072] T critical =(2.5 9.81 0.1)+(0.2 2.5 9.81 0.1)

[0073] T critical =2.4525+0.4905=2.934Nm

[0074] Then, according to the relationship between motor torque and current:

[0075] T=K t I

[0076] Therefore, the critical current I critical It can be expressed as:

[0077]

[0078] Substituting the known values ​​into:

[0079]

[0080] In summary, the critical moment value is T critical =2.934Nm; the target critical current value is I critical =5.886A; It is worth mentioning that the critical moment value T critical Indicates the minimum torque required for the clamp to clamp the cable; target critical current value I critical It is the current value when the motor drives the gripper to the critical torque.

[0081] Step 104, if the actual current value of the first motor is not equal to the target critical current value, then based on the target current value and a preset control algorithm, the output current of the first motor is adjusted until the preset requirement is met to complete the process of clamping or releasing the ground wire.

[0082] As an example of this embodiment, if the current actual current value of the first motor is greater than the target critical current value, based on the PID control algorithm, the output torque of the first motor is reduced to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value, so as to complete the process of releasing the ground wire. If the current actual current value of the first motor is less than the target critical current value, based on the PID control algorithm, the output torque of the first motor is increased to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value, so as to complete the process of clamping the ground wire. A specific explanation is to judge the current clamping condition by comparing the current actual current value and the target critical current value, and the judgment logic is as follows:

[0083] If I measured <I critical , indicating that the clamping force is insufficient; if I measured >I critical , indicating that the clamping force is too large; by feeding back the judgment result to the control terminal, the control terminal adjusts the output current of the first motor according to the PID control algorithm; during the movement of the clamping hand, the dynamic behavior of the clamping hand during the clamping process can be predicted by the preset torque control model, T dynamic (Dynamic torque) usually refers to the torque generated or borne by a motor or mechanical system under dynamic conditions, for example, during the acceleration phase, according to the formula:

[0084]

[0085] Determine whether there is a problem of insufficient torque, so as to adjust the current output. In the control process of the PID control algorithm, the preset torque control model provides the inertia and elasticity characteristics of the system, among which (M+m)r: corresponds to the inertia of the system, affecting the response speed; kr: corresponds to the elasticity of the system, affecting the stability of the system. According to these parameters, the proportional, integral and differential coefficients K of the PID controller can be optimized. p , K i , K d .

[0086] As an explanation of the embodiment of the present invention, in order to achieve accurate control of the clamping force, the embodiment of the present invention proposes to use a PID control algorithm to adjust the torque of the motor, and the transfer function of the PID controller is assumed to be:

[0087]

[0088] Among them, K p , K i , K d are proportional, integral and differential gains respectively. Through the PID controller, the system can gradually adjust the motor output torque T, and then find T according to the current change fed back by the sensor. critical The corresponding current I critical , thus finding the optimal clamping force.

[0089] The core of the algorithm proposed in the embodiment of the present invention is to ensure that the cable is clamped but not damaged by real-time monitoring of the clamping force of the clamp (which can be achieved through sensors or current monitoring) and gradually adjusting the speed of the motor; in this clamping system, when the motor rotates, the clamp will gradually rise and clamp the cable. The goal is to find the critical point of the force applied by the clamp on the cable, that is, it should not be too tight (to avoid damaging the cable) nor too loose (unable to clamp the cable).

[0090] The embodiment of the present invention proposes a control method for a grounding wire hanging and removing device, which obtains the actual current value of the current first motor in real time for subsequent judgment, and can provide real-time feedback on the operation status of the first motor. According to the preset torque requirement and the preset torque control model, the target current and the target critical current are respectively obtained, wherein the target current is used to provide a theoretical benchmark for the clamping force, and the target critical current is used to judge whether the clamping state meets the standard. If the actual current value of the current first motor and the target critical current value do not meet the preset requirements, the output current of the first motor is adjusted according to the target current value and the preset control algorithm, so as to complete the process of clamping or releasing the grounding wire. Compared with the simple operation logic of the prior art, the hanging and removing of the grounding wire can be realized, thereby ensuring the safety of the grounding wire connection and removal operations.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0093] In addition, 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

Claims

1. A grounding wire hanging and removing device, characterized in that: include: Fixture action module, grounding wire insulating rod, electromagnet, lifting module and control terminal; The clamp action module includes: a clamp hand and a first motor; The bottom of the gripper is connected to the first motor; the first motor is fixedly connected to the grounding wire insulating rod; the grounding wire insulating rod is fixedly connected to the lifting module; the electromagnet is independently installed in the lifting module, and the first motor, the electromagnet and the lifting module are all electrically connected to the control terminal; The first motor is used to assist the gripper in clamping or releasing the ground wire; The electromagnet is used to adsorb or desorb the ground wire insulating rod; The lifting module is used to adjust the height of the grounding wire insulation rod; The control terminal is used to control the first motor to assist the gripper in clamping or releasing the grounding wire, control the electromagnet to adsorb or desorb the grounding wire insulating rod, and control the lifting module to adjust the height of the grounding wire insulating rod.

2. A ground wire hanging and removing device as claimed in claim 1, characterized in that: The gripper comprises an upper jaw portion, a lower jaw portion and a rotating screw; The upper jaw part is slidably connected to the lower jaw part through a sliding groove, and the lower jaw part slides with the first motor through a rotating screw to form a screw transmission structure; By responding to the clamping control signal sent by the control terminal, the start, stop and direction of the first motor are adjusted, so that the lower jaw part rises or falls along the rotating screw to perform the action of clamping or releasing the grounding wire.

3. A ground wire hanging and removing device as claimed in claim 1, characterized in that: The control terminal and the first motor are installed inside the metal container; By responding to the power-on signal or the power-off signal sent by the control terminal, the electromagnet is adsorbed on the insulating rod of the grounding wire or the electromagnet is detached from the insulating rod of the grounding wire.

4. A ground wire hanging and removing device as claimed in claim 1, characterized in that: The lifting module includes: a lifting platform, a second motor, a reducer and a lifting base; The lifting platform is provided with a high-strength insulating protective cover on the outside; the lifting platform is fixedly connected to the grounding wire insulating rod; the second motor is transmission-connected to the lifting platform; the second motor and the reducer are fixedly connected to the top of the lifting base, and the lifting platform, the second motor and the reducer are all electrically connected to the control terminal; The lifting base is arranged to be fixed with a triangular bracket; By responding to the lifting and lowering signal sent by the control terminal, the reducer is controlled to adjust the start, stop and direction of the second motor to perform the action of adjusting the height of the grounding wire insulation rod.

5. A ground wire hanging and removing device according to any one of claims 1 to 4, characterized in that: Also includes: Camera module; The camera module is installed in the fixture action module; the camera module is electrically connected to the control terminal; The camera module is used to monitor the execution process of the ground wire hanging and removing action, and to feed back the monitoring data to the control terminal in real time, so that the control terminal sends the monitoring data to the user end for display.

6. A ground wire hanging and removing device as claimed in claim 5, characterized in that: Also includes: Wireless remote control module; The wireless remote control control module includes: a first layer control button, a second layer control button and a third layer control button; The wireless remote controller control module is connected to the control terminal by telecommunication; The left path of the first layer control button is used to send a clamping control signal to the control terminal to control the first motor to assist the gripper in performing a clamping action; the right path of the first layer control button is used to send a clamping control signal to the control terminal to control the first motor to assist the gripper in performing a releasing action; The left path of the second layer control button is used to send a power-on signal to the control terminal to control the lifting module to perform an ascending action; the right path of the second layer control button is used to send a power-off signal to the control terminal to control the lifting module to perform a descending action; The left path of the third-layer control button is used to send a lifting signal to the control terminal to control the electromagnet to perform the action of adsorbing the insulating rod of the grounding wire; the right path of the third-layer control button is used to send a lifting signal to the control terminal to control the electromagnet to perform the action of desorbing the insulating rod of the grounding wire.

7. A method for controlling a grounding wire hanging and removing device, characterized in that: A grounding wire hanging and removing device according to any one of claims 1 to 6, the grounding wire hanging and removing device comprising: a gripper, a first motor and a control terminal; the first motor is used to assist the gripper in clamping or releasing the grounding wire; The control method of the ground wire hanging and removing device is executed by the control terminal, comprising: Obtaining the actual current value of the first motor in real time; Based on a preset torque demand and a preset torque control model, a target current value is obtained; Based on the preset clamping force requirement, a target critical current value is obtained; If the actual current value of the first motor is not equal to the target critical current value, the output current of the first motor is adjusted based on the target current value and a preset control algorithm until the preset requirement is met to complete the process of clamping or releasing the ground wire.

8. A method for controlling a grounding wire hanging and removing device as claimed in claim 7, characterized in that: The step of obtaining a target critical current value based on a preset clamping force requirement includes: Based on a preset clamping force requirement, obtaining a gravity component torque and a friction torque of the first motor; The total torque of the first motor is obtained by adding the torque of the gravity component of the first motor and the torque of the friction force; The target critical current value is obtained by dividing the total torque of the first motor by the torque constant of the preset motor.

9. A method for controlling a grounding wire hanging and removing device according to claim 7, characterized in that: If the actual current value of the first motor is not equal to the target critical current value, then based on the target current value and a preset control algorithm, the output current of the first motor is adjusted until the preset requirement is met to complete the process of clamping or releasing the ground wire, including: If the current actual current value of the first motor is greater than the target critical current value, based on the PID control algorithm, the output torque of the first motor is reduced to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value to complete the grounding wire release process.

10. A method for controlling a grounding wire hanging and removing device according to claim 7, characterized in that: If the actual current value of the first motor is not equal to the target critical current value, then based on the target current value and a preset control algorithm, the output current of the first motor is adjusted until the preset requirement is met to complete the process of clamping or releasing the ground wire, including: If the current actual current value of the first motor is less than the target critical current value, based on the PID control algorithm, the output torque of the first motor is increased to adjust the output current of the first motor until the current actual current value of the first motor is equal to the target critical current value to complete the ground wire clamping process.

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