Robot for hanging and detaching grounding wire of medium and low voltage power transmission line unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle ground wire hanging and dismounting robot for medium and low voltage power transmission lines, which is an unmanned aerial vehicle and is provided with ground wire hanging and dismounting equipment at the bottom. The ground wire hanging and dismounting equipment comprises a mechanical arm with a quick-change male head, and further comprises a bistable hanging and dismounting device for fixing a ground wire through a ground cover plate. A quick-change female head is arranged at the tail end of the bistable hanging and dismounting device, and an electric push rod and a clamping jaw are arranged at the head end; when the unmanned aerial vehicle installs a grounding wire, the clamping jaw impacts a grounding hanging ring of a power transmission line through flying to trigger the hanging and dismounting triggering structure, the hanging and dismounting triggering structure drives the quick-change female head and the quick-change male head to be separated and meanwhile gathers the clamping jaw, and the grounding wire is hung at the grounding hanging ring through the bistable hanging and dismounting device separated from the unmanned aerial vehicle. The quick-change male head of the mechanical arm is used for clamping the bistable hanging and dismounting device at the grounding hanging ring, and then the electric push rod is driven to enable the clamping jaw to loosen the grounding hanging ring; the operation efficiency of hanging and detaching the ground wire can be improved, and efficient and safe unmanned operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent operation and maintenance of power transmission lines, and in particular to an unmanned aerial vehicle (UAV) robot for hanging and removing ground wires of medium and low voltage power transmission lines. Background Art

[0002] In power systems, the installation and removal of ground wires is a critical step in ensuring the safety of power operations. With the continued development of the power industry, transmission lines of varying voltage levels are becoming increasingly widespread, and the demand for ground wire installation and removal technology is becoming increasingly diverse. Existing technologies have achieved certain success in installing and removing ground wires from high-voltage bare conductors. Several technical solutions have emerged that utilize drones for ground wire installation and removal. Some of these solutions utilize drones equipped with specific equipment to move and connect the grounding terminal and the conductor end of the ground wire, eliminating the risks of manual tower work, improving operational efficiency, and, to a certain extent, resolving the challenges of installing and removing ground wires from high-voltage bare conductors. Other solutions utilize drones equipped with relevant mechanisms to address the issues of excessively long ground wires and heavy drone loads caused by the height of ultra-high and extra-high voltage lines. These technical solutions primarily target high-voltage bare conductors and, through ingenious structural design and the use of drones, achieve relatively efficient and safe ground wire installation and removal operations.

[0003] However, existing technologies have significant limitations when it comes to handling insulated transmission lines below 10 kV. The presence of insulation significantly differs from the grounding connection of bare high-voltage conductors. Unlike bare high-voltage conductors, grounding wires cannot be connected at any arbitrary location; they must be connected at the grounding ring. This limitation makes drone-based mounting and removal methods, previously suitable for bare high-voltage conductors, difficult to directly apply. On the one hand, existing grounding devices struggle to accurately locate the grounding ring, making drone operation complex and mounting and removal inefficient. On the other hand, due to a lack of specific design for the specific needs of insulated transmission lines, existing connection mechanisms are unable to quickly and reliably connect to the grounding ring, making grounding effectiveness difficult to guarantee and effectively ensuring operational safety. In actual operations, the lack of effective mounting and removal technology specifically for insulated transmission lines below 10 kV often requires operators to expend considerable time and effort on manual assistance. This not only increases labor costs and prolongs power outages, but also exposes operators to potential safety risks such as electric shock and falls from height. Currently, there is little research on the use of drones to install and remove ground wires for such transmission lines. The existing technical solutions cannot meet actual needs, and there is a lack of efficient and safe ground wire hanging and removal technologies designed specifically for them.

[0004] Against this backdrop, the development of a drone-based grounding wire attachment and removal device specifically for medium and low voltage insulated transmission lines below 10kV is urgently needed. This invention, developed precisely based on this need, offers significant advantages, including rapid triggering, reduced human intervention, high safety, and high efficiency. Through its innovative structural design, it can precisely locate the grounding ring, enabling fast and reliable attachment operations. This effectively addresses the technical pain points of traditional manual tower climbing, which suffers from low efficiency and high altitude risks, as well as the inadequate adaptability of existing drone solutions to medium and low voltage conductors with grounding rings. Summary of the Invention

[0005] The present invention proposes a drone-based grounding wire hanging and removal robot for medium and low voltage transmission lines, which can improve the efficiency of hanging and removing grounding wires for transmission conductors with grounding rings below 10kV. Through the coordination of a modular quick-change structure and a bistable clamping mechanism, efficient and safe unmanned operation can be achieved.

[0006] The present invention adopts the following technical solutions.

[0007] A robot for hanging and removing ground wires of medium and low voltage power transmission lines by an unmanned aerial vehicle (UAV), the robot being an UAV (1), and a ground wire hanging and removing device extending laterally is provided at the bottom of the UAV; the ground wire hanging and removing device comprises a mechanical arm with a quick-change male connector (3), and also comprises a bistable hanging and removing device (5) for fixing the ground wire with a ground cover; a quick-change female connector (4) which can be detachably connected to the quick-change male connector (3) is provided at the tail end of the bistable hanging and removing device, and an electric push rod and a clamping claw are provided at the head end; when the UAV installs the ground wire, the clamping claw hits the grounding hanging ring of the power transmission line during flight to trigger the hanging and removing trigger structure, the hanging and removing trigger structure drives the quick-change female connector to separate from the quick-change male connector and simultaneously retracts the clamping claw, so that the ground wire is hung on the grounding hanging ring by being separated from the UAV's bistable hanging and removing device; when the UAV removes the ground wire, the quick-change male connector of the mechanical arm is first used to clamp the bistable hanging and removing device at the grounding hanging ring, and then the electric push rod is driven to cause the clamping claw to release the grounding hanging ring.

[0008] The clamp is a bistable clamp that works based on the spring energy storage principle. The drone is a remote-controlled drone (1) equipped with a camera and an image transmission module. When the drone is installing a grounding wire, the camera is used to align the bistable hanging and removing device carried by the drone with the grounding hanging ring and cause it to collide. When the drone is removing the grounding wire, the camera is used to enable the drone to accurately clamp the quick-change male connector to the bistable hanging and removing device.

[0009] The robotic arm is a four-degree-of-freedom robotic arm (2), the quick-change male head (3) is installed at the end of the four-degree-of-freedom robotic arm (2), the quick-change female head (4) is fixed to the tail end of the bistable hanging and detaching device (5), and the bistable hanging and detaching device (5) is detachably connected to the quick-change male head (3) through the quick-change female head (4).

[0010] The quick-change male head (3) comprises a quick-change clamping trigger rod (301), two symmetrically arranged quick-change clamping claws (302), two tension springs (303), two quick-change cover plates (304), a square flange linear motion bearing (305) and two cylindrical nuts (306);

[0011] A quick-change female head (4), comprising a quick-change locking trigger block (401), a locking sleeve (402), a female head base (403), a steel ball (404) and a sleeve limiting ring (405);

[0012] The bistable hanging and dismantling device (5) comprises a grounding cover plate (501), a hanging and dismantling cover plate (502), two tension springs (503), a self-locking clamping claw (504), a flexible self-locking block (505), a self-locking clamping claw (506), a hanging and dismantling trigger structure (507), two cylindrical nuts (508), a micro-slider (509), a micro-guide rail (510), an electric push rod (511), a telescopic rod (512) and a telescopic sleeve (513).

[0013] The quick-change male head (3) is used for quick connection and clamping with the end of the robot arm, and its clamping structure includes: the quick-change clamping claw (302) is provided with a U-shaped groove, and the two quick-change cover plates (304) are fixedly connected by the cylindrical nut (306), and the cylindrical nut (306) is embedded in the U-shaped groove; the front section of the quick-change clamping trigger rod (301) is a cylindrical structure, the front part of the cylinder is provided with a chamfer, and the middle part of the cylinder is provided with a 10mm wide groove, and the middle section of the quick-change clamping trigger rod (301) is provided with a raised cylindrical pin; the quick-change clamping claw (302) is connected to the end of the robot arm through the raised cylindrical pin. The quick-change clamping trigger rod (301) is pivotally connected to form a clamping mechanism that rotates around a pin shaft; the quick-change clamping jaw (302) is provided with a cylindrical protrusion, and the cylindrical protrusions of the two quick-change clamping jaws (302) are respectively connected to the cylindrical nut (306) through a tension spring (303); the square flange linear motion bearing (305) is fixedly connected to the quick-change cover plate (304) through a flange hole, and the tail section of the quick-change clamping trigger rod (301) is inserted into the bearing hole to achieve axial guidance; the tail of the quick-change cover plate (304) is provided with a mounting hole for connecting to the end of the four-degree-of-freedom robotic arm (2);

[0014] The quick-change female head (4) includes a locking mechanism, specifically: the quick-change locking trigger block (401) is rigidly connected to the locking sleeve (402), and the locking sleeve (402) can be driven to axially displace by external force; one end of the locking sleeve (402) is a cylinder, and the other end is a stepped sleeve shaft structure, and the inner diameter of the sleeve shaft is divided into a small diameter section and a large diameter section; in the locked state: when the small diameter section contacts the steel ball (404), the steel ball (404) is forced to protrude radially, thereby achieving axial locking; in the unlocked state State: when the large diameter section contacts the steel ball (404), the radial displacement space of the steel ball (404) is released, triggering unlocking; the female head base (403) is provided with a steel ball accommodating cavity, and the sliding sleeve limiting ring (405) is fixed to the end of the female head base (403) to limit the maximum displacement of the locking sliding sleeve (402); the bottom of the female head base (403) is provided with a threaded hole, which is threadedly connected to the grounding cover plate (501) and the hanging and dismantling cover plate (502) of the bistable hanging and dismantling device (5).

[0015] Combine Figure 4 、 Figure 6 、 Figure 11 、 Figure 9 Before the drone is hung on the ground wire, the initial state is set first, and the quick-connect female connector is connected to the quick-change male connector. Specifically, the hanging and dismantling trigger structure (507) of the bistable hanging and dismantling device (5) is first adjusted to the trigger clamping state, and the hanging and dismantling trigger structure (507) drives the telescopic sleeve (513) to move synchronously when it is displaced; when the displacement of the telescopic sleeve (513) exceeds a preset threshold, the telescopic rod (512) is driven to move axially, and then the quick-change locking trigger block (401) is linked to perform an unlocking action, so that the large diameter section of the locking sleeve (402) in the quick-change female connector (4) contacts the steel ball (404), releasing the radial displacement space of the steel ball, and keeping the quick-change female connector unlocked. Then, the clamping trigger rod (301) of the quick-change male head (3) is inserted into the female head base (403) of the quick-change female head (4); the electric push rod (511) is started to push the hanging and disassembling trigger structure (507) forward, driving the telescopic sleeve (513) to move, and reserving space for the movement of the locking trigger block (401); then, the locking trigger block (401) is driven to make the small diameter section of the locking sliding sleeve (402) contact with the steel ball (404), forcing the steel ball to protrude radially and be stuck in the 10mm wide groove of the clamping trigger rod (301), thereby completing axial locking; finally, the quick-change male head (3) is rotated to make the two quick-change clamping claws (302) embedded in the female head base (403), thereby achieving circumferential locking.

[0016] The bistable hanging and detaching device (5) includes a conductive and clamping structure, specifically: the grounding cover plate (501), the self-locking clamping claw 1 (504), and the self-locking clamping claw 2 (506) are made of conductive material, forming a conductive path from the self-locking clamping claw to the grounding cover plate; the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) are provided with a U-shaped groove, and the grounding cover plate (501) and the hanging and detaching cover plate (502) are fixedly connected by a cylindrical nut (508), and the cylindrical nut (508) is embedded in the U-shaped groove; the flexible self-locking block (505) is made of TPU, and a cylindrical protrusion is provided at its front end, which can be elastically deformed and embedded when squeezed. The self-locking jaw 2 (506) has a groove to form a mechanical self-locking; the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are provided with a cylindrical protrusion, which is connected to the cylindrical nut (508) through a tension spring (503); the micro guide rail (510) is fixed to the hanging and disassembly cover (502), and the micro slider (509) can slide linearly along the guide rail; the front part of the hanging and disassembly trigger structure (507) is a flat plate, the middle part is provided with a protruding cylindrical pin, and the tail part is connected to the micro slider (509); the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are pivotally connected to the protruding cylindrical pin to form a jaw opening and closing mechanism that rotates around the pin axis.

[0017] like Figure 1 、 Figure 9 、 Figure 13 As shown, the specific operation when hanging the ground wire is as follows: one end of the ground wire (6) is fixed to the ground cover (501) of the bistable hanging and removing device (5), and the other end is connected to the ground ground pin. The drone (1) is controlled to carry the bistable hanging and dismantling device (5) and the grounding wire (6) and fly to the vicinity of the grounding hanging ring (7), maintaining a safe distance of 60 cm from the power transmission line (8); after the drone hovers, the four-degree-of-freedom mechanical arm (2) adjusts the bistable hanging and dismantling device (5) to align with the grounding hanging ring (7); then the drone slowly approaches until the hanging and dismantling trigger structure (507) collides with the grounding hanging ring (7); the collision kinetic energy drives the hanging and dismantling trigger structure (507) to move backward along the micro guide rail (510), and at the same time, the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) rotate around the pin on the hanging and dismantling trigger structure (507) to close the clamping claw, and realizes rapid clamping based on the bistable energy transition principle; the quick-change female head (4) is synchronously triggered to unlock, the quick-change male head (3) is separated from the quick-change female head (4), the bistable hanging and dismantling device (5) and the grounding wire (6) are left on the grounding hanging ring (7), and the drone flies away to complete the hanging;

[0018] like Figure 13 As shown, after the quick-change male and female heads are separated, the bistable hanging and disassembly device (5) naturally droops due to the gravity of the grounding wire, and the flexible self-locking block (505) contacts and is stressed by the grounding hanging ring (7); the cylindrical protrusion at the front end of the flexible self-locking block is pressed and embedded in the groove of the second self-locking clamping claw (506). The greater the gravity, the stronger the locking force, ensuring the stability of the device.

[0019] The bistable hanging and dismantling device (5) includes a driving linkage mechanism, specifically: when the front plate of the hanging and dismantling trigger structure (507) is subjected to external force, the driving structure drives the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) to move backward along the micro guide rail (510), so that the clamping claws are closed; the electric push rod (511) is fixed to the hanging and dismantling cover plate (502), and its output end is axially aligned with the tail end of the hanging and dismantling trigger structure (507). When power is turned on, the electric push rod (511) pushes the hanging and dismantling trigger structure (507) to move backward. The structure (507) moves forward to open the clamping claws; one end of the telescopic rod (512) is slidably arranged in the telescopic sleeve (513), and the other end is fixedly connected to the quick-change locking trigger block (401) of the quick-change female head (4); the telescopic sleeve (513) is fixedly connected to the hanging and dismantling trigger structure (507), and when the hanging and dismantling trigger structure (507) is displaced, the telescopic sleeve (513) is driven to move, and then the quick-change locking trigger block (401) is driven to unlock through the telescopic rod (512).

[0020] like Figure 13 、 Figure 14 、 Figure 15 As shown, when the ground wire needs to be removed, the drone is controlled to fly to the ground hanging ring (7) and hover, the four-degree-of-freedom mechanical arm (2) moves, and the quick-change male head (3) is used as a clamping device to align with the bistable hanging and removing device (5); the drone continues to approach, so that the quick-change clamping trigger rod (301) collides with the bistable hanging and removing device (5), and the quick-change clamping trigger rod (301) moves axially along the square flange linear motion bearing (305), so that the two clamping claws (302) rotate around the cylindrical pin, thereby achieving stable clamping of the bistable hanging and removing device (5). Next, the robotic arm lifts the bistable hanging and dismantling device (5) by 1-2 cm, so that the flexible self-locking block (505) is no longer in contact with the grounding hanging ring (7), and the force on the flexible self-locking block (505) is released, and the cylindrical protrusion at the front end is reset from the groove of the self-locking clamping jaw 2 (506); then the electric push rod (511) is started to push the hanging and dismantling trigger structure (507) forward, driving the self-locking clamping jaw 1 (504) and the self-locking clamping jaw 2 (506) to rotate and open around the pin on the quick-change clamping trigger rod (301), thereby releasing the grounding hanging ring (7);

[0021] The UAV returns to the ground carrying the bistable hanging and dismantling device (5) and the grounding wire (6), completing the dismantling;

[0022] The electric push rod can be powered by its own battery, or powered by a drone after being connected, or powered by a power transmission line.

[0023] The present invention uses a bistable clamp based on the spring energy storage principle as the clamping mechanism of the grounding hanging ring, and innovatively introduces the drone flight kinetic energy trigger mechanism. The kinetic energy generated during the drone flight process causes the head of the hanging and detaching trigger structure of the bistable hanging and detaching device to collide with the grounding hanging ring, thereby clamping the grounding hanging ring. After the hanging and detaching trigger structure is triggered by force, the unlocking of the quick-change female head is synchronously triggered to separate the quick-change male and female heads. The quick-change male head can be used as the end clamp of the robotic arm. When the grounding wire needs to be removed, the drone is controlled to fly near the grounding hanging ring, and the quick-change male head clamps the bistable hanging and detaching device. Then, the electric push rod only needs to push the tail of the hanging and detaching trigger structure to make the bistable hanging and detaching device loosen the grounding hanging ring, thereby removing the grounding wire. The present invention breaks through the bottleneck of traditional manual tower climbing operations, reduces the risk of grounding wire operations to zero contact level, promotes the transformation of power maintenance to unmanned and intelligent operations, and provides core equipment support for the construction of new power systems. It is suitable for grounding wire hanging and removal operations of medium and low voltage transmission lines with grounding hanging rings below 35kV, and is particularly suitable for: complex mountainous areas and other areas that are difficult to reach manually, as well as for rapid power supply restoration after typhoons and ice and snow disasters.

[0024] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: the drone-mounted ground wire removal robot for medium and low voltage transmission lines of the present invention achieves the following significant technical advantages by integrating a bistable mounting and removal device with an intelligent quick-change system:

[0025] 1. Bistable quick-attachment: The bistable clamping mechanism is triggered by mechanical collision, closing the clamping jaws and unlocking the quick-change female connector at the moment of attachment, avoiding the risk of equipment damage caused by arcing through the air during traditional operation.

[0026] 2. Zero power consumption self-locking and holding: After the hooking is completed, the flexible self-locking block (505) and the tension spring (503) work together to form a continuous self-locking force to ensure that the grounding wire has no risk of falling off;

[0027] 3. Strong adaptability: Suitable for Φ8-30mm grounding rings, covering bare conductors, insulated conductors and conductors with grounding rings of 10kV and below;

[0028] 4. Multi-mode switching: The quick-change male connector (3) has the function of a gripper at the end of the robotic arm, supporting grabbing and quick-change dual-mode switching, expanding the UAV's operational capabilities in complex terrain (such as mountainous areas and urban pipe networks);

[0029] 5. Modular quick-change system: The time required for quick-change male and female connectors to separate / docking is less than 5 seconds. After the connection is completed, the drone can fly away autonomously. The bistable connection and removal device (5) and the grounding wire are left on the grounding ring.

[0030] 6. Rapid recovery: The electric push rod (511) triggers the clamping jaws to unlock, thereby achieving rapid recovery of the device.

[0031] The present invention uses a bistable hanging and detaching device equipped on a drone, one end of the grounding wire is connected to the ground and the other end is connected to the bistable hanging and detaching device. The hanging process of the grounding wire is quickly triggered by the bistable characteristics to avoid arc breakdown of the air. The grounding wire can also be self-locked after hanging. Compared with manual hanging of the grounding wire, it can improve efficiency and safety, and avoid the grounding wire falling off due to loose hanging. Compared with other drone grounding wire hanging solutions, this solution is not only suitable for high-voltage bare wires, but also for medium and low voltage wires with grounding hanging rings, which increases the operating range.

[0032] The core innovation of the technical solution of this invention lies in: proposing a drone-based ground wire removal robot for medium and low voltage transmission lines. Based on the drone-manipulator collaborative operation architecture, it achieves efficient ground wire removal operations through the deep integration of a bistable hanging and removal device and a modular quick-change system. The specific innovations are as follows:

[0033] 1. Passive trigger clamping: The collision kinetic energy of the head of the hanging and disassembly trigger structure is used by the grounding hanging ring to drive the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) to close, and the bistable energy transition principle is used to achieve instantaneous clamping, synchronously triggering the quick-change female head (4) to unlock, and completing the automatic separation of the device and the drone.

[0034] 2. Active electric unlocking: The electric push rod (511) pushes the tail of the hook and dismantle trigger structure (507) to reversely trigger the opening and closing of the clamping claws to achieve the disassembly of the grounding hook.

[0035] 3. Flexible self-locking design: Based on the synergistic effect of the self-locking clamp and the flexible self-locking block, the flexible self-locking block (505) is made of TPU, and a cylindrical protrusion is provided at its front end. When squeezed, it can elastically deform and embed into the groove of the second self-locking clamp (506), forming a mechanical self-locking; it is suitable for grounding hanging rings with a diameter range of Φ8-30mm, and is compatible with various scenarios such as bare wires and insulated wires.

[0036] 4. Multifunctional quick-change male connector (3): integrated into the end of the four-degree-of-freedom robotic arm (2), it has the dual functions of a quick-change interface and an end gripper, and supports switching between grasping and quick-change modes.

[0037] 5. Steel ball locking mechanism: The quick-change female head (4) can achieve rapid docking / separation of the male and female heads within 5 seconds through the stepped sleeve shaft structure of the locking sleeve (402) and the steel ball (404). After the operation, the drone can be detached and the bistable device can be retained on the ground hanging ring.

[0038] The present invention integrates bistable dynamic design with an intelligent quick-change system, breaking through the limitations of the adaptability of traditional drone mounting and removal devices to medium and low voltage lines, providing high-reliability technical equipment for smart grid construction, and promoting the transformation of power maintenance operations towards standardization and unmanned operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0040] Attachment Figure 1 This is a schematic diagram of the ground wire hanging and removing robot structure of the UAV of the present invention;

[0041] Attachment Figure 2 It is a schematic structural diagram of the bistable hanging and dismantling device and the bistable quick-change joint in the present invention;

[0042] Attachment Figure 3 Schematic diagram of the quick-change male connector structure in the present invention;

[0043] Attachment Figure 4 This is a schematic diagram of the internal structure of the quick-change male connector of the present invention after the quick-change cover is removed;

[0044] Attachment Figure 5 This is an exploded view of the quick-change male connector of the present invention;

[0045] Attachment Figure 6 This is a cross-sectional view of the quick-change female connector of the present invention;

[0046] Attachment Figure 7 This is an exploded view of the quick-change female connector in the present invention;

[0047] Attachment Figure 8 This is a schematic structural diagram of the bistable hanging and dismantling device of the present invention;

[0048] Attachment Figure 9 A half-section view of the bistable hanging and dismantling device of the present invention;

[0049] Attachment Figure 10 This is an exploded view of the bistable hanging and dismantling device of the present invention;

[0050] Attachment Figure 11 Schematic diagram of the locking state of the quick-change female head and the quick-change male head in the present invention;

[0051] Attachment Figure 12 This is a schematic diagram of the unlocked state of the quick-change female connector and the quick-change male connector in the present invention;

[0052] Attachment Figure 13 This is a schematic diagram of the completion of the UAV ground wire hanging and removing robot hanging the ground wire in the present invention;

[0053] Attachment Figure 14 This is a schematic diagram of the ground wire removal robot for the drone in the present invention;

[0054] Attachment Figure 15 This is a schematic diagram of the drone ground wire removal robot completing its operation in the present invention;

[0055] In the figure: UAV (1), four-degree-of-freedom robotic arm (2), quick-change male head (3), quick-change female head (4), bistable hanging and disassembling device (5), quick-change clamping trigger rod (301), quick-change clamping claw (302), tension spring (303), quick-change cover plate (304), square flange linear motion bearing (305), cylindrical nut (306), quick-change locking trigger block (401), locking sleeve (402), female head base (403), steel ball (404), sleeve limit ring (405) , a grounding cover plate (501), a hanging and dismantling cover plate (502), two tension springs (503), a self-locking clamping claw (504), a flexible self-locking block (505), a self-locking clamping claw (506), a hanging and dismantling trigger structure (507), two cylindrical nuts (508), a micro slider (509), a micro guide rail (510), an electric push rod (511), a telescopic rod (512), a telescopic sleeve (513), a grounding wire (6), a grounding hanging ring (7), a transmission line (8), and an insulator (9). DETAILED DESCRIPTION

[0056] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0057] As shown in the figure, a drone-mounted grounding wire removal robot for medium and low voltage transmission lines is provided. The robot is a drone (1), and a grounding wire removal device extending laterally is provided at the bottom of the drone. The grounding wire removal device comprises a mechanical arm with a quick-change male connector (3), and also comprises a bistable hanging and removing device (5) for fixing the grounding wire with a grounding cover plate. The tail end of the bistable hanging and removing device is provided with a quick-change female connector (4) that can be detachably connected to the quick-change male connector (3), and the head end is provided with an electric push rod and a clamping claw. When the drone installs the grounding wire, the clamping claw hits the grounding hanging ring of the transmission line during flight to trigger the hanging and removing trigger structure. The hanging and removing trigger structure drives the quick-change female connector to separate from the quick-change male connector and retracts the clamping claw at the same time, so that the grounding wire is hung on the grounding hanging ring by being separated from the drone's bistable hanging and removing device. When the drone removes the grounding wire, the quick-change male connector of the mechanical arm is first used to clamp the bistable hanging and removing device at the grounding hanging ring, and then the electric push rod is driven to release the clamping claw from the grounding hanging ring.

[0058] The clamp is a bistable clamp that works based on the spring energy storage principle. The drone is a remote-controlled drone (1) equipped with a camera and an image transmission module. When the drone is installing a grounding wire, the camera is used to align the bistable hanging and removing device carried by the drone with the grounding hanging ring and cause it to collide. When the drone is removing the grounding wire, the camera is used to enable the drone to accurately clamp the quick-change male connector to the bistable hanging and removing device.

[0059] The robotic arm is a four-degree-of-freedom robotic arm (2), the quick-change male head (3) is installed at the end of the four-degree-of-freedom robotic arm (2), the quick-change female head (4) is fixed to the tail end of the bistable hanging and detaching device (5), and the bistable hanging and detaching device (5) is detachably connected to the quick-change male head (3) through the quick-change female head (4).

[0060] The quick-change male head (3) comprises a quick-change clamping trigger rod (301), two symmetrically arranged quick-change clamping claws (302), two tension springs (303), two quick-change cover plates (304), a square flange linear motion bearing (305) and two cylindrical nuts (306);

[0061] A quick-change female head (4), comprising a quick-change locking trigger block (401), a locking sleeve (402), a female head base (403), a steel ball (404) and a sleeve limiting ring (405);

[0062] The bistable hanging and dismantling device (5) comprises a grounding cover plate (501), a hanging and dismantling cover plate (502), two tension springs (503), a self-locking clamping claw (504), a flexible self-locking block (505), a self-locking clamping claw (506), a hanging and dismantling trigger structure (507), two cylindrical nuts (508), a micro-slider (509), a micro-guide rail (510), an electric push rod (511), a telescopic rod (512) and a telescopic sleeve (513).

[0063] The quick-change male head (3) is used for quick connection and clamping with the end of the robot arm, and its clamping structure includes: the quick-change clamping claw (302) is provided with a U-shaped groove, and the two quick-change cover plates (304) are fixedly connected by the cylindrical nut (306), and the cylindrical nut (306) is embedded in the U-shaped groove; the front section of the quick-change clamping trigger rod (301) is a cylindrical structure, the front part of the cylinder is provided with a chamfer, and the middle part of the cylinder is provided with a 10mm wide groove, and the middle section of the quick-change clamping trigger rod (301) is provided with a raised cylindrical pin; the quick-change clamping claw (302) is connected to the end of the robot arm through the raised cylindrical pin. The quick-change clamping trigger rod (301) is pivotally connected to form a clamping mechanism that rotates around a pin shaft; the quick-change clamping jaw (302) is provided with a cylindrical protrusion, and the cylindrical protrusions of the two quick-change clamping jaws (302) are respectively connected to the cylindrical nut (306) through a tension spring (303); the square flange linear motion bearing (305) is fixedly connected to the quick-change cover plate (304) through a flange hole, and the tail section of the quick-change clamping trigger rod (301) is inserted into the bearing hole to achieve axial guidance; the tail of the quick-change cover plate (304) is provided with a mounting hole for connecting to the end of the four-degree-of-freedom robotic arm (2);

[0064] The quick-change female head (4) includes a locking mechanism, specifically: the quick-change locking trigger block (401) is rigidly connected to the locking sleeve (402), and the locking sleeve (402) can be driven to axially displace by external force; one end of the locking sleeve (402) is a cylinder, and the other end is a stepped sleeve shaft structure, and the inner diameter of the sleeve shaft is divided into a small diameter section and a large diameter section; in the locked state: when the small diameter section contacts the steel ball (404), the steel ball (404) is forced to protrude radially, thereby achieving axial locking; in the unlocked state State: when the large diameter section contacts the steel ball (404), the radial displacement space of the steel ball (404) is released, triggering unlocking; the female head base (403) is provided with a steel ball accommodating cavity, and the sliding sleeve limiting ring (405) is fixed to the end of the female head base (403) to limit the maximum displacement of the locking sliding sleeve (402); the bottom of the female head base (403) is provided with a threaded hole, which is threadedly connected to the grounding cover plate (501) and the hanging and dismantling cover plate (502) of the bistable hanging and dismantling device (5).

[0065] Combine Figure 4 、 Figure 6 、 Figure 11 、 Figure 9 Before the drone is hung on the ground wire, the initial state is set first, and the quick-connect female connector is connected to the quick-change male connector. Specifically, the hanging and dismantling trigger structure (507) of the bistable hanging and dismantling device (5) is first adjusted to the trigger clamping state, and the hanging and dismantling trigger structure (507) drives the telescopic sleeve (513) to move synchronously when it is displaced; when the displacement of the telescopic sleeve (513) exceeds a preset threshold, the telescopic rod (512) is driven to move axially, and then the quick-change locking trigger block (401) is linked to perform an unlocking action, so that the large diameter section of the locking sleeve (402) in the quick-change female connector (4) contacts the steel ball (404), releasing the radial displacement space of the steel ball, and keeping the quick-change female connector unlocked. Then, the clamping trigger rod (301) of the quick-change male head (3) is inserted into the female head base (403) of the quick-change female head (4); the electric push rod (511) is started to push the hanging and disassembling trigger structure (507) forward, driving the telescopic sleeve (513) to move, and reserving space for the movement of the locking trigger block (401); then, the locking trigger block (401) is driven to make the small diameter section of the locking sliding sleeve (402) contact with the steel ball (404), forcing the steel ball to protrude radially and be stuck in the 10mm wide groove of the clamping trigger rod (301), thereby completing axial locking; finally, the quick-change male head (3) is rotated to make the two quick-change clamping claws (302) embedded in the female head base (403), thereby achieving circumferential locking.

[0066] The bistable hanging and detaching device (5) includes a conductive and clamping structure, specifically: the grounding cover plate (501), the self-locking clamping claw 1 (504), and the self-locking clamping claw 2 (506) are made of conductive material, forming a conductive path from the self-locking clamping claw to the grounding cover plate; the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) are provided with a U-shaped groove, and the grounding cover plate (501) and the hanging and detaching cover plate (502) are fixedly connected by a cylindrical nut (508), and the cylindrical nut (508) is embedded in the U-shaped groove; the flexible self-locking block (505) is made of TPU, and a cylindrical protrusion is provided at its front end, which can be elastically deformed and embedded when squeezed. The self-locking jaw 2 (506) has a groove to form a mechanical self-locking; the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are provided with a cylindrical protrusion, which is connected to the cylindrical nut (508) through a tension spring (503); the micro guide rail (510) is fixed to the hanging and disassembly cover (502), and the micro slider (509) can slide linearly along the guide rail; the front part of the hanging and disassembly trigger structure (507) is a flat plate, the middle part is provided with a protruding cylindrical pin, and the tail part is connected to the micro slider (509); the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are pivotally connected to the protruding cylindrical pin to form a jaw opening and closing mechanism that rotates around the pin axis.

[0067] like Figure 1 、 Figure 9 、 Figure 13 As shown, the specific operation when hanging the ground wire is as follows: one end of the ground wire (6) is fixed to the ground cover (501) of the bistable hanging and removing device (5), and the other end is connected to the ground ground pin. The drone (1) is controlled to carry the bistable hanging and dismantling device (5) and the grounding wire (6) and fly to the vicinity of the grounding hanging ring (7), maintaining a safe distance of 60 cm from the power transmission line (8); after the drone hovers, the four-degree-of-freedom mechanical arm (2) adjusts the bistable hanging and dismantling device (5) to align with the grounding hanging ring (7); then the drone slowly approaches until the hanging and dismantling trigger structure (507) collides with the grounding hanging ring (7); the collision kinetic energy drives the hanging and dismantling trigger structure (507) to move backward along the micro guide rail (510), and at the same time, the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) rotate around the pin on the hanging and dismantling trigger structure (507) to close the clamping claw, and realizes rapid clamping based on the bistable energy transition principle; the quick-change female head (4) is synchronously triggered to unlock, the quick-change male head (3) is separated from the quick-change female head (4), the bistable hanging and dismantling device (5) and the grounding wire (6) are left on the grounding hanging ring (7), and the drone flies away to complete the hanging;

[0068] like Figure 13 As shown, after the quick-change male and female heads are separated, the bistable hanging and disassembly device (5) naturally droops due to the gravity of the grounding wire, and the flexible self-locking block (505) contacts and is stressed by the grounding hanging ring (7); the cylindrical protrusion at the front end of the flexible self-locking block is pressed and embedded in the groove of the second self-locking clamping claw (506). The greater the gravity, the stronger the locking force, ensuring the stability of the device.

[0069] The bistable hanging and dismantling device (5) includes a driving linkage mechanism, specifically: when the front plate of the hanging and dismantling trigger structure (507) is subjected to external force, the driving structure drives the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) to move backward along the micro guide rail (510), so that the clamping claws are closed; the electric push rod (511) is fixed to the hanging and dismantling cover plate (502), and its output end is axially aligned with the tail end of the hanging and dismantling trigger structure (507). When power is turned on, the electric push rod (511) pushes the hanging and dismantling trigger structure (507) to move backward. The structure (507) moves forward to open the clamping claws; one end of the telescopic rod (512) is slidably arranged in the telescopic sleeve (513), and the other end is fixedly connected to the quick-change locking trigger block (401) of the quick-change female head (4); the telescopic sleeve (513) is fixedly connected to the hanging and dismantling trigger structure (507), and when the hanging and dismantling trigger structure (507) is displaced, the telescopic sleeve (513) is driven to move, and then the quick-change locking trigger block (401) is driven to unlock through the telescopic rod (512).

[0070] like Figure 13 、 Figure 14 、 Figure 15 As shown, when the ground wire needs to be removed, the drone is controlled to fly to the ground hanging ring (7) and hover, the four-degree-of-freedom mechanical arm (2) moves, and the quick-change male head (3) is used as a clamping device to align with the bistable hanging and removing device (5); the drone continues to approach, so that the quick-change clamping trigger rod (301) collides with the bistable hanging and removing device (5), and the quick-change clamping trigger rod (301) moves axially along the square flange linear motion bearing (305), so that the two clamping claws (302) rotate around the cylindrical pin, thereby achieving stable clamping of the bistable hanging and removing device (5). Next, the robotic arm lifts the bistable hanging and dismantling device (5) by 1-2 cm, so that the flexible self-locking block (505) is no longer in contact with the grounding hanging ring (7), and the force on the flexible self-locking block (505) is released, and the cylindrical protrusion at the front end is reset from the groove of the self-locking clamping jaw 2 (506); then the electric push rod (511) is started to push the hanging and dismantling trigger structure (507) forward, driving the self-locking clamping jaw 1 (504) and the self-locking clamping jaw 2 (506) to rotate and open around the pin on the quick-change clamping trigger rod (301), thereby releasing the grounding hanging ring (7);

[0071] The UAV returns to the ground carrying the bistable hanging and dismantling device (5) and the grounding wire (6), completing the dismantling;

[0072] The electric push rod can be powered by its own battery, or powered by a drone after being connected, or powered by a power transmission line.

[0073] In this example, the drone (1), as an aerial vehicle, is equipped with a four-degree-of-freedom robotic arm (2) to achieve precise positioning and manipulation;

[0074] The four-degree-of-freedom robotic arm (2) is integrated with a quick-change male connector (3) at the end, providing multi-angle operation capabilities;

[0075] When the front plate of the hook and detachment trigger structure (507) is acted upon by an external force, the driving structure drives the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) to perform linear displacement along the micro guide rail (510);

[0076] The electric push rod (511) is fixedly mounted on the hanging and dismantling cover plate (502), and its output end is axially aligned with the tail end of the hanging and dismantling trigger structure (507);

[0077] The electric push rod (511) pushes the hook and detachment trigger structure (507) forward when energized, and a non-fixed contact design is adopted between the two to avoid mechanical interference;

[0078] One end of the telescopic rod (512) is slidably arranged in the inner cavity of the telescopic sleeve (513), and the other end is fixedly connected to the quick-change locking trigger block (401) of the quick-change female head (4);

[0079] The telescopic sleeve (513) is fixedly connected to the hanging and dismantling trigger structure (507), and when the hanging and dismantling trigger structure (507) is displaced, the telescopic sleeve (513) is driven to move synchronously; when the displacement of the telescopic sleeve (513) exceeds a preset threshold, the telescopic rod (512) is driven to move axially, thereby linking the quick-change locking trigger block (401) to perform an unlocking action.

[0080] In this example, the drone (1) is a commercial drone. The drone (1) includes a high-definition camera and an image transmission module. The image of the high-definition camera data can be transmitted in real time to the screen of the ground remote controller through the image transmission module, allowing the operator to observe the position of the drone relative to the operating area and adjust the drone's posture in real time through remote control to align it so as to accurately perform the operation.

Claims

1. A drone-mounted grounding wire removal robot for medium and low voltage transmission lines, characterized by: The robot is a drone (1), and a grounding wire hanging and removing device extending laterally is provided at the bottom of the drone; the grounding wire hanging and removing device comprises a mechanical arm with a quick-change male head (3), and also comprises a bistable hanging and removing device (5) for fixing the grounding wire with a grounding cover plate; a quick-change female head (4) which can be detachably connected to the quick-change male head (3) is provided at the tail end of the bistable hanging and removing device, and an electric push rod and a clamping claw are provided at the head end; when the drone installs the grounding wire, the clamping claw hits the grounding hanging ring of the power transmission line during flight to trigger the hanging and removing trigger structure, and the hanging and removing trigger structure drives the quick-change female head to separate from the quick-change male head and retracts the clamping claw at the same time, so that the grounding wire is hung on the grounding hanging ring by being separated from the bistable hanging and removing device of the drone; when the drone removes the grounding wire, the quick-change male head of the mechanical arm is first used to clamp the bistable hanging and removing device at the grounding hanging ring, and then the electric push rod is driven to release the clamping claw from the grounding hanging ring.

2. The medium and low voltage transmission line unmanned aerial vehicle ground wire removal robot according to claim 1, characterized in that: The clamp is a bistable clamp that works based on the spring energy storage principle. The drone is a remote-controlled drone (1) equipped with a camera and an image transmission module. When the drone is installing a grounding wire, the camera is used to align the bistable hanging and removing device carried by the drone with the grounding hanging ring and cause it to collide. When the drone is removing the grounding wire, the camera is used to enable the drone to accurately clamp the quick-change male connector to the bistable hanging and removing device.

3. The medium and low voltage transmission line ground wire hanging and removal robot according to claim 1, characterized in that: The robotic arm is a four-degree-of-freedom robotic arm (2), the quick-change male head (3) is installed at the end of the four-degree-of-freedom robotic arm (2), the quick-change female head (4) is fixed to the tail end of the bistable hanging and detaching device (5), and the bistable hanging and detaching device (5) is detachably connected to the quick-change male head (3) through the quick-change female head (4).

4. The medium and low voltage transmission line ground wire hanging and removal robot according to claim 3, characterized in that: The quick-change male head (3) comprises a quick-change clamping trigger rod (301), two symmetrically arranged quick-change clamping claws (302), two tension springs (303), two quick-change cover plates (304), a square flange linear motion bearing (305) and two cylindrical nuts (306); A quick-change female head (4), comprising a quick-change locking trigger block (401), a locking sleeve (402), a female head base (403), a steel ball (404) and a sleeve limiting ring (405); The bistable hanging and dismantling device (5) comprises a grounding cover plate (501), a hanging and dismantling cover plate (502), two tension springs (503), a self-locking clamping claw (504), a flexible self-locking block (505), a self-locking clamping claw (506), a hanging and dismantling trigger structure (507), two cylindrical nuts (508), a micro-slider (509), a micro-guide rail (510), an electric push rod (511), a telescopic rod (512) and a telescopic sleeve (513).

5. The medium and low voltage transmission line ground wire hanging and removal robot according to claim 4, characterized in that: The quick-change male head (3) is used for quick connection and clamping with the end of the robot arm, and its clamping structure includes: the quick-change clamping claw (302) is provided with a U-shaped groove, and the two quick-change cover plates (304) are fixedly connected by the cylindrical nut (306), and the cylindrical nut (306) is embedded in the U-shaped groove; the front section of the quick-change clamping trigger rod (301) is a cylindrical structure, the front part of the cylinder is provided with a chamfer, the middle part of the cylinder is provided with a groove, and the middle section of the quick-change clamping trigger rod (301) is provided with a protruding cylindrical pin; the quick-change clamping claw ( 302) is pivotally connected to the quick-change clamping trigger rod (301) through the protruding cylindrical pin to form a clamping mechanism that rotates around the pin axis; the quick-change clamping jaw (302) is provided with a cylindrical protrusion, and the cylindrical protrusions of the two quick-change clamping jaws (302) are respectively connected to the cylindrical nut (306) through the tension spring (303); the flange linear motion bearing (305) is fixedly connected to the quick-change cover plate (304) through the flange hole, and the tail section of the quick-change clamping trigger rod (301) is inserted into the bearing hole to realize axial guidance; the quick-change cover The tail of the plate (304) is provided with a mounting hole for connecting with the end of the four-degree-of-freedom robot arm (2); the quick-change female head (4) includes a locking mechanism, specifically: the quick-change locking trigger block (401) is rigidly connected to the locking sleeve (402), and the locking sleeve (402) can be driven to axially displace by external force; one end of the locking sleeve (402) is a cylinder, and the other end is a stepped sleeve shaft structure, and the inner diameter of the sleeve shaft is divided into a small diameter section and a large diameter section; in the locked state: when the small diameter section contacts the steel ball (404), the steel ball (404) is forced to rotate. ) radially protrudes to achieve axial locking; unlocked state: when the large diameter section contacts the steel ball (404), the radial displacement space of the steel ball (404) is released, triggering unlocking; a steel ball accommodating cavity is provided in the female head base (403), and the sliding sleeve limiting ring (405) is fixed to the end of the female head base (403) to limit the maximum displacement of the locking sliding sleeve (402); a threaded hole is provided at the bottom of the female head base (403), which is threadedly connected to the grounding cover plate (501) and the hanging and dismantling cover plate (502) of the bistable hanging and dismantling device (5).

6. The drone-mounted ground wire removal robot for medium and low voltage power transmission lines according to claim 5, characterized in that: Before the drone is hung on the ground wire, an initial state is set first, and the quick-connect female connector is connected to the quick-change male connector. Specifically, the hanging and dismantling trigger structure (507) of the bistable hanging and dismantling device (5) is first adjusted to a trigger clamping state, and the hanging and dismantling trigger structure (507) drives the telescopic sleeve (513) to move synchronously when it is displaced; when the displacement of the telescopic sleeve (513) exceeds a preset threshold, the telescopic rod (512) is driven to move axially, and then the quick-change locking trigger block (401) is linked to perform an unlocking action, so that the large-diameter section of the locking sleeve (402) in the quick-change female connector (4) contacts the steel ball (404), releasing the radial displacement space of the steel ball, and keeping the quick-change female connector unlocked. Then, the clamping trigger rod (301) of the quick-change male head (3) is inserted into the female head base (403) of the quick-change female head (4); the electric push rod (511) is started to push the hanging and disassembling trigger structure (507) forward, driving the telescopic sleeve (513) to move, and reserving space for the movement of the locking trigger block (401); then, the locking trigger block (401) is driven to make the small diameter section of the locking sleeve (402) contact with the steel ball (404), forcing the steel ball to protrude radially and be stuck in the wide groove of the clamping trigger rod (301), thereby completing axial locking; finally, the quick-change male head (3) is rotated to make the two quick-change clamping claws (302) embedded in the female head base (403), thereby achieving circumferential locking.

7. The drone-mounted ground wire removal robot for medium and low voltage power transmission lines according to claim 4 is characterized in that: The bistable hanging and detaching device (5) includes a conductive and clamping structure, specifically: the grounding cover plate (501), the self-locking clamping claw 1 (504), and the self-locking clamping claw 2 (506) are made of conductive material, forming a conductive path from the self-locking clamping claw to the grounding cover plate; the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) are provided with a U-shaped groove, and the grounding cover plate (501) and the hanging and detaching cover plate (502) are fixedly connected by a cylindrical nut (508), and the cylindrical nut (508) is embedded in the U-shaped groove; the flexible self-locking block (505) is made of TPU, and a cylindrical protrusion is provided at its front end, which can be elastically deformed and embedded when squeezed. The self-locking jaw 2 (506) has a groove to form a mechanical self-locking; the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are provided with a cylindrical protrusion, which is connected to the cylindrical nut (508) through a tension spring (503); the micro guide rail (510) is fixed to the hanging and disassembly cover (502), and the micro slider (509) can slide linearly along the guide rail; the front part of the hanging and disassembly trigger structure (507) is a flat plate, the middle part is provided with a protruding cylindrical pin, and the tail part is connected to the micro slider (509); the self-locking jaw 1 (504) and the self-locking jaw 2 (506) are pivotally connected to the protruding cylindrical pin to form a jaw opening and closing mechanism that rotates around the pin axis.

8. The drone-mounted ground wire removal robot for medium and low voltage power transmission lines according to claim 7, characterized in that: The specific operation of hanging the ground wire is as follows: fix one end of the ground wire (6) to the ground cover (501) of the bistable hanging and detaching device (5), and connect the other end to the ground pin. Control the drone (1) to fly near the ground hanging ring (7) with the bistable hanging and detaching device (5) and the ground wire (6), and keep a safe distance from the power transmission line (8); After the drone is hovering, the four-degree-of-freedom mechanical arm (2) adjusts the bistable hanging and dismantling device (5) to align with the grounding hanging ring (7); then the drone slowly approaches until the hanging and dismantling trigger structure (507) collides with the grounding hanging ring (7); the collision kinetic energy drives the hanging and dismantling trigger structure (507) to move backward along the micro guide rail (510), and at the same time, the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) rotate around the pin on the hanging and dismantling trigger structure (507) to close the clamping claw, and realizes rapid clamping based on the bistable energy transition principle; the quick-change female head (4) is synchronously triggered to unlock, the quick-change male head (3) is separated from the quick-change female head (4), the bistable hanging and dismantling device (5) and the grounding wire (6) are left on the grounding hanging ring (7), and the drone flies away to complete the hanging; In conjunction with Figure 13, after the quick-change male and female heads are separated, the bistable hanging and disassembly device (5) naturally droops due to the gravity of the grounding wire, and the flexible self-locking block (505) contacts and is subjected to force with the grounding hanging ring (7); the cylindrical protrusion at the front end of the flexible self-locking block is pressed and embedded in the groove of the second self-locking clamping claw (506) for locking.

9. The medium and low voltage transmission line ground wire hanging and removal robot according to claim 4, characterized in that: The bistable hanging and dismantling device (5) includes a driving linkage mechanism, specifically: when the front plate of the hanging and dismantling trigger structure (507) is subjected to external force, the driving structure drives the self-locking clamping claw 1 (504) and the self-locking clamping claw 2 (506) to move backward along the micro guide rail (510), so that the clamping claws are closed; the electric push rod (511) is fixed to the hanging and dismantling cover plate (502), and its output end is axially aligned with the tail end of the hanging and dismantling trigger structure (507). When power is turned on, the electric push rod (511) pushes the hanging and dismantling trigger structure (507) to move backward. The structure (507) moves forward to open the clamping claws; one end of the telescopic rod (512) is slidably arranged in the telescopic sleeve (513), and the other end is fixedly connected to the quick-change locking trigger block (401) of the quick-change female head (4); the telescopic sleeve (513) is fixedly connected to the hanging and dismantling trigger structure (507), and when the hanging and dismantling trigger structure (507) is displaced, the telescopic sleeve (513) is driven to move, and then the quick-change locking trigger block (401) is driven to unlock through the telescopic rod (512).

10. The drone-mounted ground wire removal robot for medium and low voltage power transmission lines according to claim 9, characterized in that: When the grounding wire needs to be disassembled, the drone is controlled to fly to the grounding hanging ring (7) and hover, the four-degree-of-freedom mechanical arm (2) moves, and the quick-change male head (3) is used as a clamping device to align the bistable hanging and disassembling device (5); the drone continues to approach, so that the quick-change clamping trigger rod (301) collides with the bistable hanging and disassembling device (5), and the quick-change clamping trigger rod (301) moves axially along the square flange linear motion bearing (305), so that the two clamping claws (302) rotate around the cylindrical pin, and the bistable hanging and disassembling device (5) is stabilized. Fixed clamping; Next, the robotic arm pulls up the bistable hanging and dismantling device (5), so that the flexible self-locking block (505) and the grounding hanging ring (7) no longer contact each other, and the force on the flexible self-locking block (505) is released, and its front cylindrical protrusion is reset from the groove of the self-locking clamping jaw 2 (506); Then the electric push rod (511) is started to push the hanging and dismantling trigger structure (507) forward, driving the self-locking clamping jaw 1 (504) and the self-locking clamping jaw 2 (506) to rotate and open around the pin on the quick-change clamping trigger rod (301), thereby releasing the grounding hanging ring (7); The UAV returns to the ground carrying the bistable hanging and dismantling device (5) and the grounding wire (6).

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