Ground ring mounting device, mounting method, and stripping ground ring mounting robot

Abstract

The present application relates to the technical field of grounding ring installation, and discloses a grounding ring installation device, a grounding ring installation method and a grounding ring installation robot, which comprises a carrier, a hoisting mechanism, a front walking mechanism, a rear walking mechanism and a grounding ring installation mechanism, wherein the grounding ring installation mechanism comprises a second mounting frame, a second lifting and swinging assembly, a first y-direction adjusting assembly, a sliding frame, a mounting seat, a nut locking assembly and a knocking and closing assembly; the grounding ring is loaded into a limiting groove on the ground, the whole grounding ring installation robot is lifted from the ground to the position of a wire in the air, the front walking mechanism and the rear walking mechanism are hung on the upper end of the wire, and the exposed core is adjusted to the position of the grounding ring; the sleeve of the nut locking assembly is aligned with the nut, and the nut locking assembly tightens the nut; the knocking frame of the knocking and closing assembly rotates to knock the insulating shell to close it; through the cooperation of multiple assemblies, automatic tightening of the grounding ring and automatic closing of the insulating shell are realized, and the installation efficiency is high and reliable.

Description

Technical Field

[0001] This invention relates to the field of grounding ring installation technology, and particularly to grounding ring installation device, installation method, and grounding ring stripping robot. Background Technology

[0002] In high-altitude operations, it is usually necessary to install grounding rings on overhead power lines. Before this, a section of the insulation on the power line needs to be stripped to expose the wire cores, and then the grounding rings can be installed.

[0003] The installation of grounding rings is a crucial step in the process, requiring work to be carried out on the conductor at a high altitude. To achieve this, workers typically climb the tower to the conductor location and manually install the grounding rings. However, manual high-altitude work poses significant safety risks and is inefficient.

[0004] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a grounding ring installation device, an installation method, and a grounding ring stripping robot to solve the above problems.

[0006] A grounding ring mounting device includes a carrier, a hoisting mechanism disposed in the middle of the carrier, a front traveling mechanism and a rear traveling mechanism respectively disposed on both sides of the carrier along the x-axis, and a grounding ring mounting mechanism disposed on the carrier and located behind the traveling direction of the rear traveling mechanism. The rear traveling mechanism is equipped with a conductor angle detection component, which includes an encoder disposed on the top of the rear traveling mechanism, a swing arm connected to the detection end of the encoder, and a pressure roller rotatably disposed on the swing arm. The pressure roller abuts against the upper end of the conductor. The grounding ring mounting mechanism includes:

[0007] The second mounting bracket is fixedly connected to the carrier;

[0008] The second lifting and swinging assembly is mounted on the second mounting bracket;

[0009] The first y-axis adjustment component is fixed to the swing end of the second lifting and swinging component;

[0010] The sliding frame is connected to the output end of the first y-axis adjustment component and can slide to adjust its position along the y-axis;

[0011] The mounting base is fixed to the sliding frame, and its upper end is provided with a limiting groove for the lower ring of the grounding ring to be inserted;

[0012] A nut locking assembly is located on the y-direction side above the limiting groove, including a tightening drive motor and a sleeve connected to the output shaft of the tightening drive motor for tightening the grounding ring nut;

[0013] The knock-closing assembly includes a second rotating shaft rotatably mounted on the mounting base, a knocking frame sleeved and fixed to the second rotating shaft, and a knocking drive device fixed to the mounting base and used to drive the second rotating shaft to rotate. The knocking frame is capable of knocking the insulating shell of the grounding ring closed during rotation.

[0014] Specifically, the hoisting mechanism includes:

[0015] A winding drive device is fixed inside the carrier;

[0016] A take-up reel is connected to the output end of the take-up drive device;

[0017] A traction clamp is positioned above the carrier and can be suspended from the guide wire by a drone;

[0018] A locking element is fixed to the upper end of the carrier;

[0019] The traction rope has its fixed end wound up by the winding reel, and its free end locked by the locking member after passing over the traction clamp.

[0020] The forward walking mechanism includes:

[0021] A front swing arm, the lower end of which is hinged to the carrier;

[0022] The front travel wheel is rotatably mounted on the upper end of the front swing arm and is used to travel above the conductor;

[0023] A forward-moving drive device, fixed to the upper end of the front swing arm, is used to drive the forward-moving wheels;

[0024] The first telescopic actuator has its main body hinged to the carrier, and its telescopic part hinged to the upper end of the front swing arm.

[0025] The first camera is fixed to the front swing arm and faces forward in the direction of travel of the front walking wheel;

[0026] The rear walking mechanism includes:

[0027] The rear swing arm, the lower end of which is hinged to the carrier;

[0028] The rear travel wheel is rotatably mounted on the upper end of the rear swing arm and is used to travel above the conductor;

[0029] A rear walking drive device is fixed to the upper end of the rear swing arm and is used to drive the rear walking wheel;

[0030] The second telescopic actuator has its main body hinged to the carrier, and its telescopic part hinged to the upper end of the rear swing arm.

[0031] The second camera is fixed to the rear swing arm and faces the rear of the rear walking wheel in the direction of travel.

[0032] Specifically, the grounding ring mounting device further includes a toggle locking assembly located below the knocking closure assembly. The toggle locking assembly includes a third rotating shaft rotatably disposed on the mounting base along the e direction, a lever sleeved and fixed to the third rotating shaft, and a lever driving device fixed to the mounting base and used to drive the third rotating shaft to rotate. When the lever rotates, it can toggle and lock the locking plate of the insulating shell to the latch at the lower part of the grounding ring.

[0033] Specifically, the grounding ring mounting device further includes:

[0034] The second y-axis adjustment component is disposed on the sliding frame;

[0035] A nut mounting and adjusting assembly is connected to the output end of the second y-axis adjusting assembly, and the nut locking assembly is disposed at the output end of the nut mounting and adjusting assembly;

[0036] The third camera is fixed above the tightening drive motor and is positioned facing upwards towards the limiting groove.

[0037] Specifically, the grounding ring mounting device further includes an insulating shell limiting assembly, which includes a first lifting driver driven along the f direction and a limiting frame connected to the driving end of the first lifting driver. When lowered, the limiting frame is used to limit the insulating shell of the grounding ring, keeping it in an open state.

[0038] Specifically, the grounding ring mounting device further includes a push clamping assembly, which includes a second lifting driver fixed to the sliding frame and a pusher connected to the drive end of the second lifting driver. The pusher is used to apply a pushing force to the movable clamping arm of the grounding ring to close it.

[0039] Specifically, the second lifting and swinging assembly includes:

[0040] The second slide rail is fixed to the second mounting bracket along the z-direction;

[0041] The second slider is slidably disposed on the second slide rail along the z-direction;

[0042] The second z-axis lifting driver is disposed on the second mounting bracket and is used to drive the second slider to move up and down along the z-axis;

[0043] The second swing frame has its hinged part hinged to the second slider, and the first y-axis adjustment component is fixed to the swing part of the second swing frame;

[0044] The fourth telescopic actuator has its body hinged to the second slider, and its telescopic part hinged to the swing part of the second swing frame.

[0045] Specifically, the striking frame includes a V-shaped frame fixed to the second rotating shaft and an arc-shaped rod fixed to the V-shaped frame.

[0046] Specifically, the gap size of the limiting groove is adjustable.

[0047] The grounding ring installation method, using the aforementioned grounding ring installation device, includes the following steps:

[0048] S1. Hoisting upper limit and angle detection:

[0049] The grounding ring installation device is lifted to the high-altitude conductor by the hoisting mechanism, so that the front travel mechanism and the rear travel mechanism are mounted on the conductor. During this process, the conductor angle detection component set on the rear travel mechanism continuously detects the tilt angle of the conductor. Specifically, the pressure roller always keeps in contact with the upper end of the conductor under the action of the spring or its own weight. The undulation or angle change of the conductor will drive the swing arm to rotate around the detection shaft of the encoder. The encoder converts the angular displacement of the swing arm into an electrical signal, thereby measuring and outputting the tilt angle data of the conductor in real time.

[0050] S2, Walking Positioning:

[0051] Control the forward and rear travel mechanisms to travel along the conductor, and move the grounding ring installation mechanism to below the stripped bare conductor core;

[0052] S3. Position Adjustment and Alignment:

[0053] The grounding ring installation mechanism performs adaptive posture adjustment based on the real-time tilt angle data of the conductor measured by the conductor angle detection component: the second lifting and swinging component is activated, driving the first y-axis adjustment component and the entire sliding frame to lift and swing around the hinge point in the Z direction. At the same time, the first y-axis adjustment component drives the sliding frame to slide in the Y direction. Through the above adjustment, the limiting groove on the mounting base and the ring body of the grounding ring it carries are aligned with the exposed wire core above the conductor.

[0054] S4. Tighten the nut:

[0055] The sleeve of the control nut locking assembly is fitted onto the nut of the grounding ring; then, the tightening drive motor is started, driving the sleeve to rotate and tighten the nut to the preset torque, so that the movable clamping arm of the grounding ring clamps the exposed wire core.

[0056] S5. Insulating outer casing closed:

[0057] The striking drive device of the striking closure component is activated, driving the second rotating shaft to rotate, which in turn causes the striking frame to move along an arc-shaped trajectory. The striking frame strikes the edge of the insulating shell of the grounding ring, causing it to rotate around the hinge point until it is fully closed.

[0058] S6. Disengagement and Reset:

[0059] The sleeve of the nut locking assembly disengages from the nut; the second lifting and swinging assembly drives the entire grounding ring mounting mechanism to descend and reset, causing the limiting groove of the mounting base to disengage from the installed and fastened grounding ring;

[0060] S7. Task Completion and Logout:

[0061] Control the forward and rear travel mechanisms to a safe position, release the traction rope through the winch mechanism, and lower the entire grounding ring installation device to the ground to complete the operation.

[0062] Robot for installing wire stripping and grounding rings, including:

[0063] The grounding ring mounting device;

[0064] A wire stripping mechanism is disposed on the carrier and located in front of the forward traveling mechanism in the direction of travel, and is used to strip the wire to expose the wire core.

[0065] The beneficial effects of this invention are:

[0066] This application discloses a grounding ring installation device and a wire stripping grounding robot. The grounding ring installation device includes a carrier, a hoisting mechanism, a front walking mechanism and a rear walking mechanism, and a grounding ring installation mechanism. The grounding ring installation mechanism includes a second mounting frame, a second lifting and swinging assembly, a first y-axis adjustment assembly, a sliding frame, a mounting base, a nut locking assembly, and a knocking closure assembly. The grounding ring is installed into a limiting groove on the ground. The hoisting mechanism lifts the entire wire stripping grounding ring installation robot from the ground to the conductor position in the air, allowing the front and rear walking mechanisms to hang on the upper end of the conductor, adjusting the exposed wire core to the grounding ring position. The sleeve of the nut locking assembly aligns with the nut, and the nut locking assembly tightens the nut. The knocking frame of the knocking closure assembly rotates and knocks on the insulating shell to close it. Through the sequential cooperation of multiple components, the entire process of automatic tightening of the grounding ring and automatic closure of the insulating shell is achieved, resulting in high installation efficiency and reliability. Attached Figure Description

[0067] Figure 1 A perspective view of a wire stripping grounding ring installation robot according to an embodiment of this application;

[0068] Figure 2 A 3D diagram of the conductor and grounding ring;

[0069] Figure 3 A perspective view of the wire stripping grounding ring installation robot according to an embodiment of this application after the wire stripping mechanism has been removed;

[0070] Figure 4 This is a perspective view of the grounding ring mounting mechanism according to an embodiment of this application;

[0071] Figure 5 This is an exploded view of the grounding ring mounting mechanism according to an embodiment of this application;

[0072] Figure 6 This is a perspective view of the second lifting and swinging assembly and the first y-direction adjustment assembly according to an embodiment of this application;

[0073] Figure 7 This is a perspective view of a portion of the structure in the grounding ring mounting mechanism according to an embodiment of this application;

[0074] Figure 8 This is a perspective view of the nut locking assembly, the second y-axis adjustment assembly, the nut mounting adjustment assembly, and the third camera according to an embodiment of this application.

[0075] Figure 9 This is a perspective view of the wire stripping grounding ring installation robot according to an embodiment of this application, after the grounding ring installation mechanism has been removed.

[0076] Figure 10 This is a perspective view of the carrier, hoisting mechanism, front traveling mechanism, and rear traveling mechanism according to an embodiment of this application;

[0077] Figure 11 This is a left view of the carrier, hoisting mechanism, front traveling mechanism, and rear traveling mechanism according to an embodiment of this application;

[0078] Figure 12 for Figure 11 A three-dimensional sectional view along line AA;

[0079] Figure 13 This is a perspective view of the wire stripping mechanism according to an embodiment of this application;

[0080] Figure 14 This is a perspective sectional view of the wire stripping mechanism according to an embodiment of this application;

[0081] Figure 15 This is a front view of a portion of the wire stripping mechanism structure according to an embodiment of this application;

[0082] Figure 16 for Figure 15 A three-dimensional sectional view along line BB;

[0083] Figure 17 for Figure 15 A three-dimensional sectional view along the CC line;

[0084] Figure 18 for Figure 15 A three-dimensional sectional view along the DD line.

[0085] The attached figures are labeled as follows: carrier 10, hoisting mechanism 20, winding drive device 21, winding reel 22, traction clamp 23, locking element 24, traction rope 25, front traveling mechanism 30, front swing arm 31, front traveling wheel 32, front traveling drive device 33, first telescopic driver 34, first camera 35, rear traveling mechanism 40, rear swing arm 41, rear traveling wheel 42, rear traveling drive device 43, second telescopic driver 44, second camera 45, wire stripping mechanism 50, first mounting bracket 51, first lifting and swinging assembly 52, first slide rail 521, first slider 522, first Z-axis lifting driver 523, first swing frame 524, third telescopic driver 525, rotary driver 5 3. First motor 531, first driving gear 532, first driven gear 533, second driven gear 534, U-shaped groove 5341, rotating seat 54, clamping assembly 55, first clamping plate 551, first guide plate 5511, second clamping plate 552, second guide plate 5521, first drive device 553, second motor 5531, coupling 5532, first rotating shaft 5533, second driving gear 5534, third driven gear 5535, fourth driven gear 5536, first lead screw 5537, first lead screw sleeve 5538, second lead screw sleeve 5539, clamping channel 554, cutter head assembly 56, tool feed and retraction drive device 561, third motor 5611 5612, 5613, 5614, 5615, 5616, 5616, 562, 563, 5631, 5632, 57, 58, 59, 50, 60, 61, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 63, 64, 65 ... The components include: a striking closing assembly 67, a second rotating shaft 671, a striking frame 672, a striking drive device 673, a toggle locking assembly 68, a third rotating shaft 681, a lever 682, a lever drive device 683, a second y-axis adjustment assembly 69, a nut mounting and adjustment assembly 610, a third camera 611, an insulating shell limiting assembly 612, a first lifting driver 6121, a limiting frame 6122, a push clamping assembly 613, a second lifting driver 6131, a pusher frame 6132, a wire 70, a grounding ring 80, a ring body 81, a nut 82, an insulating shell 83, a locking plate 84, a movable clamping arm 85, a wire angle detection assembly 90, an encoder 91, a swing arm 92, and a pressure roller 93. Detailed Implementation

[0086] This invention provides a grounding ring installation device, an installation method, and a grounding ring stripping robot. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0087] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0088] Please refer to Figures 1 to 18 :

[0089] In high-altitude operations, it is usually necessary to install the grounding ring 80 on the conductor 70, such as Figure 2 As shown, a section of insulation on the conductor 70 needs to be stripped beforehand to expose the internal wire core before installing the grounding ring 80. The grounding ring 80 includes components such as a ring body 81, a nut 82, an insulating shell 83, a locking plate 84, and movable clamping arms 85. During installation, the conductor 70 is first inserted between the two movable clamping arms 85, and the conductor 70 is clamped by the two movable clamping arms 85. Then, the nut 82 is tightened to make the two movable clamping arms 85 stably clamp the conductor 70. Then, the insulating shell 83 is covered, and finally, the locking plate 84 is locked to the latch at the bottom of the grounding ring 80, thus completing the wire stripping and grounding ring installation.

[0090] However, the wire stripping and grounding ring installation operations need to be performed on the conductor 70 at a high altitude. To achieve this on-line operation, this embodiment provides a wire stripping and grounding ring installation robot, such as... Figure 1 As shown, the wire stripping and grounding ring installation robot includes a carrier 10, a hoisting mechanism 20 disposed in the middle of the carrier 10, a front walking mechanism 30 and a rear walking mechanism 40 disposed on both sides of the carrier 10 along the x-axis, a wire stripping mechanism 50 disposed on the carrier 10 and located in front of the front walking mechanism 30 in the walking direction, and a grounding ring installation mechanism 60 disposed on the carrier 10 and located behind the rear walking mechanism 40 in the walking direction.

[0091] The wire stripping and grounding operation in this embodiment is as follows: The grounding ring 80 is installed in the grounding ring installation mechanism 60. The entire wire stripping and grounding ring installation robot is lifted from the ground to the position of the conductor 70 in the air by the drone-assisted hoisting mechanism 20. The forward walking mechanism 30 and the rear walking mechanism 40 are hung on the upper end of the conductor 70. The wire stripping mechanism 50 is used to strip the wire 70 to expose the wire core. The forward walking mechanism 30 and the rear walking mechanism 40 travel a distance along the conductor 70 to adjust the exposed wire core to the position of the grounding ring 80. The grounding ring installation mechanism 60 is used to install the grounding ring 80 on the exposed wire core of the conductor 70, thus completing the installation of the grounding ring 80. The entire process requires no manual operation and has a high degree of automation.

[0092] Please refer to Figures 10 to 12 As shown, the hoisting mechanism 20 includes a winding drive device 21, a winding reel 22, a traction clamp 23, a locking member 24, and a traction rope 25. The winding drive device 21 is fixed inside the carrier 10, the winding reel 22 is connected to the output end of the winding drive device 21, the traction clamp 23 is set above the carrier 10 and can be suspended from the conductor 70 by a drone, the locking member 24 is fixed to the upper end of the carrier 10, the fixed end of the traction rope 25 is wound by the winding reel 22, and the free end of the traction rope 25 is locked by the locking member 24 after passing around the traction clamp 23.

[0093] The online operation of the hoisting mechanism 20 is as follows: the fixed end of the traction rope 25 is fixed to the winding reel 22, the free end of the traction rope 25 is passed around the traction clamp 23 and suspended on the ground, the traction clamp 23 is suspended on the conductor 70 by the drone, the free end of the traction rope 25 is locked by the locking member 24, the winding drive device 21 is started, the winding drive device 21 drives the winding reel 22 to rotate, thereby winding the traction rope 25 until the entire wire stripping and grounding ring installation robot is lifted from the ground to the position of the conductor 70 in the air, and the hoisting mechanism 20 is used to wind it up, realizing automatic online operation, with an ingenious structure.

[0094] Please refer to Figure 10 and Figure 12 As shown, the forward walking mechanism 30 includes a front swing arm 31, a front walking wheel 32, a forward walking drive device 33, a first telescopic driver 34, and a first camera 35. In this embodiment, the first telescopic driver 34 is an electric push rod. Of course, it is not limited to an electric push rod and other linear push devices can also be used. The lower end of the front swing arm 31 is hinged to the carrier 10, and the front walking wheel 32 is rotatably disposed on the upper end of the front swing arm 31 for walking above the guide wire 70. The forward walking drive device 33 is fixed to the upper end of the front swing arm 31 for driving the front walking wheel 32. The body of the first telescopic driver 34 is hinged to the carrier 10, and the telescopic part of the first telescopic driver 34 is hinged to the upper end of the front swing arm 31. The first camera 35 is fixed to the front swing arm 31 and faces forward in the direction of travel of the front walking wheel 32.

[0095] Before the hoisting mechanism 20 retracts the wire onto the conductor, the first telescopic driver 34 is in a retracted state, and the front swing arm 31 swings downward to retract, avoiding interference with the conductor 70 during the winding process. After winding, the first telescopic driver 34 extends, pushing the front swing arm 31 to swing upward, allowing the front walking wheel 32 to smoothly land on the conductor 70. The front walking drive device 33 drives the front walking wheel 32 to rotate, driving the entire wire stripping and grounding ring installation robot to walk along the conductor 70. During the movement, the first camera 35 monitors the line conditions ahead in real time to avoid collisions with obstacles. Through the automatic swinging and walking functions of the front walking mechanism 30, the robot achieves stable movement and obstacle avoidance on the conductor, improving operational safety.

[0096] Please refer to Figure 10 and Figure 12 As shown, the rear walking mechanism 40 includes a rear swing arm 41, a rear walking wheel 42, a rear walking drive device 43, a second telescopic driver 44, and a second camera 45. In this embodiment, the second telescopic driver 44 is an electric push rod. Of course, it is not limited to an electric push rod and other linear push devices can also be used. The lower end of the rear swing arm 41 is hinged to the carrier 10. The rear walking wheel 42 is rotatably disposed on the upper end of the rear swing arm 41 for walking above the guide wire 70. The rear walking drive device 43 is fixed to the upper end of the rear swing arm 41 for driving the rear walking wheel 42. The body of the second telescopic driver 44 is hinged to the carrier 10, and the telescopic part of the second telescopic driver 44 is hinged to the upper end of the rear swing arm 41. The second camera 45 is fixed to the rear swing arm 41 and faces the rear of the rear walking wheel 42 in the walking direction.

[0097] The movement of the rear walking mechanism 40 is similar to that of the front walking mechanism 30: before going onto the guide wire, the second telescopic driver 44 retracts, and the rear swing arm 41 swings downward and retracts; after going onto the guide wire, the second telescopic driver 44 extends, pushing the rear swing arm 41 to swing upward, so that the rear walking wheel 42 lands smoothly on the guide wire 70, and the rear walking drive device 43 drives the rear walking wheel 42 to rotate; during walking, the second camera 45 monitors the rear situation in real time. The coordinated operation of the front and rear walking mechanisms ensures that the robot walks smoothly and is accurately positioned on the guide wire, providing a foundation for subsequent operations.

[0098] like Figure 3 As shown, the rear travel mechanism 40 is equipped with a wire angle detection component 90. The wire angle detection component 90 includes an encoder 91 located on the top of the rear travel mechanism 40, a swing arm 92 connected to the detection end of the encoder 91, and a pressure roller 93 rotatably mounted on the swing arm 92. The pressure roller 93 abuts against the upper end of the wire 70. Under the action of a spring or its own weight, the pressure roller 93 always maintains contact with the upper end of the wire 70. The undulation or angle change of the wire 70 will drive the swing arm 92 to rotate around the detection axis of the encoder 91. The encoder 91 converts the angular displacement of the swing arm 92 into an electrical signal, thereby measuring and outputting the tilt angle data of the wire 70 in real time.

[0099] Please refer to Figures 13-15 As shown, the wire stripping mechanism 50 is used to strip the insulation from the conductor 70 to expose the wire core. The wire stripping mechanism 50 includes a first mounting frame 51, a first lifting and swinging assembly 52, a rotary driver 53, a rotating seat 54, a clamping assembly 55, and a cutter head assembly 56. The first mounting frame 51 is fixedly connected to the carrier 10. The first lifting and swinging assembly 52 is disposed on the first mounting frame 51. The rotary driver 53 is fixed to the swinging end of the first lifting and swinging assembly 52. ​​The rotating seat 54 is connected to the output end of the rotary driver 53. The clamping assembly 55 includes a first clamping plate 551 and a second clamping plate 552 disposed on the rotating seat 54 and capable of adjusting the spacing along the y-direction, and a drive mechanism. A first driving device 553 moves relative to or in opposite directions between the first clamping plate 551 and the second clamping plate 552, and a clamping channel 554 for clamping the wire 70 is formed between the first clamping plate 551 and the second clamping plate 552; the cutter head assembly 56 includes a cutting and retracting driving device 561 fixed to one x-direction of the first clamping plate 551 and capable of being driven along the y-direction, a cutter head 562 connected to the driving end of the cutting and retracting driving device 561, and an insulating skin collector 563 fixed to the first clamping plate 551. The insulating skin collector 563 is provided with a feed port 5631 facing the cutter head 562, and the cutter head 562 is provided with an inclined guide surface for guiding the insulating skin into the feed port 5631.

[0100] The wire stripping mechanism 50 performs the following actions: the first lifting and swinging assembly 52 drives the rotary driver 53 to lift and swing, aligning the U-shaped groove 5341 with the wire 70; the wire diameter detector 57 detects the wire diameter of the wire 70 and determines the cutting thickness; the first driving device 553 drives the first clamping plate 551 and the second clamping plate 552 to move towards each other, restricting the wire 70 through the diamond-shaped clamping channel 554 formed by the first clamping plate 551 and the second clamping plate 552, preventing the wire 70 from coming out of the clamping channel 554; the wire diameter detector 57 detects the wire diameter of the wire 70, and the cutting advance and retraction driving device 561 drives the cutter head 562 to move towards the y-axis. The cutting head 562 moves to adjust the cutting depth of the wire 70; after the rotary driver 53 is started, it drives the rotating seat 54 to rotate. When the cutting head 562 rotates, it cuts the insulation of the wire 70. With the movement of the front walking mechanism 30 and the rear walking mechanism 40, a spiral cutting effect is formed. The cut insulation slides along the inclined guide surface of the cutting head 562 into the feed port 5631 of the insulation collector 563, preventing the insulation from flying around or even entering the equipment and causing the equipment to jam. Through the coordinated operation of multiple components, a complete peeling process of automatic positioning, clamping, spiral cutting and waste collection is realized, with high peeling efficiency and controllable precision.

[0101] Please refer to Figure 4As shown, the first lifting and swinging assembly 52 includes a first slide rail 521, a first slider 522, a first z-axis lifting driver 523, a first swing frame 524, and a third telescopic driver 525. The first slide rail 521 is fixed to the first mounting frame 51 along the z-axis. The first slider 522 is slidably disposed on the first slide rail 521 along the z-axis. The first z-axis lifting driver 523 is disposed on the first mounting frame 51 and is used to drive the first slider 522 to lift and lower along the z-axis. The hinge portion of the first swing frame 524 is hinged to the first slider 522, and the rotary driver 53 is fixed to the swing portion of the first swing frame 524. The body of the third telescopic driver 525 is hinged to the first slider 522, and the telescopic portion of the third telescopic driver 525 is hinged to the swing portion of the first swing frame 524.

[0102] The specific actions of the first lifting and swinging assembly 52 are as follows: the first Z-axis lifting driver 523 drives the first slider 522 to rise and fall along the first slide rail 521, adjusting the overall height of the wire stripping mechanism 50; the third telescopic driver 525 controls the swing angle of the first swing frame 524 through telescopic control, so that the U-shaped groove 5341 can accurately fit the wire 70. Through the combined adjustment of lifting and swinging, the wire stripping mechanism can adapt to wires 70 at different heights and positions, improving the adaptability of the equipment.

[0103] Please refer to Figures 14 to 16 As shown, the rotary driver 53 includes a first motor 531, a first driving gear 532, two first driven gears 533 and a second driven gear 534; the first driving gear 532 is connected to the output shaft of the first motor 531; the two first driven gears 533 are respectively disposed on both sides of the first driving gear 532 and mesh with the first driving gear 532; the second driven gear 534 meshes with the two first driven gears 533, and the second driven gear 534 is provided with a U-shaped groove 5341 for the wire 70 to enter. The U-shaped groove 5341 extends radially outward from the rotation center of the second driven gear 534, and the rotating seat 54 is fixedly connected to the second driven gear 534.

[0104] The working process of the rotary driver 53 is as follows: The first motor 531 drives the first driving gear 532 to rotate, which in turn drives the first driven gears 533 on both sides to rotate synchronously, thereby driving the second driven gear 534 to rotate. Since the second driven gear 534 is provided with a U-shaped groove 5341, the rotation drive of the rotating seat 54 can be realized without detaching from the wire 70. The multi-gear meshing transmission method is adopted to achieve stable high torque output, which, together with the front traveling mechanism 30 and the rear traveling mechanism 40, forms a spiral cutting motion.

[0105] Please refer to Figure 17As shown, the first drive device 553 includes a second motor 5531, a coupling 5532, a first rotating shaft 5533, a second driving gear 5534, a third driven gear 5535, a fourth driven gear 5536, a first lead screw 5537, a first lead screw sleeve 5538, and a second lead screw sleeve 5539. The second motor 5531 is fixed to the bottom of the rotating seat 54, and the coupling 5532 is connected to the output shaft of the second motor 5531. The first rotating shaft 5533 is connected to the coupling 5532, and the second driving gear 5534 is sleeved... Located on the first rotating shaft 5533, the third driven gear 5535 meshes with the second driving gear 5534, the fourth driven gear 5536 meshes with the third driven gear 5535, the first lead screw 5537 coaxially drives the fourth driven gear 5536, the first lead screw 5537 has a first threaded section and a second threaded section with opposite thread directions, the first lead screw sleeve 5538 is fixed to the first clamping plate 551 and threadedly engaged with the first threaded section, and the second lead screw sleeve 5539 is fixed to the second clamping plate 552 and threadedly engaged with the second threaded section.

[0106] The clamping action of the first driving device 553 is as follows: the second motor 5531 drives the first rotating shaft 5533 to rotate through the coupling 5532, which in turn drives the second driving gear 5534 to rotate. Through the transmission of the third driven gear 5535 and the fourth driven gear 5536, the first lead screw 5537 is driven to rotate. Since the first lead screw 5537 has a first threaded section and a second threaded section with opposite threads, it can simultaneously drive the first lead screw sleeve 5538 and the second lead screw sleeve 5539 to move in opposite directions, thereby realizing the adjustment of the distance between the first clamping plate 551 and the second clamping plate 552, forming a stable diamond-shaped clamping channel 554. This application adopts a double-threaded lead screw structure to realize the synchronous opposite movement of the clamping plates, and the clamping force is uniform and stable, effectively preventing the wire 70 from coming out during rotary cutting.

[0107] Please refer to Figure 17 As shown, both the first clamping plate 551 and the second clamping plate 552 have a V-shaped structure. When combined, the first clamping plate 551 and the second clamping plate 552 form a diamond-shaped clamping channel 554. The limiting effect of the diamond-shaped clamping channel 554 enhances the clamping stability of the wire 70. The upper end of the first clamping plate 551 is connected to the first guide plate 5511, and the upper end of the second clamping plate 552 is connected to the second guide plate 5521. The first guide plate 5511 and the second guide plate 5521 together form a figure-eight structure that is larger at the top and smaller at the bottom, which facilitates the entry of the wire 70 into the clamping channel 554 and improves the insertion efficiency of the wire 70.

[0108] Please refer to Figure 18As shown, the tool feed and retraction drive device 561 includes a third motor 5611, a third driving gear 5612, a fifth driven gear 5613, a second lead screw 5614, and a third lead screw sleeve 5615. The third motor 5611 is fixed to the first clamping plate 551. The third driving gear 5612 is connected to the output shaft of the third motor 5611. The fifth driven gear 5613 meshes with the third driving gear 5612. The second lead screw 5614 is coaxially driven with the fifth driven gear 5613. The third lead screw sleeve 5615 is threadedly engaged with the second lead screw 5614 and serves as the driving end of the tool feed and retraction drive device 561. The tool head 562 is fixed to one end of the third lead screw sleeve 5615.

[0109] The third motor 5611 drives the third driving gear 5612 to rotate, which in turn drives the fifth driven gear 5613 to rotate, thereby driving the second lead screw 5614 to rotate. This causes the third lead screw sleeve 5615 to move along the y-axis, driving the cutter head 562 to complete the cutting and retraction actions. The lead screw drive achieves precise feed of the cutter head, controls the stripping depth, and avoids damage to the wire core.

[0110] Please refer to Figure 17 and 18 As shown, the sensing assembly includes a limit sensor 57, a wire core sensor 58, and two wire stripping detection detectors 59. The limit sensor 57 is mounted on the rotating base 54, and a stripping channel for the wire 70 to pass through is formed between the limit sensor 57 and the cutter head 562. The limit sensor 57 is positioned towards the conveying center of the stripping channel. The wire core sensor 58 is located at the bottom front of the cutter head 562 in the cutting direction and faces the stripping channel. The two wire stripping detection detectors 59 are respectively located on the outside of the first clamping plate 551 and the second clamping plate 552. The first clamping plate 551 and the second clamping plate 552 are provided with detection holes for the sensing light of the wire stripping detection detectors 59 to enter the clamping channel 554.

[0111] The limit sensor 57 can be a through-beam photoelectric sensor. Its working principle is as follows: the sensor consists of a separate transmitter and receiver. The transmitter continuously emits modulated infrared light, which is received by the receiver. When the wire 70 enters the stripping channel, it blocks the beam of light emitted from the transmitter to the receiver, causing a jump in the signal strength at the receiver. By detecting this signal change, the control system can accurately determine whether the wire 70 has entered and is at the predetermined center position of the stripping channel, thus confirming that the wire 70 has reached the stripping station and providing a trigger signal for subsequent clamping and stripping actions.

[0112] The wire core sensor 58 can be a high-frequency oscillating inductive proximity sensor. Its working principle is as follows: the internal oscillation circuit of the sensor generates a high-frequency electromagnetic field, which is sensed on its detection surface. When non-metallic objects such as insulation come close, they have little impact on the energy of the oscillation circuit; however, when the cutter head 562 cuts into the metal wire core, an eddy current effect is generated inside the metal conductor, absorbing a large amount of energy from the oscillation circuit, causing the oscillation to weaken or stop. This change is detected by the detection circuit, resulting in a change in the output signal. Utilizing this characteristic, the wire core sensor 58 can distinguish between the insulation layer and the metal wire core. Positioned at the bottom front of the cutter head 562 in the cutting direction, it can detect the cutting depth in real time. When a metal wire core is sensed, a feedback signal is immediately sent to control the cutting drive device 561 to stop the cutting, effectively preventing damage to the wire core and achieving precise control of the stripping depth.

[0113] The wire stripping detection 59 employs a reflective infrared photoelectric sensor. Its working principle is as follows: the sensor consists of an infrared emitter and an infrared receiver arranged side-by-side. The infrared emitter continuously emits infrared light of a specific wavelength, which shines through detection holes on the first clamp 551 and the second clamp 552 onto the surface of the wire 70 it holds. The infrared receiver receives the infrared light reflected back from the surface of the wire 70 through a detection hole on the other side and converts its intensity into a corresponding current signal value. Its detection logic is based on the significant differences in the reflectivity of different materials to infrared light: the black insulating layer of the wire 70 has strong absorption and low reflectivity of infrared light, resulting in weak light intensity reflected back to the receiver and a smaller current signal value; while when the insulation is stripped, the exposed metal core has strong reflectivity and high reflectivity of infrared light, significantly increasing the light intensity reflected back to the receiver and thus increasing the current signal value. The control system monitors the changes in the current signal value in real time. When the signal value increases from low to high and stabilizes within a preset threshold range representing the metal reflection characteristics, it is determined that the wire stripping operation is complete, and the metal core of conductor 70 has been completely exposed to the predetermined length, thus triggering the next process. This detection method is non-contact, responds quickly, and can effectively distinguish between insulating materials and metal.

[0114] Please refer to Figure 14 As shown, the insulation sheath collector 563 is equipped with an openable cover 5632; the cover 5632 can be opened to clean up the accumulated insulation sheath. The openable design facilitates maintenance and cleaning, ensuring long-term operational reliability.

[0115] Please refer to Figures 3-8As shown, the grounding ring mounting mechanism 60 is used to install the grounding ring 80 on the exposed core of the conductor 70 after stripping. The grounding ring mounting mechanism 60 includes a second mounting bracket 61, a second lifting and swinging assembly 62, a first y-axis adjustment assembly 63, a sliding bracket 64, a mounting base 65, a nut locking assembly 66, a knocking closing assembly 67, a toggle locking assembly 68, a second y-axis adjustment assembly 69, a nut mounting adjustment assembly 610, a third camera 611, an insulating shell limiting assembly 612, and a push clamping assembly 613.

[0116] The installation process of the grounding ring installation mechanism 60 is as follows: On the ground, the ring body 81 of the grounding ring 80 is inserted into the limiting groove 651 of the grounding ring installation mechanism 60, and the limiting frame 6122 of the insulating shell limiting component 612 presses down to limit the position of the insulating shell 83; the entire wire stripping grounding ring installation robot is lifted from the ground to the position of the conductor 70 in the air by the drone-assisted winch mechanism 20, so that the front walking mechanism 30 and the rear walking mechanism 40 are hung on the upper end of the conductor 70, and the wire stripping mechanism 50 is used to strip the wire 70 to expose the wire core. The front walking mechanism 30 and the rear walking mechanism 40 travel a distance along the conductor 70 to adjust the exposed wire core to the position of the grounding ring 80; the second clamping component 613 is pushed. The lifting drive 6131 drives the pusher 6132 to press upward, causing the movable clamping arm 85 of the grounding ring 80 to close and clamp the wire 70; the sleeve 662 of the nut locking assembly 66 aligns with the nut 82, and the nut 82 is inserted into the sleeve 662. The tightening drive motor 661 of the nut locking assembly 66 drives the sleeve 662 to rotate, tightening the nut 82, and the nut locking assembly 66 resets; the limiting frame 6122 of the insulating shell limiting assembly 612 moves upward and no longer limits the insulating shell 83; the striking frame 672 of the striking closing assembly 67 rotates and strikes the insulating shell 83 to close it; the lever 682 of the actuating locking assembly 68 rotates, and the lever 682 locks the locking plate 84 to the latch at the lower part of the grounding ring 80. Through the sequential cooperation of multiple components, the automatic clamping, tightening and locking process of the grounding ring is realized, with high installation efficiency and reliability.

[0117] Furthermore, the second mounting frame 61 is fixedly connected to the carrier 10, the second lifting and swinging assembly 62 is mounted on the second mounting frame 61, the first y-axis adjustment assembly 63 can be a lead screw module, the first y-axis adjustment assembly 63 is fixed to the swing end of the second lifting and swinging assembly 62, the sliding frame 64 is connected to the output end of the first y-axis adjustment assembly 63, and can slide and adjust its position along the y-axis, the mounting base 65 is fixed to the sliding frame 64, and the upper end of the mounting base 65 is provided with a limiting groove 651 for the ring body 81 of the lower part of the grounding ring 80 to be inserted. Through the coordinated adjustment of the second lifting and swinging assembly 62 and the first y-axis adjustment assembly 63, the limiting groove 651 and the grounding ring 80 loaded therein can be accurately positioned to the exposed core position of the conductor 70, providing a precise positioning basis for subsequent installation operations.

[0118] Please refer to Figure 5 and Figure 8 As shown, the nut locking assembly 66 is located on the y-direction side above the limiting groove 651. The nut locking assembly 66 includes a tightening drive motor 661 and a sleeve 662 connected to the output shaft of the tightening drive motor 661 and used to tighten the grounding ring 80 and the nut 82. Its operation is as follows: after the movable clamping arm 85 of the grounding ring 80 clamps the wire 70, the nut installation adjustment assembly 610 drives the nut locking assembly 66 to move along the e-direction, aligning and fitting the sleeve 662 onto the nut 82. The second y-direction adjustment assembly 69 then drives the nut locking assembly 66 to move along the y-direction, allowing the nut 82 to be inserted into the sleeve 662. Subsequently, the tightening drive motor 661 starts, driving the sleeve 662 to rotate and tighten the nut 82, thereby ensuring that the movable clamping arm 85 stably clamps the wire 70. This motor-driven automatic tightening method achieves online tightening of the nut 82, demonstrating a clever structure.

[0119] Please refer to Figure 5 and Figure 7 As shown, the knock-closing assembly 67 includes a second rotating shaft 671 rotatably mounted on the mounting base 65 along the e-direction, a knocking frame 672 sleeved and fixed to the second rotating shaft 671, and a knocking drive device 673 fixed to the mounting base 65 and used to drive the second rotating shaft 671 to rotate. The knocking frame 672 can knock the insulating shell 83 of the grounding ring 80 closed during rotation. After the nut 82 is tightened and the limiting frame 6122 of the insulating shell limiting assembly 612 moves upward to release the limiting, the knocking drive device 673 drives the second rotating shaft 671 to rotate, causing the knocking frame 672 to move along an arc-shaped trajectory. One end of its arc-shaped rod strikes the edge of the insulating shell 83, causing it to rotate around the hinge point until it is completely closed and covers the ring body 81. The instantaneous impact force generated by the rotational movement of the knocking frame 672 effectively overcomes the elastic resistance of the insulating shell 83, achieving fast and reliable closure.

[0120] Please refer to Figure 5 and Figure 7 As shown, the toggle locking assembly 68 is located below the knock-closing assembly 67. The toggle locking assembly 68 includes a third rotating shaft 681 rotatably mounted on the mounting base 65 along the e-direction, a lever 682 sleeved and fixed to the third rotating shaft 681, and a lever drive device 683 fixed to the mounting base 65 and used to drive the third rotating shaft 681 to rotate. When the lever 682 rotates, it can move and lock the locking plate 84 of the insulating shell 83 to the latch at the lower part of the grounding ring 80. After the insulating shell 83 is knocked closed, the lever drive device 683 drives the third rotating shaft 681 to rotate, causing the lever 682 to rotate. The end of the lever 682 moves the locking plate 84, causing it to elastically deform and engage in the latch at the lower part of the grounding ring 80, thus achieving locking. The final locking is completed by the rotational movement of the lever, ensuring that the insulating shell 83 will not spring open due to vibration or external force in the closed state, and the installation is firm and reliable.

[0121] Please refer to Figure 5 and Figure 8 As shown, the second y-axis adjustment component 69 is mounted on the sliding frame 64, and the nut mounting adjustment component 610 is connected to the output end of the second y-axis adjustment component 69. Both the second y-axis adjustment component 69 and the nut mounting adjustment component 610 adopt a lead screw module. The nut locking component 66 is located at the output end of the nut mounting adjustment component 610. The third camera 611 is fixed above the tightening drive motor 661 and faces the upper part of the limiting groove 651. The second y-axis adjustment component 69 can drive the nut mounting adjustment component 610 and the nut locking component 66 to make fine adjustments along the y-axis. The nut mounting adjustment component 610 can drive the nut locking component 66 to move along the e-axis. The two work together to ensure that the sleeve 662 can be accurately aligned with the center of the nut 82. The third camera 611 captures the alignment image of the nut 82 and the sleeve 662 in real time, providing visual feedback for adjustment. Through the dual-coordinate adjustment mechanism and visual-assisted positioning, high-precision alignment of the nut locking component 66 is achieved, ensuring the smooth progress of the tightening operation.

[0122] Please refer to Figure 7 As shown, the insulating housing limiting assembly 612 includes a first lifting actuator 6121 driven along the f direction and a limiting frame 6122 connected to the driving end of the first lifting actuator 6121. When lowered, the limiting frame 6122 restricts the insulating housing 83 of the grounding ring 80, keeping it in an open state. The first lifting actuator 6121 can be an electric push rod. When the grounding ring 80 is loaded on the ground, the first lifting actuator 6121 drives the limiting frame 6122 to descend, pressing down on the edge of the insulating housing 83 to keep it open, facilitating the insertion of the ring 81 into the limiting groove 651. When it is necessary to close the insulating housing 83, the first lifting actuator 6121 then drives the limiting frame 6122 to rise and release the limitation. This assembly ensures that the insulating housing 83 remains open during movement and positioning, preparing for subsequent automatic closing operations.

[0123] Please refer to Figure 7 As shown, the clamping assembly 613 includes a second lifting driver 6131 fixed to the sliding frame 64 and a pusher 6132 connected to the driving end of the second lifting driver 6131. ​​The pusher 6132 applies a pushing force to the movable clamping arms 85 of the grounding ring 80 to close them. When the exposed wire core moves between the movable clamping arms 85 of the grounding ring 80, the second lifting driver 6131 drives the pusher 6132 to move upward. The pusher 6132 squeezes the two movable clamping arms 85, causing them to rotate around the hinge point and retract inward, thereby clamping the middle wire 70.

[0124] Please refer to Figure 5 and Figure 6As shown, the second lifting and swinging assembly 62 includes a second slide rail 621, a second slider 622, a second z-axis lifting driver 623, a second swing frame 624, and a fourth telescopic driver 625. The second slide rail 621 is fixed to the second mounting frame 61 along the z-axis, the second slider 622 is slidably disposed on the second slide rail 621 along the z-axis, the second z-axis lifting driver 623 is disposed on the second mounting frame 61, the second z-axis lifting driver 623 can be a lead screw module, used to drive the second slider 622 to lift and lower along the z-axis, the hinge part of the second swing frame 624 is hinged to the second slider 622, the first y-axis adjustment assembly 63 can be a lead screw module, the first y-axis adjustment assembly 63 is fixed to the swing part of the second swing frame 624, the fourth telescopic driver 625 can be an electric push rod, the body of the fourth telescopic driver 625 is hinged to the second slider 622, and the telescopic part of the fourth telescopic driver 625 is hinged to the swing part of the second swing frame 624. The second Z-axis lifting driver 623 drives the second slider 622 to rise and fall along the second slide rail 621, achieving coarse height adjustment of the entire grounding ring installation mechanism 60; the fourth telescopic driver 625 drives the second swing frame 624 to swing around its hinge point with the second slider 622 via telescopic movement, achieving adjustment of the installation angle. Through the combined adjustment of lifting and swinging, the grounding ring installation mechanism can accurately adapt to changes in the height and angle of the conductor 70, ensuring installation accuracy.

[0125] In a preferred embodiment, the striking frame 672 includes a V-shaped frame fixed to the second rotating shaft 671 and an arc-shaped rod fixed to the V-shaped frame. The V-shaped frame provides a stable mounting base, and the arc-shaped rod is designed to match its rotational arc to avoid rotational interference.

[0126] In a preferred embodiment, the gap between the limiting groove 651 and the e-direction is adjustable. By adjusting the gap between the limiting groove 651 and the e-direction, it is possible to adapt to the ring body 81 of grounding rings 80 of different models and sizes, thus expanding the application range of the equipment.

[0127] This embodiment also discloses a grounding ring installation method, including the following steps:

[0128] S1. Hoisting upper limit and angle detection:

[0129] The grounding ring installation device is lifted to the high-altitude conductor 70 by the hoisting mechanism 20, so that the front travel mechanism 30 and the rear travel mechanism 40 are mounted on the conductor 70. During this process, the conductor angle detection component 90 set on the rear travel mechanism 40 continuously detects the tilt angle of the conductor 70. Specifically, the pressure roller 93 always keeps in contact with the upper end of the conductor 70 under the action of the spring or its own weight. The undulation or angle change of the conductor 70 will drive the swing arm 92 to rotate around the detection shaft of the encoder 91. The encoder 91 converts the angular displacement of the swing arm 92 into an electrical signal, thereby measuring and outputting the tilt angle data of the conductor 70 in real time.

[0130] S2, Walking Positioning:

[0131] Control the forward walking mechanism 30 and the rear walking mechanism 40 to walk along the conductor 70. With the video assistance of the first camera 35 and the second camera 45, the staff can adjust the position of the grounding ring installation device through the real-time video of the first camera 35 and the second camera 45, thereby moving the grounding ring installation device directly under the stripped bare wire core.

[0132] S3. Position Adjustment and Alignment:

[0133] The grounding ring installation mechanism 60 performs adaptive posture adjustment based on the real-time tilt angle data of the conductor measured by the conductor angle detection component 90: the second lifting and swinging component 62 is activated, driving the first y-direction adjustment component 63 and the entire sliding frame 64 to rise and fall along the Z direction and swing around the hinge point. At the same time, the first y-direction adjustment component 63 drives the sliding frame 64 to slide along the Y direction. Through the above adjustment, the limiting groove 651 on the mounting base 65 and the ring body 81 of the grounding ring 80 it carries are aligned with the exposed wire core above the conductor.

[0134] S4. Tighten the nut:

[0135] The nut installation and adjustment assembly 610 drives the nut locking assembly 66 to move along the e direction, so that the sleeve 662 is precisely fitted into the nut 82 of the grounding ring 80; then, the tightening drive motor 661 starts, drives the sleeve 662 to rotate, and tightens the nut 82 to the preset torque, so that the movable clamping arm 85 of the grounding ring 80 firmly clamps the exposed wire core.

[0136] S5. Insulating outer casing closed:

[0137] The striking drive device 673 of the striking closure assembly 67 is activated, driving the second rotating shaft 671 to rotate, which in turn causes the striking frame 672 to move along an arc-shaped trajectory. The striking frame 672 strikes the edge of the insulating shell 83 of the grounding ring 80, causing it to rotate around the hinge point until it is fully closed.

[0138] S6. Locking: The lever drive device 683 drives the third rotating shaft 681 to rotate, which in turn drives the lever 682 to rotate. The end of the lever 682 pushes the locking plate 84, causing it to elastically deform and lock into the latch at the bottom of the grounding ring 80, thus achieving locking.

[0139] S7. Disengagement and Reset:

[0140] The sleeve 662 of the nut locking assembly 66 rotates slightly in the opposite direction to loosen, and then the nut installation adjustment assembly 610 drives it to retract; the second lifting swing assembly 62 drives the entire grounding ring installation mechanism 60 to descend and reset, so that the limiting groove 651 of the mounting seat 65 is disengaged from the installed and fastened grounding ring 80.

[0141] S8. Task Completion and Logout:

[0142] Control the forward traveling mechanism 30 and the rear traveling mechanism 40 to travel to a safe position, and release the traction rope 25 through the winch mechanism 20 to lower the entire grounding ring installation device to the ground, thus completing the operation.

[0143] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A grounding ring mounting device, comprising a carrier (10), a hoisting mechanism (20) disposed in the middle of the carrier (10), a front traveling mechanism (30) and a rear traveling mechanism (40) respectively disposed on both sides of the carrier (10) along the x-axis direction, and a grounding ring mounting mechanism (60) disposed on the carrier (10) and located behind the traveling direction of the rear traveling mechanism (40), characterized in that, The rear walking mechanism (40) is provided with a wire angle detection component (90). The wire angle detection component (90) includes an encoder (91) located on the top of the rear walking mechanism (40), a swing arm (92) connected to the detection end of the encoder (91), and a pressure roller (93) rotatably located on the swing arm (92). The pressure roller (93) abuts against the upper end of the wire (70). The grounding ring mounting mechanism (60) includes: The second mounting bracket (61) is fixedly connected to the carrier (10); The second lifting and swinging assembly (62) is disposed on the second mounting bracket (61); The first y-axis adjustment component (63) is fixed to the swing end of the second lifting swing component (62); The sliding frame (64) is connected to the output end of the first y-direction adjustment component (63) and can slide to adjust its position along the y-direction; Mounting base (65) is fixed to the sliding frame (64), and its upper end is provided with a limiting groove (651) for the ring body (81) at the lower part of the grounding ring (80) to be inserted. The nut locking assembly (66) is located on the y-direction side above the limiting groove (651), and includes a tightening drive motor (661) and a sleeve (662) connected to the output shaft of the tightening drive motor (661) and used to tighten the grounding ring (80) nut (82). The knock-closing assembly (67) includes a second rotating shaft (671) rotatably disposed on the mounting base (65), a knocking frame (672) sleeved and fixed to the second rotating shaft (671), and a knocking drive device (673) fixed to the mounting base (65) and used to drive the second rotating shaft (671) to rotate. The knocking frame (672) is capable of knocking the insulating shell (83) of the grounding ring (80) closed during rotation.

2. The grounding ring installation device according to claim 1, characterized in that, The hoisting mechanism (20) includes: A winding drive device (21) is fixed inside the carrier (10); A take-up reel (22) is connected to the output end of the take-up drive device (21); A traction clamp (23) is positioned above the carrier (10) and can be suspended by a drone from the guide wire (70); Locking element (24) is fixed to the upper end of the carrier (10); The traction rope (25) has its fixed end wound by the winding reel (22) and its free end locked by the locking member (24) after passing over the traction clamp (23); The forward walking mechanism (30) includes: A front swing arm (31) is hinged at its lower end to the carrier (10). The front travel wheel (32) is rotatably mounted on the upper end of the front swing arm (31) for traveling above the guide wire (70); A forward-moving drive device (33) is fixed to the upper end of the front swing arm (31) and is used to drive the forward-moving wheel (32). The first telescopic actuator (34) has its body hinged to the carrier (10) and its telescopic part hinged to the upper end of the front swing arm (31); The first camera (35) is fixed to the front swing arm (31) and faces the front of the front walking wheel (32) in the direction of travel; The rear walking mechanism (40) includes: The rear swing arm (41) is hinged at its lower end to the carrier (10). The rear travel wheel (42) is rotatably mounted on the upper end of the rear swing arm (41) for traveling above the guide wire (70); The rear walking drive device (43) is fixed to the upper end of the rear swing arm (41) and is used to drive the rear walking wheel (42). The second telescopic actuator (44) has its body hinged to the carrier (10) and its telescopic part hinged to the upper end of the rear swing arm (41); The second camera (45) is fixed to the rear swing arm (41) and faces the rear of the rear walking wheel (42) in the direction of travel.

3. The grounding ring installation device according to claim 1, characterized in that, The grounding ring mounting device also includes a toggle locking assembly (68) located below the knock-closing assembly (67). The toggle locking assembly (68) includes a third rotating shaft (681) rotatably disposed on the mounting base (65), a lever (682) sleeved and fixed to the third rotating shaft (681), and a lever driving device (683) fixed to the mounting base (65) and used to drive the third rotating shaft (681) to rotate. When the lever (682) rotates, it can move and lock the locking plate (84) of the insulating shell (83) to the latch at the lower part of the grounding ring (80).

4. The grounding ring installation device according to claim 1, characterized in that, The grounding ring mounting device further includes: The second y-axis adjustment component (69) is disposed on the sliding frame (64); A nut mounting adjustment assembly (610) is connected to the output end of the second y-direction adjustment assembly (69), and the nut locking assembly (66) is disposed at the output end of the nut mounting adjustment assembly (610); The third camera (611) is fixed above the tightening drive motor (661) and is positioned above the limiting groove (651).

5. The grounding ring installation device according to claim 1, characterized in that, The grounding ring mounting device further includes an insulating shell limiting assembly (612), which includes a first lifting driver (6121) driven along the f direction and a limiting frame (6122) connected to the driving end of the first lifting driver (6121). When lowered, the limiting frame (6122) is used to limit the insulating shell (83) of the grounding ring (80) to keep it in an open state.

6. The grounding ring installation device according to claim 1, characterized in that, The grounding ring mounting device further includes a push clamping assembly (613), which includes a second lifting driver (6131) fixed to the sliding frame (64) and a pusher (6132) connected to the drive end of the second lifting driver (6131). The pusher (6132) is used to apply a pushing force to the movable clamping arm (85) of the grounding ring (80) to close it.

7. The grounding ring installation device according to claim 1, characterized in that, The second lifting and swinging assembly (62) includes: The second slide rail (621) is fixed to the second mounting bracket (61) along the z-direction; The second slider (622) is slidably disposed on the second slide rail (621) along the z-direction. The second z-axis lifting driver (623) is disposed on the second mounting bracket (61) and is used to drive the second slider (622) to move up and down in the z-axis. The second swing frame (624) has its hinged part hinged to the second slider (622), and the first y-axis adjustment component (63) is fixed to the swing part of the second swing frame (624); The fourth telescopic actuator (625) has its body hinged to the second slider (622), and its telescopic part is hinged to the swing part of the second swing frame (624).

8. The grounding ring installation device according to claim 1, characterized in that, The striking frame (672) includes a V-shaped frame fixed to the second pivot (671) and an arc-shaped rod fixed to the V-shaped frame.

9. The grounding ring installation device according to claim 1, characterized in that, The gap size of the limiting groove (651) is adjustable.

10. A method for installing a grounding ring, characterized in that, The grounding ring mounting device according to any one of claims 1-9 includes the following steps: S1. Hoisting upper limit and angle detection: The grounding ring installation device is lifted to the high-altitude conductor (70) by the hoisting mechanism (20), so that the front walking mechanism (30) and the rear walking mechanism (40) are mounted on the conductor (70); during this process, the conductor angle detection component (90) set on the rear walking mechanism (40) continuously detects the tilt angle of the conductor (70). Specifically, the pressure roller (93) always keeps in contact with the upper end of the conductor (70) under the action of the spring or its own weight. The undulation or angle change of the conductor (70) will drive the swing arm (92) to rotate around the detection shaft of the encoder (91). The encoder (91) converts the angular displacement of the swing arm (92) into an electrical signal, thereby measuring and outputting the tilt angle data of the conductor (70) in real time. S2, Walking Positioning: Control the forward walking mechanism (30) and the rear walking mechanism (40) to walk along the conductor (70) and move the grounding ring installation mechanism (60) to below the stripped bare wire core; S3. Position Adjustment and Alignment: The grounding ring installation mechanism (60) performs adaptive posture adjustment based on the real-time tilt angle data of the conductor measured by the conductor angle detection component (90): the second lifting swing component (62) is activated, driving the first y-direction adjustment component (63) and the entire sliding frame (64) to lift and swing around the hinge point along the Z direction. At the same time, the first y-direction adjustment component (63) drives the sliding frame (64) to slide along the Y direction. Through the above adjustment, the limiting groove (651) on the mounting base (65) and the ring body (81) of the grounding ring (80) it carries are aligned with the exposed wire core above the conductor. S4. Tighten the nut: The sleeve (662) of the control nut locking assembly (66) is fitted into the nut (82) of the grounding ring (80); then, the tightening drive motor (661) is started, driving the sleeve (662) to rotate and tighten the nut (82) to the preset torque, so that the movable clamping arm (85) of the grounding ring (80) clamps the exposed wire core; S5. Insulating outer casing closed: The striking drive device (673) of the striking closure assembly (67) is activated, driving the second rotating shaft (671) to rotate, causing the striking frame (672) to move along an arc trajectory. The striking frame (672) strikes the edge of the insulating shell (83) of the grounding ring (80), causing it to rotate around the hinge point until it is fully closed. S6. Disengagement and Reset: The sleeve (662) of the nut locking assembly (66) is disengaged from the nut (82); the second lifting swing assembly (62) drives the entire grounding ring mounting mechanism (60) to descend and reset, so that the limiting groove (651) of the mounting base (65) is disengaged from the installed and fastened grounding ring (80); S7. Task Completion and Logout: Control the forward walking mechanism (30) and the rear walking mechanism (40) to walk to a safe position, release the traction rope (25) through the winch mechanism (20), and lower the entire grounding ring installation device to the ground to complete the operation.

11. A robot for installing wire stripping grounding rings, characterized in that, include: The grounding ring mounting device according to any one of claims 1-9; The wire stripping mechanism (50) is disposed on the carrier (10) and located in front of the forward walking mechanism (30) in the walking direction, and is used to strip the wire (70) to expose the wire core.

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