Grounding end coating automatic removing device and coating removing method

Abstract

The invention relates to the technical field of ultrahigh-voltage power transmission line maintenance equipment, in particular to an automatic cleaning device for a grounding end coating and a coating cleaning method. The device is provided with a supporting part; the grinding assembly is arranged on the supporting part, and a grinding piece of the grinding assembly points to the coating and is used for grinding the coating on the grounding end; the walking wheel set is arranged on the supporting part, and the walking wheel set slides on a tower grounding framework at the grounding end so as to drive the polishing assembly to reach the coating to be removed, so that the coating is polished by the polishing sheet; and the clamping assembly is arranged on the supporting part, when the polishing assembly reaches the coating, the clamping assembly clamps the tower grounding framework, after the coating is removed, the clamping assembly leaves the tower grounding framework, and the removing device can stably move and be fixed on the tower grounding framework, so that the coating is efficiently removed; and the operation intensity is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of ultra-high voltage transmission line maintenance equipment technology, specifically to an automatic grounding terminal coating removal device and coating removal method. Background Technology

[0002] During the maintenance of ultra-high voltage transmission lines during power outages, grounding wires must be installed at both ends of the line under maintenance to ensure the safety of workers and prevent injury from induced electric shock. A crucial prerequisite for installing grounding wires is removing the color-coded coating (described below) from the grounding structure of the towers to ensure reliable grounding.

[0003] Currently, conventional grounding wire installation requires workers to carry heavy tools to climb towers and manually remove the coating from the tower structure, which is tens of meters high, before connecting the grounding wire. This method is not only physically demanding but also poses safety risks such as falls from heights and electric shocks. Furthermore, the coating removal process is tedious and time-consuming, resulting in high labor intensity and low work efficiency. At the same time, most new grounding wire installation devices on the market lack the function of automatically removing paint from the grounding end of the tower, failing to guarantee grounding reliability and making it difficult to meet the safety and efficiency requirements of ultra-high voltage transmission line maintenance.

[0004] In existing technologies, the installation of grounding wires for transmission lines mainly relies on manual tower climbing, and coating removal depends on workers using hand tools for polishing. Some newer devices only allow drones to drop and hang the conductors, lacking an autonomous coating removal structure at the grounding end, still requiring manual assistance for coating removal. Therefore, the existing technologies have the following problems: Relying on manual tower climbing for coating removal is problematic due to the high tower height and limited working space, increasing the risk of falls from heights and electric shocks from insufficient safety distances. Furthermore, the tools are cumbersome, significantly increasing the physical exertion of workers. Manual coating removal is tedious, and the results are inconsistent due to the skill and physical strength of the workers, potentially leading to poor grounding contact. The long operation time also severely restricts the overall progress of power outage maintenance. In addition, the lack of a status monitoring and positioning mechanism makes it difficult to monitor the coating removal effect and grounding connection status in real time, posing a risk of unreliable grounding and missing grounding wires. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by providing an automatic coating removal device and a coating removal method for grounding terminals. The removal device can move and be fixed stably on the grounding structure of the tower, achieving efficient coating removal and effectively reducing the workload. The coating removal method can collect coating removal status, grounding connection reliability data and equipment location information in real time, forming a full-process control to ensure operation quality and safety.

[0006] To achieve one of the above objectives, the present invention provides the following technical solution: Provide an automatic coating removal device for grounding terminals, including Support section A grinding assembly is provided on the support portion, and the grinding disc of the grinding assembly points to the coating and is used to grind the coating on the grounding end. The walking wheel assembly is mounted on the support and slides on the tower grounding frame at the grounding end to drive the grinding assembly to the coating to be removed, so that the grinding disc grinds the coating. A clamping assembly is disposed on the support portion. When the grinding assembly reaches the coating, the clamping assembly clamps the tower grounding frame. After the coating is removed, the clamping assembly leaves the tower grounding frame.

[0007] In some embodiments, the support portion is a back plate, the clamping assembly and the traveling wheel set are both located on the same side of the back plate, and the tower grounding frame passes through the clamping assembly and the traveling wheel set.

[0008] In some embodiments, the walking wheel assembly includes a first wheel and a second wheel. The first wheel is connected to a first servo motor, which drives the first wheel to slide on one side of the tower grounding frame via gears, while the second wheel provides auxiliary support on the other side of the tower grounding frame.

[0009] In some embodiments, the clamping assembly includes a clamping block and a top block. The clamping block and the top block are located on both sides of the tower grounding frame. The clamping block is fixedly installed, and the top block is connected to a drive motor. The drive motor drives the top block to move closer to or away from the clamping block.

[0010] In some embodiments, a magnetic block is also provided on the side of the back plate, and the magnetic block is located between the clamping block and the top block.

[0011] In some embodiments, the back plate is further provided with a first mounting plate and a second mounting plate. The first mounting plate and the second mounting plate are respectively disposed on opposite sides of the back plate. Both the first mounting plate and the second mounting plate are perpendicular to the back plate and their surfaces are parallel to each other. The first wheel and the second wheel are respectively positioned on the inner side of the first mounting plate and the inner side of the second mounting plate by brackets. The clamping block is close to the inner side of the first mounting plate, and the top block is close to the inner side of the second mounting plate. The drive motor is located on the outer side of the second mounting plate. The shaft of the drive motor is connected to a lead screw. The lead screw passes through the second mounting plate and is connected to the top block. The drive motor drives the lead screw to rotate so that the top block moves closer to or away from the clamping block.

[0012] In some embodiments, a second servo motor is provided on the outer side of the first mounting plate. The second servo motor is connected to the polishing disc via a connecting rod. The second servo motor drives the connecting rod to press the polishing disc against or away from the coating, and to adjust the tilt angle of the polishing disc.

[0013] In some embodiments, the polishing assembly further includes a third servo motor, which is keyed to the polishing assembly, and the polishing disc is disassembled or connected by the rotation of the third servo motor.

[0014] In some implementations, it also includes A pressure sensor, mounted on the clamping assembly, is used to contact the tower grounding frame to monitor the pressure exerted by the clamping assembly on the tower grounding frame. A displacement sensor, mounted on the polishing disc, is used to monitor the depth of the polishing coating. A vision sensor is used to acquire image data of the cleaning effect of the coating at the grounding end. The MCU main control unit is connected to the pressure sensor, the displacement sensor, the vision sensor, the grinding assembly, the walking wheel assembly, and the clamping assembly, respectively, and is used to instruct the grinding assembly, the walking wheel assembly, and the clamping assembly to work based on the data information collected by the pressure sensor, the displacement sensor, and the vision sensor.

[0015] The beneficial effects of the automatic grounding terminal coating removal device of the present invention are as follows:

[0016] The automatic coating removal device for grounding ends of the present invention includes a support portion, providing mounting positions for a grinding component, a set of traveling wheels, and a clamping component. This allows the grinding component, traveling wheels, and clamping component to be positioned on the support portion. Therefore, when the traveling wheels slide along the grounding frame of the tower at the grounding end, they drive the grinding component to the coating to be removed, enabling the grinding component to grind the coating. Simultaneously, when the grinding component reaches the coating, the clamping component clamps and fixes it to the corresponding tower grounding frame, thus fixing the entire device and allowing the grinding component to stably grind the target coating. This removal device can move and be fixed stably on the tower grounding frame, achieving efficient coating removal, effectively reducing labor intensity, and overcoming the problems of high labor intensity and cumbersome manual operation associated with traditional methods requiring manual movement of the removal device. It is suitable for large-scale production and application.

[0017] To achieve the second objective mentioned above, the present invention provides the following technical solution: A coating removal method based on the above-described automatic grounding terminal coating removal device is provided, comprising: The automatic removal device, carried by a drone, is deployed to the designated location on the grounding structure of the tower. A work start command is sent to the MCU main control unit, which instructs the walking wheel assembly to move along the tower grounding frame, causing the automatic cleaning device to move along the tower grounding frame until the grinding disc of the grinding assembly points to the coating to be removed. The MCU main control unit instructs the clamping assembly to clamp the tower grounding frame, and simultaneously monitors the clamping tightness of the clamping assembly based on the signals collected by the pressure sensor, until the automatic clearing device is fixed. The MCU main control unit instructs the grinding component to grind the coating. At the same time, it collects signals from the displacement sensor to determine whether the grinding disc is in contact with the metal substrate. When it is in contact with the metal substrate, it adjusts the grinding speed. After ensuring that the coating is completely removed based on the signal collected by the vision sensor, it shuts down the grinding component and resets the automatic cleaning device.

[0018] The present invention is based on the beneficial effects of the coating removal method of the above-mentioned automatic grounding terminal coating removal device:

[0019] The coating removal method of this invention utilizes the aforementioned automatic coating removal device at the grounding end and achieves precise monitoring through an intelligent sensing module. Specifically, a pressure sensor detects the contact pressure between the clamping assembly and the grounding frame, providing real-time feedback on the reliability of the clamping. A displacement sensor monitors the lifting displacement and grinding depth of the grinding disc, ensuring that the coating removal thickness meets grounding requirements. A vision sensor captures images of the coating removal area in real time and transmits them to a ground workstation, allowing operators to visually observe the removal effect. This enables real-time acquisition of coating removal status, grounding connection reliability data, and equipment location information, forming a comprehensive process control system that ensures operational quality and safety, effectively improving detection accuracy. Attached Figure Description

[0020] Figure 1 This is a first-view view of the automatic grounding coating removal device of this embodiment.

[0021] Figure 2 This is a second visual view of the automatic grounding coating removal device of this embodiment.

[0022] Figure 3 This is a third-view view of the automatic grounding coating removal device of this embodiment.

[0023] Figure label: 1. Back plate; 2. First wheel; 3. Second wheel; 4. First servo motor; 5. Clamping block; 6. Top block; 7. Magnetic block; 8. First mounting plate; 9. Second mounting plate; 10. Bracket; 11. Drive motor; 12. Lead screw; 13. Second servo motor; 14. Grinding disc; 15. Output shaft; 16. Pressure sensor. Detailed Implementation

[0024] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention have been shown, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0025] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a” and “the” as used in this invention and the appended claims are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] Currently, the DC converter station is not equipped with an online monitoring system for monitoring abnormal noises from the external cooling water tower. The abnormal noise defects are mainly discovered by operators during inspections, which results in delays and subjectivity in defect discovery.

[0028] To solve the above-mentioned technical problems, the following embodiments are disclosed: Example 1

[0029] This embodiment discloses an automatic grounding terminal coating removal device. Please refer to [link / reference]. Figures 1-3 ,include Support section Specifically, the support unit serves as an installation support component, enabling the entire device to be assembled and arranged, facilitating subsequent movement of the entire device.

[0030] A grinding assembly is provided on the support portion, and the grinding disc 14 of the grinding assembly points to the coating and is used to grind the coating on the grounding end. Specifically, the polishing assembly, by being mounted on the support and having a corresponding configuration, allows the polishing disc 14 of the polishing assembly to point towards the coating, thereby enabling the polishing disc 14 to polish the coating. In practical applications, the coating to be removed is a small area, so a polishing assembly with a rigid configuration can be provided, and the coating can be removed by pointing the polishing assembly towards the coating to be removed.

[0031] The walking wheel assembly is mounted on the support and slides on the tower grounding frame at the grounding end to drive the grinding assembly to the coating to be removed, so that the grinding disc 14 grinds the coating. Specifically, the traveling wheel set is mounted on the support, so when the traveling wheel set slides on the tower grounding frame, it can drive the entire device to move, thereby driving the grinding component to align with the coating to be removed, making it easier to remove the target coating.

[0032] A clamping assembly is disposed on the support portion. When the grinding assembly reaches the coating, the clamping assembly clamps the tower grounding frame. After the coating is removed, the clamping assembly leaves the tower grounding frame.

[0033] Specifically, the clamping assembly is mounted on the support, which fixes the entire device in place, allowing the grinding assembly to stably grind and remove the coating. Once the coating is removed, the clamping assembly can release the tower grounding frame, allowing the entire device to reset.

[0034] In this embodiment, please refer to Figure 1 The support part is a back plate 1, the clamping assembly and the walking wheel set are both located on the same side of the back plate 1, and the tower grounding frame passes through the clamping assembly and the walking wheel set.

[0035] Specifically, the support is set as a back plate 1. Since the shape of the tower grounding frame is mainly angle steel or channel steel, the clamping assembly and the traveling wheel set are set on the same side of the back plate 1. Therefore, the tower grounding frame with a certain straight length range can pass through the clamping assembly and the traveling wheel set. The traveling wheel set moves on the tower grounding frame to move the device. When the grinding assembly reaches the target position, the clamping assembly clamps the tower grounding frame tightly, thereby making the whole device stable.

[0036] In this embodiment, please refer to Figure 1 The walking wheel set includes a first wheel 2 and a second wheel 3. The first round 2 and the second round 3 are made of polyurethane material with anti-slip texture on the surface, and are compatible with different specifications of pole grounding frame profiles (such as angle steel and channel steel). The first wheel 2 is connected to the first servo motor 4. The first servo motor 4 drives the first wheel 2 to slide on one side of the tower grounding frame through gears, and the second wheel 3 provides auxiliary support on the other side of the tower grounding frame.

[0037] Specifically, the walking wheel group is divided into a first wheel 2 and a second wheel 3. The first wheel 2 and the second wheel 3 are located on both sides of the tower grounding frame. The first wheel 2 can be precisely controlled by the first servo motor 4 to slide, thereby making the entire device walk stably. The second wheel 3 is located on the other side of the tower grounding frame. The second wheel 3 serves as an auxiliary wheel. The second wheel 3 and the first wheel 2 together support the tower grounding frame, enabling the first wheel 2 to slide stably and ensuring the stability of the entire device.

[0038] The second servo motor 13 now has precise speed control, and the drive device moves smoothly along the grounded frame. The moving speed can be adjusted within the range of 0.5~2cm / s. The first wheel 2 and the second wheel 3 form a triangular support structure to ensure the stability of the device during movement and prevent it from tipping over.

[0039] In this embodiment, please refer to Figures 1-2 The clamping assembly includes a clamping block 5 and a top block 6. The clamping block 5 and the top block 6 are located on both sides of the tower grounding frame, respectively. The clamping block 5 is fixedly installed, and the top block 6 is connected to a drive motor 11. The drive motor 11 drives the top block 6 to move closer to or away from the clamping block 5. The inner surfaces of both the clamping block 5 and the top block 6 are provided with anti-slip teeth. The clamping block 5 is made of high-strength aluminum alloy, and the top block 6 is made of wear-resistant rubber to avoid damaging the surface of the tower grounding frame.

[0040] Specifically, the device is fixed by driving the clamping block 5 and the top block 6 to move closer together, thus clamping the tower grounding frame. Conversely, the device is released by driving the clamping block 5 and the top block 6 to move away from each other and disengaging from the tower grounding frame. Furthermore, the clamping block 5 and the top block 6 are designed to cooperate with the moving wheel assembly, allowing the tower grounding frame to pass through the position between the first wheel 2 and the second wheel 3 of the moving wheel assembly, and through the position between the top block 6 and the clamping block 5.

[0041] In this embodiment, please refer to Figure 2 The back plate 1 is also provided with a magnetic block 7 on its side, and the magnetic block 7 is located between the clamping block 5 and the top block 6.

[0042] Specifically, a magnetic block 7 is provided between the clamping block 5 and the top block 6. When the tower grounding frame passes between the clamping block 5 and the top block 6, the magnetic block 7 can magnetically attract the tower grounding frame, so that the tower grounding frame can be stably positioned between the clamping block 5 and the top block 6 before being clamped by the clamping block 5 and the top block 6.

[0043] In this embodiment, please refer to Figures 1-2 The back plate 1 is also provided with a first mounting plate 8 and a second mounting plate 9. The first mounting plate 8 and the second mounting plate 9 are respectively disposed on opposite sides of the back plate 1. The first mounting plate 8 and the second mounting plate 9 are both perpendicular to the back plate 1 and their surfaces are parallel to each other. The first mounting plate 8 and the second mounting plate 9 provide the mounting position.

[0044] The first wheel 2 and the second wheel 3 are respectively positioned on the inner side of the first mounting plate 8 and the inner side of the second mounting plate 9 by the bracket 10. The clamping block 5 is close to the inner side of the first mounting plate 8, and the top block 6 is close to the inner side of the second mounting plate 9. The first wheel 2 can be installed on the inner side of the first mounting plate 8 via the bracket 10, and the second wheel 3 can be installed on the inner side of the second mounting plate 9 via another bracket 10, so that the first wheel 2 and the second wheel 3 can slide.

[0045] The drive motor 11 is located on the outer side of the second mounting plate 9. The shaft of the drive motor 11 is connected to a lead screw 12, which passes through the second mounting plate 9 and connects to the top block 6. A drive motor 11 is provided on the outer side of the second mounting plate 9. The drive motor 11 drives the top block 6 to move closer to or away from the top block 6 by rotating the lead screw 12 in both directions. This speeds up the clamping force between the clamping block 5 and the top block 6, which can reach 300-500N, ensuring that the device is securely fixed during operation.

[0046] Furthermore, a spring assembly fitted onto both ends of the lead screw 12 is provided on the side of the top block 6 facing away from the clamping block 5. This spring assembly serves as a buffer and reset mechanism to prevent excessive clamping force of the clamping assembly from damaging the tower grounding structure.

[0047] Specifically, the drive motor 11 drives the lead screw 12 to rotate so that the top block 6 moves closer to or further away from the clamping block 5.

[0048] In this embodiment, a second servo motor 13 is provided on the outer side of the first mounting plate 8, and the second servo motor 13 is keyed to the grinding component. In this embodiment, please refer to Figures 1-2 The grinding assembly is also equipped with a third servo motor, which drives the grinding disc 14 to rise or fall via a connecting rod. The third servo motor also adjusts the tilt angle of the grinding disc 14, which is 0~30°.

[0049] For example, the polishing assembly consists of a second servo motor 13, a polishing disc 14, and a built-in third servo motor. The second servo motor 13 is fixed to the outside of the first mounting plate 8, and is a high-speed DC motor with an output power of 300~500W to ensure polishing efficiency. The polishing disc 14 is made of diamond, has a ring structure, and has evenly distributed polishing particles on its surface to meet the removal requirements of various coatings (such as paint and anti-corrosion coatings). The diameter of the polishing disc 14 is designed to be 50~80mm according to the width of the grounding frame. The second servo motor 13 and the polishing disc 14 are connected by a connecting rod. The output shaft 15 of the second servo motor 13 is made of stainless steel. The third servo motor and the polishing disc 14 are connected by a key, which allows for quick disassembly and replacement of the polishing disc 14. The second servo motor 13 can drive the polishing disc 14 to rise and fall vertically (the lifting stroke is 0~30mm) and adjust the polishing angle (the adjustment range is 0~30°) to ensure that the coating is removed evenly and thoroughly.

[0050] Furthermore, the bottom of the second mounting plate 9 is also provided with a positioning pin, which is adapted to the reserved hole or protrusion structure on the grounding frame, and is inserted for positioning during device operation to further improve the stability of the fixation.

[0051] This embodiment also includes A pressure sensor 16, disposed on the clamping assembly, is used to contact the tower grounding frame to monitor the pressure of the clamping assembly clamping the tower grounding frame. Specifically, the pressure sensor 16 is installed inside the clamping block 5 or the top block 6. The high-precision strain gauge pressure sensor 16 is selected to detect the contact pressure between the clamping block 5 and the grounding frame, and to provide real-time feedback on whether the clamping is reliable. The detection accuracy can reach ±1N.

[0052] A displacement sensor, mounted on the polishing disc 14, is used to monitor the depth of the polishing coating. The displacement sensor is installed on the connecting rod of the grinding disc 14. It is a laser displacement sensor used to monitor the lifting displacement and grinding depth of the grinding disc 14, ensuring that the coating removal thickness meets the grounding requirements (the metal substrate is exposed after removal, and the thickness error is ≤0.1mm).

[0053] A vision sensor is used to acquire image data of the cleaning effect of the coating at the grounding end. Specifically, the vision sensor uses a high-definition industrial camera, coupled with an LED fill light, to capture images of the coating removal area in real time and transmit them to the ground workstation, allowing operators to intuitively observe the removal effect. The IoT positioning module integrates satellite positioning and communication functions, with a positioning accuracy of ±2m, and can collect the device's geographical location information in real time, solving the communication problem in areas without public network signals in the wild and ensuring that the device's location is traceable.

[0054] The MCU main control unit is connected to the pressure sensor 16, the displacement sensor, the vision sensor, the grinding assembly, the walking wheel assembly, and the clamping assembly, respectively, and is used to instruct the grinding assembly, the walking wheel assembly, and the clamping assembly to work based on the data information collected by the pressure sensor 16, the displacement sensor, and the vision sensor.

[0055] Specifically, the MCU main control unit (the core control unit of this device) is installed on a circuit board inside the sealed cavity. It is an STM32 series microcontroller and is responsible for receiving data, outputting control commands, and interacting with the UAV and ground workstation. Example 2

[0056] In existing technologies, due to the lack of status monitoring and positioning mechanisms, it is difficult to monitor the coating removal effect and grounding connection status in real time, leading to risks of unreliable grounding and missing grounding wires. To address this, this embodiment discloses a coating removal method using an automatic coating removal device at the grounding end, including: The automatic removal device, carried by a drone, is deployed to the designated location on the grounding structure of the tower. A work start command is sent to the MCU main control unit, which instructs the walking wheel assembly to move along the tower grounding frame, causing the automatic cleaning device to move along the tower grounding frame until the grinding disc 14 of the grinding assembly points to the coating to be removed. Specifically, the automatic coating removal device is controlled in conjunction with a drone. After the drone, carrying the automatic coating removal device, flies to the designated position on the tower grounding frame, it sends a drop and operation start command to the MCU via a wireless communication module. Upon receiving the command, the MCU first drives the walking component to move the device along the tower grounding frame to the target operation position, that is, to the coating to be cleaned.

[0057] The MCU main control unit instructs the clamping assembly to clamp the tower grounding frame, and simultaneously monitors the clamping tightness of the clamping assembly based on the signal collected by the pressure sensor 16, until the automatic clearing device is fixed. Specifically, the MMCU main control unit controls the drive motor 11 of the clamping component to operate based on the signal collected by the pressure sensor 16, which drives the lead screw 12 to push the top block 6 to clamp the tower grounding frame. When the pressure reaches the preset threshold (300N), the drive positioning pin is inserted for positioning, thus completing the device fixation.

[0058] The MCU main control unit instructs the grinding component to grind the coating. At the same time, it collects the signal from the displacement sensor to see if the grinding disc 14 is in contact with the metal substrate. When it is in contact with the metal substrate, it adjusts the grinding speed. After ensuring that the coating is completely removed based on the signal collected by the vision sensor, it shuts down the grinding component and resets the automatic cleaning device.

[0059] Specifically, the MCU main control unit, combining data from displacement and vision sensors, controls the height and angle of the polishing assembly, initiating the rotation of the polishing disc 14 to polish the coating. During polishing, the polishing depth is monitored in real time. When the displacement sensor detects that the polishing disc 14 contacts the metal substrate (the polishing depth reaches the coating thickness), the MCU main control unit controls the polishing motor to decelerate, continuing polishing for 10-15 seconds to ensure complete removal of the coating, and then shuts off the polishing motor. For data transmission and feedback, the MCU main control unit integrates data such as clamping status, polishing depth, cleaning effect image, and device position, and periodically sends it to the ground workstation via the IoT positioning module (the sending cycle can be set to 30 seconds / time).

[0060] If any loose clamping or abnormal grinding is detected, an emergency alarm signal is immediately triggered and simultaneously sent to the drone and ground workstation. After the coating is removed, the MCU main control unit receives the unlocking command from the ground workstation or drone, the control device is reset, clamp 5 is released, and the driving mechanism moves the device to the ground connection position. After the grounding wire is connected, it can be retrieved by drone or left in place for retrieval after maintenance.

[0061] A power supply module is also included, providing stable power to all components of the device. This module includes a solar power unit and a backup lithium battery pack, as detailed below: The solar power unit uses flexible monocrystalline silicon solar panels mounted on the top of the device, with a conversion efficiency of ≥22%. It can be charged in real-time outdoors, suitable for scenarios without external power sources. The solar panels are connected to the charging management module for charging protection and stable voltage output. The backup lithium battery pack uses high-capacity lithium polymer batteries with a rated voltage of 12V and a capacity of 5000mAh, sufficient for 4-6 hours of continuous operation. The battery pack is connected to the MCU, automatically switching to lithium battery power when solar power is insufficient, ensuring continuous operation. Power monitoring components include a power sensor and status indicator lights. The power sensor collects real-time battery power data and transmits it to the ground workstation via the MCU. The status indicator lights are mounted on the device casing: a solid green light indicates normal power supply, a flashing yellow light indicates insufficient power, and a flashing red light indicates a power failure.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic ground end coating removal device characterized by, The utility model relates to a backplate, a clamping assembly and a walking wheel group are arranged on the same side of the backplate, and the tower grounding structure penetrates the clamping assembly and the walking wheel group. The walking wheel group comprises a first wheel and a second wheel, The first wheel is connected with a first servo motor, the first servo motor drives the first wheel to slide on one side of the tower grounding structure through a gear, and the second wheel is auxiliary supported on the other side of the tower grounding structure. The clamping assembly comprises a clamping block and a top block, The clamping block and the top block are respectively located on both sides of the tower grounding structure, the clamping block is fixedly arranged, and the top block is connected with a driving motor.

2. The automatic ground end coating removal device of claim 1, wherein, The driving motor drives the top block to approach or move away from the clamping block.

3. The automatic ground end coating removal device of claim 2, wherein, The backplate is further provided with a magnetic block on the side surface, The backplate is further provided with a first mounting plate and a second mounting plate, 4. The automatic ground end coating removal device of claim 3, wherein, The first mounting plate and the second mounting plate are respectively arranged on opposite side ends of the backplate, the plate surfaces of the first mounting plate and the second mounting plate are perpendicular to the backplate, and the plate surfaces are parallel to each other, The first wheel and the second wheel are positioned on the inner side surfaces of the first mounting plate and the second mounting plate through a support respectively, 5. The automatic ground end coating removal device of claim 4, wherein, The driving motor is arranged on the outer side surface of the second mounting plate, a screw rod is connected with the rotating shaft of the driving motor, the screw rod penetrates the second mounting plate and is connected with the top block, and the driving motor drives the screw rod to rotate so that the top block approaches or moves away from the clamping block.

6. The automatic ground end coating removal device of claim 4, wherein, The outer side surface of the first mounting plate is provided with a second servo motor, the second servo motor is connected with the polishing piece through a connecting rod, the connecting rod is driven by the second servo motor so that the polishing piece is pressed towards the coating or moves away from the coating, and the inclination angle of the polishing piece is adjusted. The polishing assembly further comprises a third servo motor, the third servo motor is connected with the polishing assembly through a key, and the polishing piece is disassembled or connected through the rotation of the third servo motor. Further comprising A pressure sensor is used for contacting the tower grounding structure to monitor the pressure of the clamping assembly clamping the tower grounding structure, 7. The automatic ground end coating removal device of claim 6, wherein, A displacement sensor is used for monitoring the depth of polishing the coating, 8. The automatic ground end coating removal device of claim 7, wherein, A visual sensor is used for collecting image data of the cleaning effect of the coating of the grounding end.

9. The automatic ground end coating removal device of claim 1, wherein, ​ ​ ​ ​ MCU master control unit, respectively with the pressure sensor, the displacement sensor, the visual sensor, the polishing assembly, the walking wheel group, the clamping assembly connection, for according to the data information instruction the polishing assembly, the walking wheel group and the clamping assembly work of the pressure sensor, the displacement sensor, the visual sensor acquisition.

10. The coating removal method of the ground end coating automatic removal apparatus according to claim 9, characterized by, Including: Using unmanned aerial vehicle to carry the automatic cleaning device is hung in the specified tower grounding frame position, Instruction the walking wheel group walks on the tower grounding frame, makes the automatic cleaning device walk along the tower grounding frame until the polishing piece of the polishing assembly points to the coating to be cleaned, Instruction the clamping assembly clamps the tower grounding frame, and simultaneously monitors the clamping fastness of the clamping assembly according to the signal collected by the pressure sensor until the automatic cleaning device is fixed, Instruction the polishing assembly polishes the coating, and simultaneously collects the signal whether the polishing piece contacts the metal matrix according to the displacement sensor, when contacting the metal matrix, the polishing speed is adjusted, and after ensuring that the coating is completely cleaned according to the signal collected by the visual sensor, the polishing assembly is closed, and the automatic cleaning device is reset.

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