Ground wire hanging system and device and form-variable clamping jaw

Abstract

The invention relates to a power transmission line construction device, and discloses a grounding wire hanging system, a grounding wire hanging device and a form-variable clamping jaw. The form-variable clamping jaw comprises a plurality of movable blocks (101) which are sequentially stacked at intervals in the height direction, a friction gasket (102) is arranged between every two adjacent movable blocks (101), each movable block (101) can independently move in the horizontal direction under the action of external force, the end face of one end of each movable block (101) in the horizontal movement direction forms a clamping limiting face (103), and the friction gaskets (102) are arranged on the movable blocks (101). The adjacent clamping limiting faces (103) can be located on the same vertical face or different vertical faces. The hanging device can be better hung on the angle steel tower, grounding of a power transmission line and residual voltage release are effectively achieved, hanging is carried out in the mode that the movable clamping jaw with the changeable shape is adopted for clamping the angle steel, the time for finding the proper angle steel is shortened, and the hanging efficiency is improved.

Description

Technical Field

[0001] This invention relates to a power transmission line construction device, and more particularly to a grounding wire installation system. Background Technology

[0002] Currently, when carrying out maintenance work on high-voltage transmission lines, grounding wires must be installed first. This is to prevent sudden power surges into the lines or equipment during the work process and to avoid injury to maintenance personnel.

[0003] Currently, the maintenance and grounding wire installation work on high-voltage transmission lines is still carried out using the traditional manual method, which requires a high level of physical strength and skill from the maintenance workers and is time-consuming. For example, the manual testing and installation of grounding wires for a single 24-meter-high tower can take 50 minutes, and there are risks of falls from heights, being struck by falling objects, and induced voltage.

[0004] Currently, there are also methods based on drones to attach grounding wires. The attachment device is generally attached to the power transmission line by hooks. Since the power transmission line has a circular cross-section, it is easy to attach the hooks. However, this type of attachment device is difficult to use well on angle steel towers. In order to better realize the attachment device on angle steel towers, there is an urgent need to provide a grounding wire attachment and removal device to save operation time, improve operation efficiency, and reduce operation safety risks. Summary of the Invention

[0005] This invention addresses the problems existing in the prior art regarding the grounding wire installation process during the maintenance of high-voltage transmission lines by providing a grounding wire installation system and device.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A shape-variable gripper includes a gripper body, which comprises multiple movable blocks stacked at intervals along the height direction, with friction pads provided between adjacent movable blocks. Each movable block can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block along the horizontal direction of movement forms a clamping and limiting surface. Adjacent clamping and limiting surfaces can be on the same vertical plane or on different vertical planes.

[0007] Preferably, the device also includes a gripper frame, the gripper frame having a movable block channel in the middle, a vertically arranged mounting post for sliding engagement with the movable block installed in the movable block channel, the movable block and friction pads being arranged alternately at intervals along the axial direction of the mounting post, the movable block having an elongated hole for the mounting post to pass through, the length of the elongated hole being arranged along the axial direction of the movable block channel, the movable block being able to slide relative to the mounting post along the length of the elongated hole; the friction pad having a circular hole for the mounting post to pass through and having a clearance fit with the mounting post.

[0008] Preferably, the gripper frame is a frame with a U-shaped groove in the middle, and the frame includes a U-shaped inner bottom wall, a U-shaped inner side wall and a U-shaped top wall; The movable blocks are constructed in the shape of rectangular plates, and the clamping and limiting surfaces of each movable block are vertical planes. The clamping and limiting surface has three states: one, flush with the inner bottom wall of the U-shape; two, protruding from the inner bottom wall of the U-shape but not from the top wall of the U-shape; and three, protruding from the top wall of the U-shape. Each movable block can individually maintain the clamping limiting surface in state one, state two, or state three under the action of external force.

[0009] Preferably, the gripper frame includes an upper end plate, a lower end plate, and two side plates, both of which are U-shaped plates and are arranged opposite to each other. The movable block channel is composed of an upper end plate, a lower end plate, and two side plates. The upper and lower ends of the mounting column are fixed to the upper end plate and the lower end plate, respectively. Friction pads are provided between the upper end plate and the uppermost movable block, and between the lowermost movable block and the lower end plate.

[0010] Preferably, there are two parallel mounting posts between the upper end plate and the lower end plate, and two parallel elongated holes on the movable block that correspond one-to-one with the two mounting posts. The friction pad is constructed in the shape of a long strip and has round holes at both ends for the two mounting posts to pass through.

[0011] Preferably, the side plate includes a vertical arm and horizontal arms disposed at the upper and lower ends of the vertical arm. The upper end plate and the lower end plate are respectively fixed to the upper and lower ends of the horizontal arms. The movable block channel is formed by the upper end plate, the lower end plate and the vertical arms of the two side plates.

[0012] Preferably, the movable block has an opening in the middle that faces away from the U-shaped groove to avoid it.

[0013] Preferably, the upper end plate and the lower end plate have the same structure, both including a first plate and a second plate that are fixed to each other. The first plate is fixed to the side plate by bolts, and the second plate is used to fix the mounting column. The side of the second plate is also provided with an extension facing away from the U-shaped groove, and a reinforcing rib is provided between the extension and the first plate.

[0014] The grounding wire mounting device includes the aforementioned variable-form gripper.

[0015] The grounding wire mounting system includes a drone and the aforementioned grounding wire mounting device, which can be mounted on the drone.

[0016] This invention, by adopting the above technical solutions, has significant technical effects: This invention relates to the use of drones to install and remove grounding wire devices on angle steel towers. It can effectively install the device on the angle steel tower, ground the transmission line, release residual voltage, and use movable claws with variable shapes to hold the device on the angle steel, reducing the time spent finding suitable angle steel and improving installation efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the hanging device in Embodiment 1 or 2 of the present invention.

[0018] Figure 2 This is a side view of the mounting device of the present invention.

[0019] Figure 3 yes Figure 1 A schematic diagram showing the connection between the middle gripper drive assembly and the movable gripper.

[0020] Figure 4 yes Figure 2 A schematic diagram of the structure of the frame in the middle.

[0021] Figure 5 This is a schematic diagram of the movable gripper structure in Embodiment 3 of the present invention.

[0022] Figure 6 yes Figure 5 Schematic diagram of the gripper frame structure.

[0023] Figure 7 yes Figure 5 A schematic diagram of the structure of the active block.

[0024] Figure 8 This is a schematic diagram of the working state of the mounting device in Embodiment 3. Figure 1 .

[0025] Figure 9 This is a schematic diagram of the working state of the mounting device in Embodiment 3. Figure 2 .

[0026] Figure 10 This is a schematic diagram of the working state of the mounting device in Embodiment 3. Figure 3 . Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Example 1 This embodiment provides a grounding wire mounting system for hanging and removing grounding wires during maintenance work on high-voltage transmission lines, such as... Figures 1-4 As shown, it includes a drone and a mounting device attached to the drone.

[0029] In this embodiment, a pair of grounding wire mounting devices are transported by drone to the angle steel tower and the power transmission line respectively, and the devices are hung on the angle steel of the angle steel tower and the power transmission line respectively, so as to achieve grounding of the power transmission line, release residual voltage, ensure the safety of workers on the angle steel tower, and prevent workers from being electrocuted.

[0030] After the operation is completed, the grounding wire installation device is still removed from the angle steel and power transmission line by drone. In this embodiment, the grounding wire installation and removal operation is carried out by drone. The grounding wire installation and removal operation can be completed by a single person, which saves operation time, improves operation efficiency, and reduces operation safety risks.

[0031] This embodiment provides a mounting device that facilitates removal after the work is completed. Specifically, the mounting device includes a device body 20, which includes a mounting frame 201 and a gripper drive assembly 202.

[0032] The mounting frame 201 includes a fixed gripper 203 and a movable gripper 204. The mounting frame 201 includes a U-shaped frame 209 with an opening facing downwards. The U-shaped frame 209 includes a horizontal arm and two vertically extending arms 221 and 222. The vertical arm 221 forms the fixed gripper 203. The movable gripper 204 includes a gripper body 10. The gripper body 10 has a vertical clamping and limiting surface 103 opposite to the fixed gripper 203. The gripper body 10 is arranged opposite to the fixed gripper 203 and can move in the horizontal direction toward or away from the fixed gripper 203.

[0033] Since the entire device needs to be carried to a high altitude by a drone, the mounting device should not be too heavy. The mounting device is used for grounding wires and needs to be made of metal. In this application, it is basically made of welded steel plates or bolted connections. Therefore, the structure of the mounting device needs to be designed to reduce its weight as much as possible.

[0034] In this embodiment, the hanging structure is designed to consist of two symmetrically arranged frame side plates 227 and multiple connecting rods 228 connecting the two frame side plates 227. The frame side plates 227 include U-shaped plates 229 with downward openings. The U-shaped plates 229 in the two frame side plates 227 and the connecting rods 228 connecting the U-shaped plates 229 together constitute a U-shaped frame 209.

[0035] On the one hand, this type of frame reduces the end face sealing plate and is connected by only two frame side plates 227 and connecting rods 228, which can greatly reduce its weight. On the other hand, the frame side plates 227 are also perforated to further reduce the weight of the hanging frame 201.

[0036] This embodiment provides a gripper drive assembly 202 for driving the movable gripper 204 to move toward or away from the fixed gripper 203. The gripper drive assembly 202 includes a component one for driving the movable gripper 204 to move toward the fixed gripper 203 and a component two for driving the movable gripper 204 to move away from the fixed gripper 203. The component one includes an elastic member 206 that can pull the movable gripper 204. The elastic member 206 provides a pulling force on the movable gripper 204 by its own elasticity. The elastic element 206 provides tension on the movable gripper 204 by its own elasticity. The elastic element 206 includes a mounting rod 207 and a coil spring 208 mounted on the mounting rod 207. One end of the coil spring 208 is fixedly connected to the movable gripper 204. The mounting rod 207 is fixed on the vertical arm 221. The coil spring 208 includes a coil roller and a spring sheet wound on the coil roller. One end of the spring sheet is fixed on the coil roller, and the other end is fixed on the gripper body 10 of the movable gripper 204. The coil roller can rotate on the mounting rod 207.

[0037] Component 2 includes a rigid rope 205 that can pull the movable gripper 204. The rigid rope 205 provides a pulling force on the movable gripper 204 by the weight of the device body 20. It also includes a lifting ring 210 that is set on the top of the hanging frame 201 and can move up and down relative to the hanging frame 201. The two ends of the rigid rope 205 are respectively connected to the lifting ring 210 and the movable gripper 204. When the lifting ring 210 moves upward relative to the hanging frame 201, it can pull the movable gripper 204 away from the fixed gripper 203 through the rigid rope 205.

[0038] In this embodiment, the gripper frame 104 includes an upper end plate 112, a lower end plate 113, and two side plates 114. Both side plates 114 are U-shaped plates 229 and are arranged opposite to each other. The upper end plate 112 is provided with sliding connecting plates 235 on both sides. Both side plates 227 are fixed with sliding groove plates 234 forming a groove in the middle. The length direction of the groove is set along the movement direction of the movable gripper 204. The sliding connecting plate 235 is provided with rollers 236 that can move in the groove. Based on the groove and the rollers 236, the movable gripper 204 can achieve more stable reciprocating motion.

[0039] In this embodiment, a lifting ring mounting bracket 211 is installed on the top of the hanging frame 201. The lifting ring mounting bracket 211 includes a lifting ring mounting arm 212. Both ends of the lifting ring mounting arm 212 are connected to a vertically downward extending guide rod 213. The hanging frame 201 is provided with a guide hole 214 for the guide rod 213 to pass through and slide in cooperation with the guide rod 213. The bottom end of the guide rod 213 is provided with a limiting ring 215 with an outer diameter larger than the diameter of the guide hole 214. The setting of the limiting ring 215 can effectively prevent the guide rod 213 from completely detaching from the hanging frame 201.

[0040] The lifting ring mounting arm 212 is also fixed with a lifting ring mounting seat 216 for fixing the lifting ring 210. The lifting ring mounting seat 216 includes a mounting seat base plate 217 fixed to the lifting ring mounting arm 212 by bolts and a snap-fit ​​block 218 set on the mounting seat base plate 217. The snap-fit ​​block 218 has a snap-fit ​​groove 219 with an upward opening in the middle. The bottom of the lifting ring 210 is snapped into the snap-fit ​​groove 219 and fastened by bolts. The axial direction of the lifting ring 210 snapped into the snap-fit ​​groove 219 is the same as the movement direction of the movable gripper 204.

[0041] During installation, the angle steel on the outside of the angle steel tower is usually selected for installation. The axial direction of the lifting ring 210 is the same as the direction of movement of the movable jaw 204, that is, the thickness direction of the lifting ring 210 is the same as the length direction of the angle steel. This allows the lifting ring 210 to be close to the angle steel tower from the side during installation, which can minimize the interference of the lifting ring 210 on the installation process.

[0042] The lifting ring mounting base 216 is located at the middle position of the lifting ring mounting arm 212. The length direction of the lifting ring mounting arm 212 is set along the length direction of the hanging frame 201, so that the lifting ring 210 is basically located on the center line of the entire hanging frame 201, thereby ensuring the stability of the lifting ring 210 under load.

[0043] In addition, the mounting frame 201 is equipped with at least two tensioning rods 220 for tensioning the rigid rope 205. The rigid rope 205 is wound around the tensioning rods 220. The tensioning rods 220 can tension the rigid rope 205 on the one hand, and directly serve as connecting rods 228 between the two frame side plates 227 on the other hand. One of the tensioning rods 220 is located in the lower middle of the lifting ring 210, which can serve as the middle connecting rod 228 between the two frame side plates 227. By replacing the connecting rods 228 with tensioning rods 220, the number of connecting rods 228 can be reduced, which can improve the assembly efficiency of the entire device and further control the weight of the device.

[0044] Between the two frame side plates 227, there is also a long strip connecting plate 237 for installing guide rods 213. The long strip connecting plate 237 is set at both ends of the top of the frame side plate 227, and it can directly replace the connecting rod 228 at that position. The middle of the long strip connecting plate 237 is provided with a sliding hole for the guide rod 213 to pass through. The way the connecting plate replaces the connecting rod 228 makes the load-bearing device more stable and has a larger load during operation.

[0045] In this embodiment, the structure of the hanging frame 201 is fully designed, and the positions of each pole and plate are optimized so that its shape, weight, stress and other aspects are kept in a better state. It has the characteristics of compact structure, stable operation and full ability to meet the operation requirements.

[0046] The specific work process is as follows: In the initial state, the drone hooks onto the lifting ring 210. At this time, a grounding wire is connected to the mounting frame 201. The drone drives the device to the corresponding angle steel tower position. During the drone's operation and before the mounting device is installed, the lifting ring 210 is at its highest position relative to the mounting frame 201 under the drone's influence, and the guide rod 213 is extended out of the mounting frame 201. Under the pulling action of the lifting ring 210, the movable gripper 204 is pulled open to its furthest point from the fixed gripper 203 via the rigid rope 205. At this time, the installation opening is in its maximum state, and the coil spring 208 is in its maximum extended state.

[0047] Continue lowering the mounting frame 201 until the angle steel enters through the installation port and the mounting frame 201 lands on the angle steel. At this point, continue to control the drone to descend slowly. Since the mounting frame 201 is supported, as the drone descends, the rigid rope 205 on the lifting ring 210 no longer provides tension. The movable gripper 204 can then gradually move towards the fixed gripper 203 under the elastic tension of the coil spring 208 until the angle steel is completely clamped, thus completing the installation of the mounting frame 201 on the angle steel. At this point, the hook on the drone can be operated to detach from the lifting ring 210. The drone will automatically detach as it descends further, and the drone will return to base while the workers on the angle steel tower carry out their work.

[0048] After the workers finish their work, they leave the angle steel tower. The drone then returns to the designated position and hooks the lifting ring 210 again. The drone only needs to move upwards to pull the rigid rope 205 through the lifting ring 210, which in turn drives the movable gripper 204 to overcome the elasticity of the coil spring 208 and move away from the fixed gripper 203. This releases the clamp on the angle steel and then directly lifts the entire hanging frame 201, completing the removal of the hanging frame 201 from the angle steel tower. This removal method does not require any electric drive; it can be directly lifted by the drone, eliminating the need to consider the power source. It is also safer and easier to operate.

[0049] Example 2 Similar to Embodiment 1, the difference is that the mounting device in this embodiment can not only be easily removed after the work is completed, but also be easily mounted on the angle steel tower.

[0050] Specifically, in this embodiment, the lower ends of vertical arm 1 221 and vertical arm 222 are respectively provided with extension arm 1 223 and extension arm 224, and both extension arm 1 223 and extension arm 224 are inclined towards the outside of the U-shaped frame 209. The first extension arm 223 and the first vertical arm 221 form an angle of 5-10°, and the second extension arm 224 and the second vertical arm 222 form an angle of 45-60°. In this embodiment, the first extension arm 223 and the first vertical arm 221 form an angle of 5°, and the second extension arm 224 and the second vertical arm 222 form an angle of 60°. The lower end of the first extension arm 223 is provided with a terminal block 225 for connecting a grounding wire.

[0051] The extension arm 1 223 and the extension arm 2 224 are tilted outward at different angles. On the one hand, the bottom of the extension arm 1 223 is connected to the ground wire, which has a certain weight. By using the extension arm 1 223, which is basically vertically extended, the extension arm 1 223 maintains a similar traction angle with the ground wire when the device is running upward. This reduces the tilting of the entire device caused by the extension arm 1 223 flipping downward and the extension arm 2 224 flipping upward during the hanging device. On the other hand, the larger outward tilt of the second extension arm 224 makes it easier for the angle steel to enter between the first extension arm 223 and the second extension arm 224 during installation, reducing the difficulty for operators to operate the drone.

[0052] When the operator observes that the angle steel has entered between the first extension arm 223 and the second extension arm 224, the operator moves the drone horizontally so that the first extension arm 223 fits against the side of the angle steel. Then, the operator moves the drone downward along the first extension arm 223. At this time, the first extension arm 223 can play a certain guiding role. Along the end face of the first extension arm 223, the angle steel will inevitably enter the installation opening between the fixed clamp 203 and the movable clamp 204, and the angle steel entering the opening can also basically fit against the side of the fixed clamp 203 until the hanging device is completely mounted on the angle steel, completing this stage of installation.

[0053] To facilitate more accurate drone operation by personnel below the tower, red identification plates 226 are installed on the outer surface of the second extension arm 224. These red identification plates 226 are positioned along the length of the second extension arm 224 and can be made of red plastic. During operation, staff can better determine whether the angle iron is positioned between the first extension arm 223 and the second extension arm 224 based on the position of the red identification plates 226 in the camera view.

[0054] In this embodiment, the frame side plate 227 also includes an inclined plate 230 and an inclined plate 231 extending downward and outward from the lower end of the U-shaped plate 229. The inclined plate 230 in the two frame side plates 227 and the connecting rod 228 connecting the inclined plate 230 together constitute an extension arm 223. The inclined plate 231 in the two frame side plates 227 and the connecting rod 228 connecting the inclined plate 231 together constitute an extension arm 224.

[0055] In addition, to increase the load-bearing surface of the mounting device on the angle steel, an L-shaped top plate 232 is provided on the outer end face of the U-shaped plate 229 and at the top of the opening of the U-shaped plate 229. The lower surface of the L-shaped top plate 232 forms an extension limiting surface 233 that extends horizontally to the outside of the frame side plate 227 for limiting the upper end of the clamped part. By adding two extension limiting surfaces 233 in the length direction of the angle steel, the mounting frame 201 is installed on the angle steel, further improving the installation stability of the mounting frame 201.

[0056] Example 3 Same as in Example 1 or Example 2, such as Figures 5-10 As shown, the difference is that the movable gripper 204 in this embodiment 1 is a variable-form gripper, which includes a gripper body 10. The gripper body 10 includes a plurality of movable blocks 101 stacked at intervals in the height direction, and friction pads 102 are provided between adjacent movable blocks 101. Each movable block 101 can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block 101 along the horizontal movement direction forms a clamping and limiting surface 103, and adjacent clamping and limiting surfaces 103 can be on the same vertical surface or on different vertical surfaces.

[0057] The movable gripper 204, based on the movable block 101, can change shape so that it can adapt to the shape, size and orientation of the angle steel during the clamping process, thereby achieving better clamping of the angle steel. By changing its own shape to always fit the angle steel, it is possible to eliminate the need to specially find a suitable angle steel to hang when installing the hanging device, effectively reducing the operational requirements of the operator.

[0058] In this embodiment, the friction pad 102 can be a diamond friction pad 102, which is designed to be long and strip-shaped and smaller than the movable block 101, so as to avoid it protruding from the clamping and limiting surface 103 formed by the movable block 101.

[0059] Specifically, the gripper body 10 also includes a gripper frame 104. The gripper frame 104 has a movable block channel 105 in the middle. A vertically arranged mounting post 106 is installed in the movable block channel 105 for sliding cooperation with the movable block 101. The movable block 101 and the friction pad 102 are arranged alternately in the axial direction of the mounting post 106. The movable block 101 has an elongated hole 107 for the mounting post 106 to pass through. The length direction of the elongated hole 107 is arranged along the axial direction of the movable block channel 105. The movable block 101 can slide relative to the mounting post 106 along the length direction of the elongated hole 107. The friction pad 102 has a circular hole 108 for the mounting post 106 to pass through and is clearance-fitted with the mounting post 106.

[0060] The gripper frame 104 is constructed as a frame with a U-shaped groove in the middle, and the frame includes a U-shaped inner bottom wall 109, a U-shaped inner side wall 110 and a U-shaped top wall 111; The movable block 101 is constructed in the shape of a rectangular plate, and the clamping and limiting surface 103 of each movable block 101 is a vertical plane. The clamping and limiting surface 103 has three states: one, flush with the inner bottom wall 109 of the U-shape; two, protruding from the inner bottom wall 109 of the U-shape but not protruding from the top wall 111 of the U-shape; and three, protruding from the top wall 111 of the U-shape. Each movable block 101 can individually maintain the clamping limiting surface 103 in state one, state two, or state three under the action of external force.

[0061] In this embodiment, the gripper frame 104 includes an upper end plate 112, a lower end plate 113, and two side plates 114. Both side plates 114 are U-shaped and arranged opposite each other. The movable block channel 105 is formed by the upper end plate 112, the lower end plate 113, and the two side plates 114. Each side plate 114 includes a vertical arm 115 and horizontal arms 116 located at the upper and lower ends of the vertical arm 115. The upper end plate 112 and the lower end plate 113 are respectively fixed to the horizontal arms 116 at the upper and lower ends. The movable block channel 105 is formed by the upper end plate 112, the lower end plate 113, and the vertical arms 115 of the two side plates 114. The upper and lower ends of the mounting column 106 are respectively fixed to the upper end plate 112 and the lower end plate 113. Friction pads 102 are provided between the upper end plate 112 and the uppermost movable block 101, and between the lowermost movable block 101 and the lower end plate 113.

[0062] During operation, the angle steel first enters the mounting opening between the movable gripper 204 and the fixed gripper 203, and the mounting frame 201 is mounted on the upper end surface of the angle steel. The lower end surfaces of the horizontal arms 116 at the upper ends of the two side plates 114 in the gripper frame 104 and the lower surface of the L-shaped top plate 232 are on the same plane and are supported together on the upper end surface of the angle steel. The lower end surfaces of the horizontal arms 116 at the upper ends of the two side plates 114 in the gripper frame 104 and the lower surface of the L-shaped top plate 232 together constitute the first horizontal limiting surface for the mounting device to be installed on the angle steel. Then the drone descends and disengages from the hanging ring 210. The rigid rope 205 no longer exerts tension on the hanging device. At this time, the movable gripper 204 can gradually move towards the fixed gripper 203 under the action of the torsion spring.

[0063] During the movement of the movable gripper 204, the movable block 101 on it will automatically fit against the end face of the angle steel based on the shape of the end face of the angle steel. The angle steel in the installation opening has the following shape. (1) When the angle steel horizontal plate is above or below and the angle steel opening faces the fixed clamp 203, the end face of the angle steel facing the movable clamp 204 is a vertical plane. During the movement of the movable clamp 204 towards the angle steel under the action of the coil spring 208, the movable block 101, which is at the upper part and matches the height of the angle steel, is pushed in the opposite direction by the end face of the angle steel until the clamping limiting surface 103 is flush with the U-shaped inner bottom wall 109. The clamping limiting surface 103 of this part of the movable block 101 is pressed against the end face of the angle steel under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101, which is at the lower part exceeding the height of the angle steel, is pressed against the friction pad 102. The function is still in the initial state, that is, the clamping and limiting surface 103 protrudes from the U-shaped top wall 111. The uppermost surface of the movable block 101 in this part constitutes the second horizontal limiting surface at the lower end of the angle steel when the hanging device is installed on the angle steel (if the height of the angle steel is exactly the same as the height of the clamping and limiting surface 103 formed by all the movable plates, then the upper end of the horizontal arm 116 at the lower end of the two side plates 114 in the gripper frame 104 constitutes the second horizontal limiting surface). The first vertical limiting surface, the first horizontal limiting surface and the second horizontal limiting surface together constitute the limiting in this state, which has better limiting stability.

[0064] (2) The angle steel horizontal plate is at the top and the angle steel opening faces the movable clamp 204. At this time, the end face of the angle steel facing the movable clamp 204 is a stepped surface. The upper end face of the angle steel horizontal plate and the first horizontal limiting surface are still mutually limiting. The movable block 101, which is at the top and is adapted to the thickness of the middle horizontal plate of the angle steel, is pushed in the opposite direction by the horizontal plate of the angle steel until the clamping limiting surface 103 is flush with the U-shaped inner bottom wall 109. The clamping limiting surface 103 of this part of the movable block 101 is pressed against the end face of the angle steel under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101, which is located beyond the thickness of the horizontal plate of the angle steel, is still in its initial state under the action of the friction pad 102, that is, the clamping and limiting surface 103 protrudes from the U-shaped top wall 111. The uppermost surface of the movable block 101 constitutes the second horizontal limiting surface at the lower end of the horizontal plate of the angle steel when the hanging device is installed on the angle steel. The clamping and limiting surface 103 of the movable block 101 is in contact with the side of the vertical plate of the angle steel under the action of the friction pad 102, and can also play a certain limiting role.

[0065] (3) The angle steel horizontal plate is at the bottom and the angle steel opening faces the movable clamp 204. At this time, the end face of the angle steel facing the movable clamp 204 is a stepped surface. The upper end face of the angle steel vertical plate is mutually limited with the first horizontal limiting surface. The upper movable block 101 is in the initial state. The lower surface of the lowermost movable block 101 in this part of the movable block 101 forms the second horizontal limiting surface limited to the upper end face of the angle steel horizontal plate. The clamping limiting surface 103 of the movable block 101 opposite to the angle steel horizontal plate is pressed against the end face of the angle steel horizontal plate under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101 that extends beyond the lower end face of the horizontal plate is still in the initial state under the action of the friction pad 102. The upper end face of this part of the movable plate forms the third horizontal limiting surface mutually limited with the lower end face of the angle steel.

[0066] To further improve the motion stability of the movable block 101, two parallel mounting posts 106 are provided between the upper end plate 112 and the lower end plate 113. Two parallel elongated holes 107 are provided on the movable block 101, which correspond one-to-one with the two mounting posts 106. The friction pad 102 is constructed in the shape of a long strip and has round holes 108 at both ends for the two mounting posts 106 to pass through.

[0067] In this embodiment, the movable block 101 has an opening in the middle that faces away from the U-shaped groove. The clearance groove 117 allows the movable gripper 204 to be at its farthest point relative to the fixed gripper 203 when the device is in operation. At this time, the clearance groove 117 can avoid the guide column, so that the movable gripper 204 is located between the two frame side plates 227, rather than in the U-shaped groove of the hanging frame 201, so that the entire U-shaped groove of the hanging frame 201 constitutes an installation opening.

[0068] Furthermore, the upper end plate 112 and the lower end plate 113 have the same structure, both including a first plate 118 and a second plate 119 fixed to each other. The first plate 118 is fixed to the side plate 114 by bolts, and the second plate 119 is used to fix the mounting post 106. The side of the second plate 119 is also provided with an extension 120 facing away from the U-shaped groove, and a reinforcing rib 121 is provided between the extension 120 and the first plate 118. The extension 120 and the reinforcing rib 121 make the installation of the movable block 101 on the gripper frame 104 more stable.

[0069] In this embodiment, the movable blocks 101 are all made of steel plates and have a certain weight. Under the premise of reducing the weight of the basic structure of the hanging frame 201, since the clamping force of the movable claw 204 is generated by the coil spring 208, and the selection of the coil spring 208 is related to the weight of the frame, the hanging frame 201 should not be too light. At this time, the movable blocks 101 can play a certain counterweight role. Furthermore, the weight of the movable blocks 101 is related to the friction force provided by the friction pad 102. The movable blocks 101 should not be made of lightweight materials, otherwise it will be difficult to keep the movable blocks 101 in the initial state. Therefore, this method of reducing the weight of the frame structure and increasing the weight of the movable blocks 101 can reasonably and effectively balance the weight of the hanging frame 201.

[0070] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0071] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A morphologically variable gripper, comprising a gripper body (10), characterized in that: The gripper body (10) includes multiple movable blocks (101) stacked sequentially at intervals in the height direction, and friction pads (102) are provided between adjacent movable blocks (101). Each movable block (101) can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block (101) along the horizontal movement direction forms a clamping and limiting surface (103), and adjacent clamping and limiting surfaces (103) can be on the same vertical surface or on different vertical surfaces.

2. The morphologically variable gripper according to claim 1, characterized in that: It also includes a gripper frame (104), in which a movable block channel (105) is constructed in the middle. A vertically arranged mounting post (106) is installed in the movable block channel (105) for sliding engagement with the movable block (101). The movable block (101) and the friction pad (102) are arranged alternately in the axial direction of the mounting post (106). The movable block (101) is constructed with an elongated hole (107) through which the mounting post (106) passes. The length direction of the elongated hole (107) is arranged along the axial direction of the movable block channel (105). The movable block (101) can slide relative to the mounting post (106) along the length direction of the elongated hole (107). The friction pad (102) is constructed with a circular hole (108) through which the mounting post (106) passes and is clearance-fitted with the mounting post (106).

3. The morphologically variable gripper according to claim 1, characterized in that: The gripper frame (104) is constructed as a frame with a U-shaped groove in the middle. The frame includes a U-shaped inner bottom wall (109), a U-shaped inner side wall (110), and a U-shaped top wall (111). The movable block (101) is constructed in the shape of a rectangular plate, and the clamping and limiting surface (103) of each movable block (101) is a vertical plane. The clamping limiting surface (103) has three states: one, flush with the inner bottom wall (109) of the U-shape; two, protruding from the inner bottom wall (109) of the U-shape but not protruding from the top wall (111) of the U-shape; and three, protruding from the top wall (111) of the U-shape. Each movable block (101) can individually maintain the clamping limiting surface (103) in state one, state two, or state three under the action of external force.

4. The morphologically variable gripper according to claim 3, characterized in that: The gripper frame (104) includes an upper end plate (112), a lower end plate (113) and two side plates (114), both of which are U-shaped plates and are arranged opposite to each other; The movable block channel (105) is composed of an upper end plate (112), a lower end plate (113) and two side plates (114). The upper and lower ends of the mounting column (106) are fixed on the upper end plate (112) and the lower end plate (113) respectively. Friction pads (102) are provided between the upper end plate (112) and the uppermost movable block (101) and between the lowermost movable block (101) and the lower end plate (113).

5. The morphologically variable gripper according to claim 4, characterized in that: Two parallel mounting posts (106) are provided between the upper end plate (112) and the lower end plate (113). Two parallel elongated holes (107) are provided on the movable block (101) and correspond one-to-one with the two mounting posts (106). The friction pad (102) is constructed in the shape of a long strip and has round holes (108) at both ends for the two mounting posts (106) to pass through.

6. The morphologically variable gripper according to claim 4, characterized in that: The side plate (114) includes a vertical arm (115) and horizontal arms (116) set at the upper and lower ends of the vertical arm (115). The upper end plate (112) and the lower end plate (113) are respectively fixed on the upper and lower ends of the horizontal arms (116). The movable block channel (105) is composed of the upper end plate (112), the lower end plate (113) and the vertical arms (115) of the two side plates (114).

7. The morphologically variable gripper according to claim 3, characterized in that: The movable block (101) has an opening in the middle of a clearance groove (117) facing away from the U-shaped groove.

8. The morphologically variable gripper according to claim 4, characterized in that: The upper end plate (112) and the lower end plate (113) have the same structure, both including a first plate body (118) and a second plate body (119) that are fixed to each other. The first plate body (118) is fixed to the side plate (114) by bolts. The second plate body (119) is used to fix the mounting column (106). The side of the second plate body (119) is also provided with an extension (120) facing away from the U-shaped groove. A reinforcing rib plate (121) is provided between the extension (120) and the first plate body (118).

9. A grounding wire mounting device, characterized in that: Includes the morphologically variable gripper as described in any one of claims 1-8.

10. A grounding wire mounting system, characterized in that: The invention includes a drone, and also includes the grounding wire mounting device as described in claim 9, wherein the grounding wire mounting device can be mounted on the drone.

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