Intelligent grounding wire clamp device based on unmanned aerial vehicle control and operation method thereof

Abstract

The invention belongs to the technical field of cable clamping tools, and discloses an intelligent grounding wire clamp device based on unmanned aerial vehicle control and an operation method thereof.The grounding wire clamp device comprises a shell, a clamping mechanism, a releasing mechanism, a clamping releasing pin, a grounding mechanism and a guide plate, and an electromagnetic lock for preventing a locking block from moving upwards in the initial state is fixedly arranged in the shell; after the telescopic rod of the electromagnetic lock pops up, the telescopic rod abuts against the locking block in the initial state; a pressure sensor used for monitoring clamping force is fixedly arranged on the face, making contact with the wire, of the self-adaptive clamping arm. The device further comprises a control module, the signal output end of the pressure sensor is connected with the signal input end of the control module, and the signal output end of the control module is connected with the signal input end of the electromagnetic lock. The operation method comprises the steps that after the electromagnetic lock is authorized, blocking on the locking block is relieved, and the clamping force for clamping the wire is monitored through the pressure sensor. Through intelligent control, the operation safety is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of cable clamping tool technology, and relates to an intelligent grounding clamp device based on UAV control, and also to an operation method of the intelligent grounding clamp device based on UAV control. Background Technology

[0002] In recent years, with the widespread application of UAV technology in power line inspection and operation, grounding clamp devices based on UAV operation have gradually become a research hotspot. Early grounding clamp devices (such as the Chinese invention patent with publication number CN120674826A, entitled "A Grounding Clamp Device Based on UAV Operation") have initially realized the functions of UAV attachment and mechanical automatic clamping. They adopt a mechanical structure with an inverted J-shaped shell, trigger rod, clamping block and spring seat, and have certain clamping and releasing capabilities. However, in practical applications, it has been found that such devices still have the following defects: (1) The clamping process relies on the mechanical structure to be completed automatically, and there is a lack of real-time monitoring and remote feedback of key parameters such as clamping force and contact state; (2) The release operation is still a pure mechanical pull, and there is no information interaction and safety coordination with the UAV control system. The reliability and safety of the operation process need to be improved; (3) The release mechanism only relies on a single mechanical stop to realize the logic of "release only after clamping". Under external interference such as transportation and vibration, there is still a risk of accidental release. Summary of the Invention

[0003] The present invention aims to provide an intelligent grounding clamp device and its operation method based on drone control, so as to achieve intelligent control and improve the level of protection against accidental release.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An intelligent grounding clamp device based on UAV control includes a housing, a clamping mechanism, a release mechanism, a clamping release pin, a grounding mechanism, and a guide plate. The clamping mechanism includes an adaptive clamping arm, a main spring, and a trigger rod. The release mechanism includes two release levers, one end of which is connected to a locking block, and the other end is connected to a release block. An electromagnetic lock is fixed inside the housing to prevent the locking block from moving upward in the initial state. After the telescopic rod of the electromagnetic lock pops out, it abuts against the locking block in the initial state. A pressure sensor for monitoring the clamping force is fixed on the side of the adaptive clamping arm that contacts the wire. It also includes a control module, with the signal output terminal of the pressure sensor connected to the signal input terminal of the control module, and the signal output terminal of the control module connected to the signal input terminal of the electromagnetic lock.

[0005] As a limitation of the present invention, the main spring is sleeved on the telescopic optical rod. One end of the telescopic optical rod is hinged to the adaptive clamping arm through the upper spring seat, and the other end is connected to the lower spring seat through the pre-tightening member. The distance between the lower spring seat and the end of the telescopic optical rod is adjusted by the pre-tightening member to change the compression of the main spring. The lower spring seat is slidably connected to the housing through the lower spring pivot.

[0006] As a further limitation of the present invention, the preload is an adjusting bolt, which passes through the lower spring seat and is threadedly connected to the end of the telescopic rod.

[0007] As another limitation of the present invention, a conductive backing plate is fixedly provided at one end of the adaptive clamping arm that contacts the wire, and the conductive backing plate is an arc shape that can wrap around the wire.

[0008] As a limitation of the present invention, the release mechanism includes a release ring, a tension spring, a release connecting rod, and a spring locking block. One end of the tension spring is fixedly connected to the release block, and the other end is fixedly connected to the housing. One end of the release connecting rod is hinged to the release block, and the other end is hinged to one end of the spring locking block. The other end of the spring locking block is hinged to the housing. The spring locking block is provided with a locking groove. In the initial state, the locking groove is engaged with the spring shaft on the lower spring seat.

[0009] As a further limitation of the present invention, a slide rail is fixedly provided on the housing, and the release block is slidably disposed on the slide rail.

[0010] As a third limitation of the present invention, an indicator light for indicating whether the wire is clamped is fixed on the housing.

[0011] An operating method for an intelligent grounding clamp device based on drone control, comprising the following steps: S1. By turning the adjustment bolt, the lower spring seat compresses the main spring, generating a preload force corresponding to the clamping wire, so that the grounding clamp device is in the initial state. At this time, the telescopic rod of the electromagnetic lock is pressed against the locking block. S2. Use a drone to hoist the grounding clamp device. Fly to the target conductor, and the conductor slides into the grounding clamp device along the guide plate. The trigger rod is lifted, and the adaptive clamping arm clamps the conductor under the action of the main spring. S3, the pressure sensor sends a feedback signal indicating that clamping is complete, and the grounding mechanism is activated; S5. When removal is required, the control module sends a wireless unlocking signal to the electromagnetic lock, the telescopic rod of the electromagnetic lock retracts, and the locking block is unlocked. S6. The drone hooks onto the release mechanism, releasing the main spring, and the adaptive clamping arm releases the wire.

[0012] By adopting the above-described technical solution, the beneficial effects achieved by this invention compared to the prior art are as follows: (1) When the release device of the present invention is used, two conditions must be met at the same time: the stop of the adaptive clamping arm moves away and the telescopic rod of the electromagnetic lock retracts. Through the dual insurance mechanism of mechanical blocking and remote wireless signal authorization, the risk of accidental release during transportation and installation, as well as the risk of being accidentally dismantled before the operation is completed, are fundamentally eliminated. The safety is far superior to that of a single mechanical interlock structure. At the same time, in conjunction with the pressure sensor of the clamping surface, the clamping force can be fed back when clamping the wire, so that the operation status is changed from whether it is clamped to whether the clamping force meets the standard, realizing intelligent collaborative operation between man, machine and device, and further improving safety. (2) The present invention can adjust the preload of the main spring by adjusting the bolt, which can not only improve the clamping force of different wires, but also improve the clamping stability by increasing the preload in harsh environments such as strong wind and vibration. At the same time, if the spring force decays after long-term use, the rated clamping force can be quickly restored by adjusting the bolt in the opposite direction, which greatly extends the service life of the device and reduces the maintenance cost. (3) The slide rail of the present invention can guide the movement of the release block and improve the flexibility of the device operation.

[0013] In summary, this invention greatly improves operational safety through intelligent control. Attached Figure Description

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0015] Figure 1 This is a schematic diagram of the main structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the internal structure of the spring seat connected to the telescopic rod via an adjusting bolt in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the internal structure of Embodiment 1 of the present invention in its initial state; Figure 4 This is a schematic diagram of the internal structure of the release mechanism in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the positional structure of the slide rail and the release block in Embodiment 1 of the present invention.

[0016] In the diagram: 1-Housing, 2-Clamping port, 3-Clamping release pin, 4-Guide plate, 5-Grounding wire base, 6-Adaptive clamping arm, 7-Main spring, 8-Trigger rod, 9-Arc-shaped wire liner, 10-Pressure sensor, 11-Upper spring seat, 12-Upper spring shaft, 13-Lower spring seat, 14-Lower spring shaft, 15-Adjusting bolt, 16-Release lever, 17-Release block, 18-Locking block, 19-Release ring, 20-Tension spring, 21-Release connecting rod, 22-Spring latch, 23-Slot, 24-Slide rail, 25-Electromagnetic lock. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and understanding purposes only and are not intended to limit the scope of the invention. Example 1

[0018] This embodiment provides an intelligent grounding clamp device based on UAV control. Its basic structure is inherited from the structure of the patent with publication number "CN120674826A" entitled "A Grounding Clamp Device Based on UAV Control" (described below as the basic patent). Based on this, technical improvements have been made to give this embodiment dual protection against misrelease and improve operational safety through intelligent control.

[0019] like Figure 1 As shown, the basic structure of the basic patent includes a generally inverted J-shaped housing 1, which forms a downward-facing clamping opening 2 for accommodating wires. The top of the housing 1 has a clamping release pin 3 that can be hooked by a drone lifting device, the bottom has a detachable V-shaped metal guide plate 4, and the lower side has a grounding wire base 5 fixed thereto, which cooperates with the grounding mechanism for connecting a flexible grounding wire. The clamping mechanism includes an adaptive clamping arm 6, a main spring 7, and a trigger rod 8 for clamping the wires. The improvements of this invention will be described in detail below.

[0020] I. Improvements in the intelligence and adjustability of the clamping mechanism The clamping mechanism is the core of the clamping function, and this invention makes two key improvements to it: (1) Adaptive clamping arm and arc-shaped conductive liner like Figure 2 As shown, the clamping arm in the basic patent is improved to an adaptive clamping arm 6. In this embodiment, an arc-shaped conductive liner 9 is fixed on the clamping surface of the adaptive clamping arm 6 that is in direct contact with the wire. The radius of curvature of the concave arc surface of the arc-shaped conductive liner 9 can effectively fit common wires with diameters ranging from 10mm to 30mm, increasing the effective contact area.

[0021] A pressure sensor 10 is fixedly mounted on the arc-shaped conductive liner 9, with the sensing surface of the pressure sensor 10 facing the wire. When the wire is clamped, the pressure applied to the arc-shaped conductive liner 9 can be directly transmitted to the sensor 10, realizing real-time measurement of the clamping force, quantifying the clamping force, and accurately determining whether clamping is achieved. An indicator light is fixedly mounted on the housing 1 to indicate the clamping status.

[0022] This embodiment also includes a wire contact copper plate, fixed to the housing, which contacts the wire from another position. The arc-shaped conductive liner 9 and the wire contact copper plate are connected to the grounding connection copper plate on the side of the housing 1 via a flexible cable, and finally connected to the ground via a grounding wire. A silicone insulating layer is filled between the copper plates to prevent short circuits.

[0023] (2) Adjustable preload mechanism of main spring like Figure 2 , Figure 3 As shown, the main spring 7, serving as the clamping power source, is vertically positioned within the central cavity of the housing 1. Its structure is similar to the basic patent, with its upper end hinged to the middle of the adaptive clamping arm 6 via the upper spring seat 11 and the upper spring pivot 12. A significant improvement has been made to the connection method at its lower end: the lower spring seat 13 connected to the lower end of the main spring 7 is not directly fixed, but rather connected to the end of the telescopic guide rod (not shown separately in the figure, but refer to the design in the basic patent) via a detachable preload component.

[0024] Specifically, the lower end face of the telescopic rod is provided with an internal threaded hole, and the pre-tightening component is an adjusting bolt 15, which passes through the central through hole of the lower spring seat 13 and engages with the internal threaded hole at the lower end of the telescopic rod. The lower spring seat 13 is slidably fitted in the vertical sliding grooves opened on both sides of the housing 1 through the lower spring pivots 14 on both sides (i.e., the second spring pivot in the basic patent).

[0025] Its working principle is as follows: by adjusting the length of the bolt 15 screwed into the telescopic rod, the distance between the upper spring seat 11 and the lower spring seat 13 is adjusted, thereby changing the compression of the main spring 7, and thus changing the potential energy stored in the main spring 7, so that the final clamping force adapts to the current requirements. By adjusting the preload of the main spring, the device of this embodiment can adapt to wires of different diameters: for thin wires, the preload can be appropriately increased to ensure that the adaptive clamping arm 6 can be fully closed and provide sufficient contact pressure to avoid insecure clamping; for thick wires, the preload can be reduced to prevent excessive energy accumulation and damage to components during release.

[0026] II. Improvements to the transmission stability and flexibility of the release mechanism like Figure 3 , Figure 4 As shown, the release mechanism in this embodiment is basically the same as the release mechanism in the basic patent, including two release levers 16. One end of each release lever 16 is connected to a locking block 18, and the other end is connected to a release block 17. It also includes a release ring 19, a tension spring 20, a release connecting rod 21, and a spring locking block 22. One end of the tension spring 20 is fixedly connected to the release block 17, and the other end is fixedly connected to the housing 1. One end of the release connecting rod 21 is hinged to the release block 17, and the other end is hinged to one end of the spring locking block 22. The other end of the spring locking block 22 is hinged to the housing 1. The spring locking block 22 is provided with a locking groove 23. In the initial state, the locking groove 23 is engaged with the lower spring shaft 14 on the lower spring seat 13.

[0027] The above is the structure of the basic patent. The improvement of this embodiment is that a slide rail 24 is added so that the release block 17 slides along it, and the structure of the spring block 22 is improved into a more optimized rod-shaped structure, which will be described in detail below.

[0028] like Figure 5 As shown, the slide rail 24 is fixed to the housing 1, and the release block 17 is slidably disposed on the slide rail 24, guiding the movement of the release block 17, preventing it from deviating, and improving the flexibility of the structure's movement. The release block 17, the release connecting rod 21, and the spring locking block 22 form a linkage structure, converting the up-and-down movement of the release block 17 into the rotation of the spring locking block 22 around the hinge point on the housing 1, causing the locking groove 23 on the spring locking block 22 to separate from the lower spring pivot 14, thereby releasing the lock on the lower end of the main spring 7.

[0029] III. Improvements to the Dual Insurance System for Release Agencies The release mechanism is responsible for safely releasing the clamped state. Based on the pure mechanical interlock of the basic patent, this invention adds an electrical safety device, forming a dual safety structure of "mechanical (in the basic patent) + electrical (new structure)".

[0030] (1) Electrically controlled fuse - electromagnetic lock like Figure 3 As shown, in this invention, an electromagnetic lock 25 is fixedly installed inside the housing 1, below the release ring 19. In the initial and clamping states of the device, the telescopic rod of the electromagnetic lock 25 is in the pop-out state, with the end of the pop-out telescopic rod abutting against the locking block 18. Even if an upward force is applied to the release ring 19, attempting to pull up the release lever 16 and the release block 17, the locking block 18 on the release lever 16 will be blocked by the telescopic rod of the electromagnetic lock 25 and cannot move.

[0031] (2) Electrical control system integration This embodiment includes a control module, which comprises a microcontroller, a power management unit, a wireless communication module, and necessary input / output interface circuits. The signal output terminal of the pressure sensor 10 is connected to the signal input terminal of the control module, and the signal output terminal of the control module is connected to the signal input terminal of the electromagnetic lock 25.

[0032] In the initial state, the stop block on the upper part of the adaptive clamping arm 6 abuts against the locking block 18. The control module causes the telescopic rod of the electromagnetic lock 25 to extend and abut against the locking block 18, forming a double safety mechanism. After the adaptive clamping arm 6 successfully clamps the wire, the stop block on the upper part of the adaptive clamping arm 6 moves away and no longer blocks the locking block 18. At this time, the first mechanical safety mechanism is released, and the pressure sensor 10 transmits a pressure signal to the control module. By comparing it with a preset value, the control module determines whether the device is in a clamping state.

[0033] When the operation is complete and the release device needs to be released, the control module sends a command to the electromagnetic lock 25, the telescopic rod of the electromagnetic lock 25 retracts, and the blocking effect of the electromagnetic lock 25 is removed. Only when both of the above conditions are met simultaneously (the stop block is removed and the electromagnetic lock 25 is retracted) can the force of the UAV pulling up the release ring 19 be transmitted unimpeded through the release lever 16, causing the release block 17 to move upward, and then pushing the spring latch block 22 to rotate through the release linkage 21, releasing the lock of the lower spring shaft 14, and finally completing the unloading of the main spring 7 and the opening of the adaptive clamping arm 6. Example 2

[0034] The operation method of the device based on Embodiment 1 includes the following steps: S1. Before the operation begins, the operator, according to the specifications (diameter) of the wire to be clamped and the on-site conditions (such as wind speed level), tightens the adjusting bolt 15, pushing the lower spring seat 13 to move axially along the telescopic rod, thereby compressing the main spring 7 and adjusting its initial compression amount to match the initial preload of the adaptive clamping arm 6, thus storing energy in the main spring 7. After adjustment, the adaptive clamping arm 6 is locked in the open position by the trigger rod 8, and the telescopic rod of the electromagnetic lock 25 presses against the upper part of the locking block 18 in the release mechanism; S2. Use a drone to hoist the grounding clamp device, fly to the target conductor, and slide the conductor into the grounding clamp device along the guide plate 4. The trigger rod 8 is lifted, and the adaptive clamping arm 6 clamps the conductor under the action of the main spring 7 (the action principle is the same as the basic patent). S3. While the adaptive clamping arm 6 clamps the wire, the pressure sensor 10 installed inside it senses and measures the clamping force applied to the wire in real time. When the detected clamping force reaches or exceeds the preset safety threshold, the pressure sensor 10 transmits this signal to the control module inside the device. After processing the signal, the control module can perform two operations simultaneously: first, send a confirmation signal of "clamping completed, clamping force met" to the UAV control terminal via the wireless communication unit; second, illuminate the status indicator light on the outer shell to provide local visual indication. At the same time, through the arc-shaped conductive liner 9 inside the adaptive clamping arm 6 and the internal electrical connection path, the grounding mechanism is reliably connected, and the wire forms an equipotential with the ground through the grounding cable. S4. When the line maintenance work is completed and the grounding clamp needs to be removed, the control module outputs an unlocking signal to the electromagnetic lock 25. The electromagnetic lock 25 is energized and quickly pulls back the telescopic rod that is in the pop-out locked state. The retraction of the telescopic rod releases its physical obstruction of the locking block 18. S5. After the electromagnetic lock 25 is successfully unlocked, the drone flies above the device, hooks the release ring 19 with the hook, and applies a vertical upward pulling force to release the main spring 7. After the constraint of the main spring 7 is released, its stored residual potential energy is completely released, and the positive clamping force acting on the adaptive clamping arm 6 disappears. The adaptive clamping arm 6 opens outward, thereby releasing the clamped wire (the operating principle is the same as the basic patent).

[0035] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent grounding clamp device based on UAV control, comprising a housing, a clamping mechanism, a release mechanism, a clamping release pin, a grounding mechanism, and a guide plate; the clamping mechanism includes an adaptive clamping arm, a main spring, and a trigger rod; the release mechanism includes two release levers, one end of which is connected to a locking block, and the other end of which is connected to a release block; characterized in that... An electromagnetic lock is fixed inside the housing to prevent the locking block from moving upward in the initial state. After the telescopic rod of the electromagnetic lock pops out, it abuts against the locking block in the initial state. A pressure sensor for monitoring the clamping force is fixed on the side of the adaptive clamping arm that contacts the wire. It also includes a control module, with the signal output terminal of the pressure sensor connected to the signal input terminal of the control module, and the signal output terminal of the control module connected to the signal input terminal of the electromagnetic lock.

2. The intelligent grounding clamp device based on UAV control according to claim 1, characterized in that, The main spring is sleeved on the telescopic optical rod. One end of the telescopic optical rod is hinged to the adaptive clamping arm through the upper spring seat, and the other end is connected to the lower spring seat through a pre-tightening member. The distance between the lower spring seat and the end of the telescopic optical rod is adjusted by the pre-tightening member to change the compression of the main spring. The lower spring seat is slidably connected to the housing through the lower spring pivot.

3. The intelligent grounding clamp device based on UAV control according to claim 2, characterized in that, The preload component is an adjusting bolt, which passes through the lower spring seat and is threaded onto the end of the telescopic rod.

4. An intelligent grounding clamp device based on UAV control according to any one of claims 1-3, characterized in that, The adaptive clamping arm has a conductive backing plate fixed at one end that contacts the wire. The conductive backing plate is arc-shaped and can wrap around the wire.

5. The intelligent grounding clamp device based on UAV control according to claim 4, characterized in that, The release mechanism includes a release ring, a tension spring, a release connecting rod, and a spring locking block. One end of the tension spring is fixedly connected to the release block, and the other end is fixedly connected to the housing. One end of the release connecting rod is hinged to the release block, and the other end is hinged to one end of the spring locking block. The other end of the spring locking block is hinged to the housing. The spring locking block is provided with a locking groove. In the initial state, the locking groove is engaged with the spring shaft on the lower spring seat.

6. The intelligent grounding clamp device based on UAV control according to claim 5, characterized in that, The housing is fixedly provided with a slide rail, and the release block is slidably disposed on the slide rail.

7. An intelligent grounding clamp device based on UAV control according to any one of claims 1-3, 5, and 6, characterized in that, An indicator light is fixed on the housing to indicate whether the wire is clamped.

8. An operation method for an intelligent grounding clamp device based on UAV control, characterized in that, The method for holding a conductor using the intelligent grounding clamp device based on UAV control according to any one of claims 1-7 includes the following steps: S1. By turning the adjustment bolt, the lower spring seat compresses the main spring, generating a preload force corresponding to the clamping wire, so that the grounding clamp device is in the initial state. At this time, the telescopic rod of the electromagnetic lock is pressed against the locking block. S2. Use a drone to hoist the grounding clamp device. Fly to the target conductor, and the conductor slides into the grounding clamp device along the guide plate. The trigger rod is lifted, and the adaptive clamping arm clamps the conductor under the action of the main spring. S3, the pressure sensor sends a feedback signal indicating that clamping is complete, and the grounding mechanism is activated; S5. When removal is required, the control module sends a wireless unlocking signal to the electromagnetic lock, the telescopic rod of the electromagnetic lock retracts, and the locking block is unlocked. S6. The drone hooks onto the release mechanism, releasing the main spring, and the adaptive clamping arm releases the wire.

Images