Hanging tower climbing anti-falling system based on unmanned aerial vehicle

Abstract

The invention discloses a hanging tower-climbing anti-falling system based on an unmanned aerial vehicle, which comprises a tower-climbing hanging device, and the tower-climbing hanging device comprises a hanging frame, two locking structures and a locking frame; the two locking structures have a first state in which the locking structures rotate downwards to be unfolded or a second state in which the locking structures rotate upwards to be folded, and when the locking structures are in the first state, the locking structures can make contact with the tower and rotate around the tower so that the locking structures can be switched to be in the second state in which the locking structures wrap the tower when the hanging frame is hung on the tower; the locking frame can lock the locking structure at the position of the second state when the hanging frame is hung on the tower, the locking structure of the device is in a downward rotating unfolding state in the initial state, the hanging range of the hanging support can be remarkably expanded, the proper fixing point can be rapidly positioned in the installation process, the installation difficulty is effectively reduced, and the installation efficiency is improved. The locking frame can effectively prevent loosening or displacement caused by vibration or other external force, and the stability and safety of the tower climbing hanging device are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work protection devices, and in particular to a tower climbing anti-falling system based on an unmanned aerial vehicle. Background Art

[0002] In the existing transmission line tower operations, workers only climb to high altitudes by using the foot spikes or ladders set on the towers. In order to prevent workers from falling while climbing, the existing technology usually uses drone-mounted anti-fall devices. The drone-mounted anti-fall device is a new type of safety equipment used in power line tower inspection, operation and maintenance. It flies to the top of the tower with a drone carrying a tower protection fixed bracket and a safety rope, and uses an innovatively designed gravity self-locking mechanical mechanism to achieve rapid installation and removal of the fixed bracket on the top of the tower with the assistance of real-time video transmission.

[0003] The patent with publication number CN218919785U provides a device for hanging and removing anti-fall ropes on drones, including a fixing component, a high-altitude suspension component and a lifting hook. The fixing component includes a main body and a locking device. An opening is provided at the bottom end of the main body, and the main body is suspended on the tower material through the opening. The main body is connected with an anti-fall rope, and the bottom end of the high-altitude suspension component is connected to the second mechanical arm. The advantages of this solution are: the main body is connected to the drone through the high-altitude suspension component and the lifting hook. Since the main body is connected with the anti-fall rope, the anti-fall rope can be hung by operating the drone to hang the main body on the tower material, so that the operating personnel can simply and quickly hang the high-altitude anti-fall rope, so that the operating personnel can safely and efficiently carry out tower climbing and maintenance work, effectively reducing the operating risks and labor intensity of the staff.

[0004] However, the existing devices for hanging and removing anti-fall ropes for drones still have shortcomings. When the mounting bracket is hung on the top of the iron tower, the mounting range of the existing mounting bracket is small, which may cause installation difficulties and it is not easy to find a suitable fixing point. In addition, the mechanical wall used for limiting the bottom of the tower is movable, and its stability and safety are poor. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a UAV-based tower climbing anti-fall system to solve the technical problems in the prior art that the mounting range of the mounting bracket is small and it is difficult to find a suitable fixing point.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] The present invention provides a tower climbing and anti-falling system based on an unmanned aerial vehicle, comprising a tower climbing hanging device, wherein the tower climbing hanging device comprises: a hanging frame, two locking structures and a locking frame, wherein the bottom of the hanging frame forms an opening area for hanging on a tower; the two locking structures are respectively arranged on both sides of the opening area, and are respectively rotatably connected to the two ends of the hanging frame, and have a first state of being rotated downward and unfolded or a second state of being rotated upward and retracted, and when the locking structure is in the first state, it can contact the tower and rotate around the tower, so as to switch to a second state of being wrapped outside the tower when the hanging frame is hung on the tower; the locking frame is slidably arranged on the outside of the hanging frame, and can lock the locking structure in the position of the second state when the hanging frame is hung on the tower.

[0008] In some embodiments, the two locking structures each include a first connecting rod and a second connecting rod that are vertically arranged to each other, one end of the first connecting rod is connected to one end of the second connecting rod, and one end of the first connecting rod is rotatably connected to the hanging frame via a rotating shaft. When the locking structure is in a first state, the area formed between the first connecting rod and the second connecting rod faces downward, and when the locking structure is in a second state, the first connecting rod and the second connecting rod are respectively located on the side and bottom of the tower.

[0009] In some embodiments, the two locking structures are staggered on both sides of the hanging rack.

[0010] In some embodiments, the locking structure also includes a movable rod and a spring. The movable rod is arranged on the inner side of the first connecting rod, and one end of the movable rod close to the second connecting rod is rotatably connected to the middle part of the first connecting rod, and the other end extends in a direction away from the second connecting rod. The two ends of the spring are respectively connected to the first connecting rod and the end of the movable rod away from the second connecting rod; when the locking structure is in the second state, the movable rod will contact the tower on the inner side of the first connecting rod, thereby compressing the spring.

[0011] In some embodiments, a guide ramp is provided on the inner side of the first connecting rod. The guide ramp is located at one end of the movable rod away from the second connecting rod and has an inclined surface for guiding the tower to slide along one side of the first connecting rod onto the inner inclined surface of the movable rod.

[0012] In some embodiments, the tower climbing hanging device also includes a safety rope fixing frame, which includes a fixing frame, an arc-shaped rod and a connecting buckle. The fixing frame is arranged on one side of the locking frame, and the middle part of the arc-shaped rod is rotatably connected to the fixing frame, and its two ends respectively form a clamping end and a pressing end, and the connecting buckle is hung on the clamping end and can be clamped and connected to the locking frame; the connecting buckle is used to connect the anti-fall flexible guide rail; when the locking structure is in the second state, the connecting buckle is pulled by the anti-fall flexible guide rail, which can cause the clamping end of the arc-shaped rod to rotate downward, thereby causing the pressing end to rotate upward and fit tightly against the bottom surface of the second connecting rod.

[0013] In some embodiments, a bending portion is provided near the middle of one end of the first connecting rod, and the bending portion is rotatably connected to the hanging frame. When the locking structure is in the first state, one end of the first connecting rod protrudes from the side of the hanging frame; the locking frame includes a sliding frame, and the sliding frame is provided at the top of the hanging frame, and its two ends are respectively slidably connected to the two ends of the hanging frame. When the sliding frame slides downward, it can contact one end of the first connecting rod protruding from the side of the hanging frame to drive the first connecting rod to rotate on the hanging frame until the locking structure reaches the second state.

[0014] In some embodiments, the locking frame also includes a connecting column and a limiting plate, one end of the connecting column is connected to the sliding frame, and the other end is slidably connected to the limiting plate, the cross-sectional area of ​​the limiting plate is larger than the cross-sectional area of ​​the connecting column, and the connecting column is a polygonal structure with an even number of sides.

[0015] In some embodiments, the drone-based tower climbing and anti-falling system also includes a drone mounting device, which includes a drone body and a connecting structure. The connecting structure is connected to the bottom of the drone body, and one side of the connecting structure has two clamping parts that are arranged in parallel and can move relative to each other, for clamping the connecting column.

[0016] In some embodiments, the connection structure includes an installation box, a installation rod, a cylinder, a driving rod, a linkage rod, a driving wheel, a sliding rack and a splint. The installation box is connected to the drone body through the installation rod. The cylinder is installed on one side of the installation box, and its driving end passes through the installation box to extend to the interior of the installation box and is connected to the driving rod. The two ends of the driving rod are respectively connected to one end of the two linkage rods, and the other end of the linkage rod is connected to the inner wall of the installation box and the driving wheel. The side of the driving wheel is provided with teeth, and one side of the driving wheel is provided with a sliding rack meshing with the teeth. The axes of the two sliding racks are collinear and slidably cooperate with the installation box. The splint is provided on one side of the sliding rack. The two splints are arranged side by side, and one end extends to the outside of the installation box.

[0017] Compared with the prior art, the UAV-based tower climbing and anti-falling system provided by the present invention is designed with an opening area at the bottom of the mounting bracket, which is specially used for mounting on the tower, by setting a mounting bracket and two locking structures. When in use, the mounting bracket is mounted on the tower through the opening area. The two locking structures are respectively located on both sides of the opening area and are rotatably connected to the two ends of the mounting bracket. In the initial state, they rotate downward and unfold, and can contact the tower and rotate around it. The position is automatically adjusted as the mounting process is completed. After the mounting is completed, the mounting bracket will switch to the second state. At this time, the locking structure is wrapped around the outside of the tower to fix the tower. The locking structure is in an unfolded state that rotates downward in the initial state, so that the mounting bracket can be easily guided to be mounted on the tower. This design significantly expands the mounting range of the mounting bracket, so that the installation process can quickly locate the appropriate fixing point, effectively reducing the difficulty of installation.

[0018] By configuring the locking frame, when the hanging frame is installed on the tower, the locking frame will automatically slide down and lock the locking structure to ensure that it is firmly positioned in the second state. This effectively prevents loosening or displacement caused by vibration or other external forces, thereby improving the stability and safety of the tower climbing hanging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the UAV-based tower climbing anti-falling system provided by an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the tower-climbing hanging device of the tower-climbing anti-falling system based on the drone provided by an embodiment of the present invention when it is in a first state;

[0021] Figure 3 It is a schematic diagram of the main structure of the tower-climbing hanging device of the tower-climbing anti-falling system based on the drone provided by an embodiment of the present invention when it is in a first state;

[0022] Figure 4 It is a schematic diagram of a partial three-dimensional structure of a tower-climbing hanging device of a tower-climbing anti-falling system for mounting a drone provided by an embodiment of the present invention when the device is in a first state;

[0023] Figure 5 It is a top view cross-sectional structural diagram of the installation of a mounting frame and a sliding frame of a tower climbing anti-falling system based on a drone provided by an embodiment of the present invention;

[0024] Figure 6 It is a schematic diagram of the main cross-sectional structure of a tower-climbing hanging device of a tower-climbing anti-falling system for mounting a drone provided by an embodiment of the present invention when the device is in a second state;

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of a safety rope fixing frame of a tower climbing anti-falling system based on a drone provided by an embodiment of the present invention;

[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of a drone mounting device based on a drone mounting tower climbing anti-falling system provided by an embodiment of the present invention;

[0027] Fig. 9 It is a schematic diagram of a top-view cross-sectional structure of a connection structure of a UAV-based tower-climbing anti-fall system provided in an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Tower climbing hanging device; 11. Hanging frame; 111. Limiting groove; 112. Sliding block; 113. Sliding groove; 12. Locking structure; 121. First connecting rod; 122. Second connecting rod; 123. Movable rod; 124. Spring; 125. Guide ramp; 13. Locking frame; 131. Sliding frame; 132. Connecting column; 133. Limiting plate; 14. Security rope fixing frame; 141. Fixed frame; 142. Arc rod; 143. Connecting buckle;

[0030] 2. UAV mounting device; 21. UAV body; 22. Connection structure; 221. Installation box; 222. Installation rod; 223. Cylinder; 224. Driving rod; 225. Linkage rod; 226. Driving wheel; 227. Sliding rack; 228. Clamp;

[0031] 3. Tower. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] In order to solve the technical problems that the mounting range of the mounting bracket is small and it is difficult to find a suitable fixing point, the present invention provides a UAV-based mounting tower climbing anti-falling system. The locking structure is in a downward-rotating unfolded state in the initial state, which can significantly expand the mounting range of the mounting bracket, so that the installation process can quickly locate the suitable fixing point, effectively reducing the installation difficulty. The locking frame can effectively prevent loosening or displacement caused by vibration or other external forces, thereby improving the stability and safety of the tower climbing hanging device.

[0034] See also Figures 1 to 6 The tower climbing and falling prevention system based on the drone includes a tower climbing hanging device 1, which includes: a hanging frame 11, two locking structures 12 and a locking frame 13. The bottom of the hanging frame 11 forms an opening area for hanging on the tower 3; the two locking structures 12 are respectively arranged on both sides of the opening area, and are respectively rotatably connected to the two ends of the hanging frame 11, and have a first state of being rotated downward and unfolded or a second state of being rotated upward and retracted. When the locking structure 12 is in the first state, it can contact the tower 3 and rotate around the tower 3, so as to switch to the second state of being wrapped outside the tower 3 when the hanging frame 11 is hung on the tower 3; the locking frame 13 is slidably arranged on the outside of the hanging frame 11, and can lock the locking structure 12 in the position of the second state when the hanging frame 11 is hung on the tower 3.

[0035] In the present device, an opening area is designed at the bottom of the mounting frame 11, which is specially used for mounting on the tower 3. When in use, the mounting frame 11 is mounted on the tower 3 through the opening area, and the two locking structures 12 are respectively located on both sides of the opening area and are rotatably connected with the two ends of the mounting frame 11. In the initial state, they are rotated downward and unfolded, and can contact with the tower 3 and rotate around it, and automatically adjust their positions during the mounting process. After the mounting is completed, the mounting frame 11 will switch to the second state, at which time the locking structure 12 is wrapped around the outside of the tower 3 to fix the tower 3; when the mounting frame 11 is on the tower 3, the locking frame 13 will automatically slide downward and lock the locking structure 12 to ensure that its position is stable in the second state, thereby preventing loosening or displacement caused by vibration or other external forces during use.

[0036] See also Figures 1 to 6In this embodiment, the two locking structures 12 each include a first connecting rod 121 and a second connecting rod 122 arranged vertically, wherein one end of the first connecting rod 121 is fixedly connected to one end of the second connecting rod 122 to form a whole. One end of the first connecting rod 121 is rotatably connected to the mounting bracket 11 via a rotating shaft. Specifically, the first connecting rod 121 is rotatably connected to the groove wall of the first groove opened at the bottom of the mounting bracket 11. A second groove is further opened at the inner side of the mounting bracket 11 at a position corresponding to the first connecting rod 121. The second groove can accommodate the first connecting rod 121 when the locking structure 12 is in the second state. When the locking structure 12 is in the first state, the area formed by the first connecting rod 121 and the second connecting rod 122 faces downward. At this time, the first connecting rod 121 and the second connecting rod 122 are inclined downward to form an open structure, thereby expanding the hanging range of the hanging frame 11 and facilitating its hanging installation; when the locking structure 12 is in the second state, the first connecting rod 121 and the second connecting rod 122 are respectively located on the side and bottom of the tower 3, and the first connecting rods 121 of the two locking structures 12 are respectively arranged on the opposite sides of the tower 3, and the two second connecting rods 122 are at the bottom of the tower 3. The top of the tower 3 is limited by the hanging frame 11, which is beneficial to improving the stability and safety of the tower climbing hanging device 1.

[0037] Furthermore, in some embodiments, the two locking structures 12 are arranged on both sides of the hanging frame 11 and staggered with each other. The staggered locking structures 12 can reduce interference when the hanging frame 11 is hung and installed, making it easier to adjust and fix.

[0038] Since the locking structures 12 are staggered, during the design process, it is possible to consider increasing the length of the second connecting rods 122. When the locking structure 12 is in the first state, the two second connecting rods 122 are spread outward, which can expand its mounting area. When mounting, when the tower 3 contacts the inner side of any second connecting rod 122, the tower 3 moves along the inner side of the second connecting rod 122 to the mounting rack 11 when the mounting rack 11 descends, until it is mounted on the tower 3, which can further expand the mounting area. When the locking structure 12 is in the second state, the two locking structures 12 are staggered and will not cause interference.

[0039] In order to improve the flexibility of the locking structure 12, please refer to Figure 3 and Figure 4In some embodiments, the locking structure 12 further includes a movable rod 123 and a spring 124. The movable rod 123 is disposed on the inner side of the first connecting rod 121, one end of which is close to the second connecting rod 122 and connected to the middle section of the first connecting rod 121 by rotation, and the other end extends in a direction away from the second connecting rod 122. The two ends of the spring 124 are respectively fixed to the first connecting rod 121 and one end of the movable rod 123 away from the second connecting rod 122. When the locking structure 12 is in an unlocked state, the movable rod 123 will contact the tower 3 on the inner side of the first connecting rod 121, causing the spring 124 to be compressed. By utilizing the elastic restoring force generated by the spring 124, the two movable rods 123 can be respectively close to the two sides of the tower 3, thereby improving the clamping stability of the locking structure 12. In addition, when connecting towers 3 of different sizes, the restoring force of the spring 124 can ensure that the first connecting rod 121 is always close to the inner wall of the mounting bracket 11 in the second state, which helps the locking structure 12 to firmly lock the tower 3.

[0040] Further, in order to avoid the tower 3 from getting stuck when being hung, in some embodiments, refer to Figure 3 and Figure 4 A guide ramp 125 is fixedly installed on the inner side of the first connecting rod 121. The guide ramp 125 is located at the end of the movable rod 123 away from the second connecting rod 122, and its cross section is triangular and equipped with an inclined surface. The function of this inclined surface is to guide the tower 3 to slide along one side of the first connecting rod 121 to the inner inclined surface of the movable rod 123, so as to facilitate the tower 3 to be introduced from between the side surfaces of the two first connecting rods 121 to between the two movable rods 123.

[0041] See also Figures 1 to 6 In this embodiment, the tower climbing hanging device 1 also includes a safety rope fixing frame 14, which is designed to connect the flexible guide rail so that the user can use the self-locking device and the flexible guide rail to perform high-altitude operations. The safety rope fixing frame 14 includes a fixed frame 141, an arc rod 142 and a connecting buckle 143. The fixed frame 141 is fixedly arranged on one side of the sliding frame 131. It has a C-shaped structure design, and its two ends are fixedly connected to the fixed frame 141, and an installation cavity is formed inside. The arc rod 142 is arranged in the installation cavity, and its middle part is rotatably connected to the fixed frame 141, and its two ends form a clamping end and a pressing end respectively. The clamping end is provided with the connecting buckle 143, and can be clamped and connected with the locking frame 13; the connecting buckle 143 is used to connect the anti-falling flexible guide rail.

[0042] Before installation, the snap-on end needs to be connected to the sliding frame 131 of the locking frame 13. Once the locking structure 12 is switched to the second state, the anti-falling flexible guide rail can be activated. By pulling the connecting buckle 143 through the guide rail, the snap-on end of the arc rod 142 can be guided to disengage from the locking frame 13 and rotate downward, thereby prompting the pressing end to rotate upward and cling to the bottom surface of the second connecting rod 122, further strengthening the fastening of the locking structure 12, thereby improving the stability of the tower climbing hanging device 1.

[0043] See also Figure 2 and Figure 3 In this embodiment, the locking frame 13 includes a sliding frame 131, which is arranged on the top of the hanging frame 11, and its two ends are slidably connected to the two ends of the hanging frame 11 respectively. Specifically, the upper side and side of the hanging frame 11 are provided with limiting grooves 111, and sliders 112 are arranged in the limiting grooves 111 on both sides. Slide grooves 113 are arranged on the inner side of the sliding frame 131 at positions corresponding to the sliders 112, and the sliding frame 131 can slide along the limiting grooves 111 and the sliders 112 on both sides. A bending portion is provided at one end of the first connecting rod 121 near the middle, and the bending portion is rotatably connected to the hanging frame 11. When the locking structure 12 is in the first state, one end of the first connecting rod 121 will protrude from the side of the hanging frame 11. When the locking frame 13 slides downward, it can contact one end of the first connecting rod 121 protruding from the side of the hanging frame 11, so as to drive the first connecting rod 121 to rotate on the hanging frame 11 until the locking structure 12 reaches the second state. Therefore, the locking frame 13 is in close contact with the first connecting rod 121 on the outside, so as to lock the position of the locking structure 12 and ensure that the position of the locking structure 12 is stable in the second state.

[0044] See also Figures 1 to 3 , Figure 8 , Fig. 9 Preferably, in this embodiment, the drone-based tower climbing and anti-falling system also includes a drone mounting device 2, and the drone mounting device 2 includes a drone body 21 and a connecting structure 22, and the connecting structure 22 is connected to the bottom of the drone body 21, and one side of the connecting structure has two clamping parts that are arranged in parallel and can move relative to each other.

[0045] In order to be clamped by the clamping part of the connection structure 22, and to achieve hanging and disassembly, in some embodiments, the locking frame 13 also includes a connecting column 132 and a limiting plate 133, one end of the connecting column 132 is connected to the sliding frame 131, and the other end is slidably connected to the limiting plate 133, the cross-sectional area of ​​the limiting plate 133 is larger than the cross-sectional area of ​​the connecting column 132, and the connecting column 132 is a polygonal structure with an even number of sides. The clamping part is designed to firmly clamp the connecting column 132. Since the connecting column 132 has multiple edges, the clamping part can easily clamp the connecting column 132 at multiple positions, thereby improving the connection efficiency. After clamping the connecting column 132, the limiting plate 133 is limited at the top, and the drone body 21 can lift the tower hanging device 1. During the lifting process, the locking frame 13 is pulled downward by the connecting column 132. When the bottom end of the locking frame 13 is separated from the locking structure 12, the locking structure 12 is usually in the second state when not hung. After hanging, the drone body 21 is separated from the connecting column 132, allowing the sliding frame 131 to slide down along the hanging frame 11. When the sliding frame 131 slides down, it will contact one end of the first connecting rod 121 protruding from the side of the hanging frame 11, thereby driving the first connecting rod 121 to rotate on the hanging frame 11 until the locking structure 12 reaches the second state. In addition, the security rope fixing frame 14 can also be used to assist in pulling the locking frame 13 downward.

[0046] In one embodiment, the connection structure 22 includes an installation box 221, an installation rod 222, a cylinder 223, a driving rod 224, a linkage rod 225, a driving wheel 226, a sliding rack 227 and a clamp 228, and the installation box 221 is detachably fixedly connected to the drone body 21 through the installation rod 222. The cylinder 223 is installed on one side of the installation box 221, and its driving end passes through the installation box 221 and extends to the inside of the installation box 221, and is firmly connected to the driving rod 224. The two ends of the driving rod 224 are respectively connected to one end of two linkage rods 225, and the other end of the linkage rod 225 is connected to the inner wall of the installation box 221 and the driving wheel 226. The side of the driving wheel 226 is provided with teeth, and one side is provided with a sliding rack 227 meshing with the teeth. The axes of the two sliding racks 227 are in a colinear state and slide with the installation box 221. A clamping plate 228 is provided on one side of the sliding rack 227 . The two clamping plates 228 are arranged side by side, and one end of the clamping plates 228 extends to the outside of the installation box 221 .

[0047] When the operation is performed, the extension of the cylinder 223 can push the driving rod 224 to move downward, thereby causing the ends of the two linkage rods 225 connected thereto to rotate downward, causing the two driving wheels 226 to rotate outward, prompting the two sliding gears to slide in opposite directions, thereby moving the two clamping plates 228 away from each other, expanding the clamping area, so as to move them to the outside of the connecting column 132; when the cylinder 223 contracts, it will drive the driving rod 224 to move upward, thereby causing the ends of the two linkage rods 225 connected thereto to rotate upward, causing the two driving wheels 226 to rotate inward, pushing the two sliding gears to slide in a direction close to each other, thereby bringing the two clamping plates 228 closer together, reducing the clamping area, so as to clamp the connecting column 132. After the clamping is completed, the drone body 21 can be used to carry out the mounting, installation or disassembly of the tower climbing and hanging device 1. The design of the clamping mechanism enables the drone to have higher flexibility and stability when performing mounting tasks. Through the telescopic control of the cylinder 223, the opening and closing action of the clamping plate 228 can accurately adapt to the connecting columns 132 of different sizes, ensuring that the mounting can be completed reliably in various complex environments.

[0048] The above embodiments are merely multiple possible implementations of the embodiments of the present application, and the embodiments of the present application are not limited thereto.

[0049] The present invention provides a mounting frame 11 and two locking structures 12. The bottom of the mounting frame 11 is designed with an opening area, which is specially used for mounting on the tower 3. When in use, the mounting frame 11 is mounted on the tower 3 through the opening area. The two locking structures 12 are respectively located on both sides of the opening area and are rotatably connected with the two ends of the mounting frame 11. In the initial state, they rotate downward and unfold, and can contact with the tower 3 and rotate around it. The position is automatically adjusted during the mounting process. After the mounting is completed, the mounting frame 11 will switch to the second state. At this time, the locking structure 12 is wrapped around the outside of the tower 3 to fix the tower 3; the locking structure 12 is in a downwardly rotating unfolded state in the initial state, so that the mounting frame 11 is easily and conveniently guided to be mounted on the tower 3. This design significantly expands the mounting range of the mounting bracket, so that the installation process can quickly locate the appropriate fixing point, effectively reducing the difficulty of installation.

[0050] The present invention is provided with a locking frame 13. When the mounting frame 11 is installed on the tower 3, the locking frame 13 will automatically slide down and lock the locking structure 12 to ensure that it is firmly positioned in the second state. This effectively prevents loosening or displacement caused by vibration or other external forces, thereby improving the stability and safety of the tower mounting device 1.

[0051] In the description of the present application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0052] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0053] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A tower climbing and falling prevention system based on drones, characterized in that: It comprises a tower climbing and hanging device, and the tower climbing and hanging device comprises: A mounting frame, wherein the bottom of the mounting frame forms an opening area for mounting on the tower; Two locking structures, the two locking structures are respectively arranged on both sides of the opening area and are respectively rotatably connected to the two ends of the mounting bracket, and have a first state of being rotated downward and unfolded or a second state of being rotated upward and retracted. When the locking structure is in the first state, it can contact the tower and rotate around the tower, so as to switch to the second state of being wrapped outside the tower when the mounting bracket is hung on the tower; and, A locking frame is slidably arranged on the outside of the mounting frame, and can lock the locking structure in the position of the second state when the mounting frame is hung on the tower.

2. The UAV-based tower climbing anti-falling system according to claim 1 is characterized in that: The two locking structures each include a first connecting rod and a second connecting rod that are vertically arranged to each other, one end of the first connecting rod is connected to one end of the second connecting rod, and one end of the first connecting rod is rotatably connected to the mounting bracket via a rotating shaft. When the locking structure is in a first state, the area formed between the first connecting rod and the second connecting rod faces downward, and when the locking structure is in a second state, the first connecting rod and the second connecting rod are respectively located on the side and bottom of the tower.

3. The UAV-based tower climbing anti-falling system according to claim 2 is characterized in that: The two locking structures are arranged staggered with each other on both sides of the hanging frame.

4. The tower climbing anti-falling system based on drone according to claim 3 is characterized in that: The locking structure also includes a movable rod and a spring. The movable rod is arranged on the inner side of the first connecting rod, and one end of the movable rod close to the second connecting rod is rotatably connected to the middle part of the first connecting rod, and the other end extends in a direction away from the second connecting rod. The two ends of the spring are respectively connected to the first connecting rod and one end of the movable rod away from the second connecting rod; when the locking structure is in the second state, the movable rod will contact the tower on the inner side of the first connecting rod, thereby compressing the spring.

5. The tower climbing and falling prevention system based on drone according to claim 4 is characterized in that: A guide ramp is provided on the inner side of the first connecting rod. The guide ramp is located at one end of the movable rod away from the second connecting rod and has an inclined surface for guiding the tower to slide along one side of the first connecting rod onto the inner inclined surface of the movable rod.

6. The tower climbing and falling prevention system based on drone according to claim 4 is characterized in that: The tower climbing hanging device also includes a safety rope fixing frame, which includes a fixing frame, an arc-shaped rod and a connecting buckle. The fixing frame is arranged on one side of the locking frame, and the middle part of the arc-shaped rod is rotatably connected to the fixing frame, and the two ends thereof respectively form a clamping end and a pressing end, and the connecting buckle is hung on the clamping end and can be clamped and connected with the locking frame; the connecting buckle is used to connect the anti-falling flexible guide rail; When the locking structure is in the second state, the connecting buckle is pulled by the anti-fall flexible guide rail, which can cause the clamping end of the arc rod to rotate downward, thereby causing the pressing end to rotate upward and fit tightly against the bottom surface of the second connecting rod.

7. The tower climbing and falling prevention system based on drone according to claim 4 is characterized in that: A bent portion is provided near the middle of one end of the first connecting rod, and the bent portion is rotatably connected to the mounting bracket. When the locking structure is in the first state, one end of the first connecting rod protrudes from the side of the mounting bracket; The locking frame includes a sliding frame, which is arranged on the top of the hanging frame, and its two ends are slidably connected to the two ends of the hanging frame respectively. When the sliding frame slides downward, it can contact one end of the first connecting rod protruding from the side of the hanging frame to drive the first connecting rod to rotate on the hanging frame until the locking structure reaches the second state.

8. The tower climbing and falling prevention system based on drone according to claim 7 is characterized in that: The locking frame also includes a connecting column and a limiting plate, one end of the connecting column is connected to the sliding frame, and the other end is slidably connected to the limiting plate, the cross-sectional area of ​​the limiting plate is larger than the cross-sectional area of ​​the connecting column, and the connecting column is a polygonal structure with an even number of sides.

9. The tower climbing anti-falling system based on drone according to claim 8 is characterized in that: The drone-based tower climbing and anti-falling system also includes a drone mounting device, which includes a drone body and a connecting structure. The connecting structure is connected to the bottom of the drone body and has two clamping parts on one side that are arranged in parallel and can move relative to each other, for clamping the connecting column.

10. The tower climbing anti-falling system based on drone according to claim 9 is characterized in that: The connecting structure includes an installation box, a installation rod, a cylinder, a driving rod, a linkage rod, a driving wheel, a sliding rack and a splint. The installation box is connected to the drone body through the installation rod. The cylinder is installed on one side of the installation box, and its driving end passes through the installation box and extends to the interior of the installation box and is connected to the driving rod. The two ends of the driving rod are respectively connected to one end of two linkage rods, and the other end of the linkage rod is connected to the inner wall of the installation box and the driving wheel. The side of the driving wheel is provided with teeth, and one side of the driving wheel is provided with a sliding rack meshing with the teeth. The axes of the two sliding racks are colinear and slidably cooperate with the installation box. The splint is provided on one side of the sliding rack. The two splints are arranged side by side, and one end extends to the outside of the installation box.

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