Autonomous walking type wire foreign matter removing device mounted on unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle mounted autonomous walking type wire foreign matter removing device which comprises an unmanned aerial vehicle body. The fixed frame is arranged on the unmanned aerial vehicle body, the rotating frames are symmetrically arranged on the fixed frame and rotationally connected with the fixed frame, the supporting wheels are arranged in the rotating frames, the lifting frame is arranged in the fixed frame and ascends and descends in the fixed frame, and the rotating frames rotate under the action of a linkage mechanism when the lifting frame ascends and descends; a locking mechanism is arranged between the lifting frame and the fixing frame, and a hot melting cutting knife is arranged at the end of the mechanical arm. The unmanned aerial vehicle takes off to the position of the wire until the wire makes contact with the lifting frame, the wire presses the lifting frame downwards to enable the locking mechanism to be loosened, the lifting frame ascends, the rotating frame rotates to the horizontal position under the action of the linkage mechanism, the supporting wheel is supported on the wire and walks on the wire, and the hot melting cutting knife removes foreign matter on the wire in a hot melting mode.

Description

Technical Field

[0001] The present invention relates to the field of operation and maintenance of transmission lines, and more specifically to an autonomous walking type foreign object removal device mounted on a drone for transmission lines. Background Art

[0002] During windy periods, foreign objects such as plastic greenhouse films, sunshade nets, kites (strings), etc. often hang and wind around transmission lines, posing challenges to the safe operation of the power grid. Especially in rainy and cloudy weather, it often causes short - circuit tripping of the line, seriously threatening the safe operation of the line. Currently, the removal of foreign objects on transmission lines mainly adopts the methods of live working at high altitude by manual and launching laser cleaners. Among them, manually removing foreign objects on transmission lines is time - consuming and laborious, with high labor intensity, high danger, and low efficiency; the purchase and maintenance costs of laser cleaners are high, and they cannot effectively and timely handle multiple concurrent foreign object hanging defects. They are easily affected by fog and sand and dust. Due to the large volume and heavy weight of the equipment, it is relatively difficult to carry and transfer in mountainous areas and other places, and their scope of use is greatly limited.

[0003] The existing technologies have the following defects: 1. Manual handling: It requires power outage and climbing operations are dangerous (such as dealing with high - altitude hanging objects like kite strings and plastic films). 2. Drone - suspended robotic arm: Limited by the hovering stability of the drone, it cannot move along the conductor for a long distance. 3. Laser cutting device: There is a risk of high - temperature melting and damage to the surface aluminum strands of the conductor. 4. Traditional wire - hanging robot: It relies on pre - laid tracks and cannot cope with the sag change of the conductor. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide an autonomous walking type foreign object removal device mounted on a drone for transmission lines, which can grab the conductor and move forward along the line to clean foreign objects on the conductor, is not affected by fog and sand and dust weather, is easy to carry, and can be assembled and used in complex environments such as mountainous areas.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0006] An autonomous walking type foreign object removal device mounted on a drone for transmission lines, including a drone body, and further including a fixed frame arranged on the drone body, a rotating frame symmetrically arranged on the fixed frame and rotatably connected to the fixed frame, a support wheel arranged in the rotating frame, a lifting frame arranged in the fixed frame and capable of lifting in the fixed frame. When the lifting frame lifts, the rotating frame rotates under the action of a linkage mechanism. A locking mechanism is arranged between the lifting frame and the fixed frame. A robotic arm and a camera are arranged at the front end of the fixed frame, and a hot - melt cutting knife is arranged at the end of the robotic arm.

[0007] The linkage mechanism includes a rotating rod and a first tension spring. The upper end of the rotating rod is rotatably connected to the side surface of the corresponding rotating frame. The middle position of the rotating rod is rotatably connected to the lifting frame. The lower end of the rotating rod is connected to the fixed frame through a second tension spring. The upper end of the first tension spring is connected to the upper end of the fixed frame, and the lower end of the first tension spring is connected to the lifting frame.

[0008] Further, a column is provided in the fixed frame, and the lifting frame is connected to the column through a guide rail slider.

[0009] Further, grooves for cooperating with the wire are provided on both sides of the lifting frame.

[0010] Further, the pressing mechanism includes a swing arm provided in the lifting frame and rotatably connected between the bottom and the inner wall of the lifting frame, and a pressing wheel is provided at the upper end of the swing arm.

[0011] Further, the swing arm is connected to the fixed frame through a third tension spring.

[0012] Further, a motor for driving the corresponding support wheel to rotate is provided on the rotating frame corresponding to the swing arm.

[0013] Further, the locking mechanism includes a sleeve provided at the upper end of the fixed frame and a sliding rod provided on the lifting frame. The upper end of the sliding rod extends into the sleeve and slides within the sleeve, and the sliding rod is connected to the sleeve through a connecting mechanism.

[0014] Further, the connecting mechanism includes a locking block provided on the sliding rod and rotatable on the sliding rod. A chute for cooperating with the locking block is provided on the sleeve. Card slots are symmetrically provided on both sides of the locking block, and a first protrusion, a second protrusion and an inclined surface are provided at the lower end of the chute.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention includes a fixing frame disposed on the UAV body, rotating frames symmetrically disposed on the fixing frame and rotatably connected to the fixing frame, supporting wheels disposed within the rotating frames, and a lifting frame disposed within the fixing frame and capable of lifting within the fixing frame. When the lifting frame lifts, the rotating frames rotate under the action of a linkage mechanism. A locking mechanism is provided between the lifting frame and the fixing frame. A robotic arm and a camera are provided at the front end of the fixing frame, and a hot melt cutting knife is provided at the end of the robotic arm. In the initial state, the lifting frame is at the bottom, the rotating frames are in the vertical position. The UAV takes off to the position of the wire, and the fixing frame continues to rise until the wire contacts the lifting frame. The wire presses down the lifting frame to release the locking mechanism, and the lifting frame rises. Under the action of the linkage mechanism, the rotating frames rotate to the horizontal position, and the supporting wheels support on the wire and move forward along the wire. The hot melt cutting knife melts and removes foreign objects on the wire. It can grasp the wire and move forward along the line. The robot is equipped with a remotely controllable cutting knife, which has chamfering and morphological changes, and realizes self-heating of the hot cutting knife with the help of electricity, automatically cutting off foreign objects such as sunshades and greenhouse films hanging on the wire. It is not affected by fog and sandstorm weather, is easy to carry, and can be assembled and used in complex environments such as mountainous areas.

[0017] 2. In the present invention, the linkage mechanism includes a rotating rod and a first tension spring. The upper end of the rotating rod is rotatably connected to the side surface of the corresponding rotating frame, the middle position of the rotating rod is rotatably connected to the lifting frame, the lower end of the rotating rod is connected to the fixing frame through a second tension spring, the upper end of the first tension spring is connected to the upper end of the fixing frame, and the lower end of the first tension spring is connected to the lifting frame. When the wire presses down the lifting frame and the locking mechanism releases the lifting frame, the lifting frame rises under the elastic force of the first tension spring. Under the action of the rotating rod, the rotating frames rotate upward, and the axis of the supporting wheels is horizontal, thus supporting on the wire. When the wire presses down the lifting frame until the locking mechanism locks the height of the lifting frame, under the action of the rotating rod, the rotating frames rotate to the vertical position, thus ensuring that the wire can leave the fixing frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of the present invention;

[0020] Figure 2 It is a right view of the present invention;

[0021] Figure 3 For Figure 2 Partial enlarged view at A in

[0022] In the figure: UAV body 1, fixed frame 2, rotating frame 3, support wheel 4, lifting frame 5, robotic arm 6, camera 7, hot melt cutting knife 8, rotating rod 9, first tension spring 10, second tension spring 11, column 12, swing arm 13, third tension spring 14, pressing wheel 15, sleeve 16, sliding rod 17, sliding groove 19, sliding groove 19, card slot 20, first protrusion 21, second protrusion 22, inclined plane 23. Detailed implementation

[0023] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] As Figure 1 shown, an autonomous walking wire foreign object removal device mounted on a UAV includes a UAV body 1, and also includes a fixed frame 2 provided on the UAV body 1, a rotating frame 3 symmetrically provided on the fixed frame 2 and rotatably connected to the fixed frame 2, a support wheel 4 provided in the rotating frame 3, and a lifting frame 5 provided in the fixed frame 2 and lifting in the fixed frame 2. When the lifting frame 5 lifts, the rotating frame 3 rotates under the action of a linkage mechanism. The right end of the front rotating frame 3 is rotatably connected to the fixed frame 2, and the left end of the rear rotating frame 3 is rotatably connected to the fixed frame 2. A locking mechanism is provided between the lifting frame 5 and the fixed frame 2. A robotic arm 6 and a camera 7 are provided at the front end of the fixed frame 2, and a hot melt cutting knife 8 is provided at the end of the robotic arm 6. In the initial state, the lifting frame 5 is at the bottom, the rotating frame 3 is in the vertical position. The UAV takes off to the wire position, and the fixed frame 2 continues to rise until the wire contacts the lifting frame 5. The wire presses down the lifting frame 5 to release the locking mechanism, and the lifting frame 5 rises. Under the action of the linkage mechanism, the rotating frame 3 rotates to the horizontal position, and the support wheel 4 supports on the wire and walks on the wire. The hot melt cutting knife 8 melts and removes the foreign objects on the wire. It can grab the wire and move forward along the line. The robot is equipped with a remotely controllable cutting knife, which has cutting angles and morphological changes. The hot cutting knife is self-heated by electricity, and the maximum temperature is not lower than 500 degrees, automatically cutting off foreign objects such as sunshade nets and greenhouse films hanging on the wire. It is not affected by fog and sandstorm weather, is easy to carry, and can be assembled and used in complex environments such as mountainous areas.

[0025] The position of the foreign object is detected by the camera 7, the robotic arm 6 drives the hot melt cutting knife 8 to move, and the hot melt cutting knife 8 moves with the fixed frame to melt and clean the foreign objects on the wire.

[0026] The cutter head structure has a nickel-chromium alloy blade with a built-in PTC heating element, and the working temperature can be adjusted from 80 to 250 °C. The robotic arm 6 can adjust the three-dimensional position. Temperature gradient control: the temperature at the tip of the tool is > the temperature of the tool body by a temperature difference of 20 - 50 °C, preventing heat conduction to the robot, and efficiently melting different melting point foreign objects without obvious open flame.

[0027] As Figure 1 shown, the linkage mechanism includes a rotating rod 9 and a first tension spring 10. There are two rotating rods 9 located on both sides of the fixed frame 2 respectively. The position of the rotating rod 9 corresponds to the rotating position of the rotating frame 3. The upper end of the rotating rod 9 is rotatably connected to the side surface of the corresponding rotating frame 3. The middle position of the rotating rod 9 is rotatably connected to the lifting frame 5. The lower end of the rotating rod 9 is connected to the fixed frame 2 through a second tension spring 11. One end of the second tension spring 11 is connected to the bottom of the rotating rod 9, and the other end of the second tension spring 11 is connected to the side of the fixed frame 2 opposite to the rotating rod 9. The upper end of the first tension spring 10 is connected to the upper end of the fixed frame 2, and the lower end of the first tension spring 10 is connected to the lifting frame 5; when the wire presses down the lifting frame, after the locking mechanism releases the lifting frame 5, the lifting frame 5 rises under the action of the elastic force of the first tension spring 10. Under the action of the rotating rod 9, the rotating frame 3 rotates upward, and the axis of the supporting wheel 4 is horizontal, so as to support on the wire. The wire presses down the lifting frame until the locking mechanism locks the height of the lifting frame 5. Under the action of the rotating rod 9, the rotating frame 3 rotates to the vertical position, so as to ensure that the wire can leave the fixed frame 2.

[0028] Under the action of the second tension spring 11, when the lifting frame 5 descends to the bottom, the rotating frame 3 will be reliably in the vertical state.

[0029] As Figure 1 shown, a vertical column 12 is provided in the fixed frame 2, and the lifting frame 5 is connected to the vertical column 12 through a guide rail slider.

[0030] As Figure 1 shown, grooves for cooperating with the wire are provided on both sides of the lifting frame 5.

[0031] As Figure 1 and Figure 2 shown, the pressing mechanism includes a swing arm 13 provided in the lifting frame 5 and rotatably connected between the bottom and the inner wall of the lifting frame 5. A pressing wheel 15 is provided at the upper end of the swing arm 13. After the supporting wheel 4 supports on the wire, the swing arm 13 swings upward, and the pressing wheel 15 presses the wire from the bottom.

[0032] As Figure 1 shown, the swing arm 13 is connected to the fixed frame 2 through a third tension spring 14. Under the action of the elastic force of the third tension spring 14, the swing arm 13 always has a driving force to swing upward, and the pressing wheel 15 can always press the wire.

[0033] On the rotating frame 3 on the side corresponding to the swing arm 13, there is a motor for driving the corresponding support wheel 4 to rotate. The figure is not shown as it is prior art and will not be elaborated here.

[0034] As Figure 2 shown, the locking mechanism includes a sleeve 16 provided at the upper end of the fixed frame 2 and a sliding rod 17 provided on the lifting frame 5. The upper end of the sliding rod 17 extends into the sleeve 16 and slides within the sleeve 16. The sliding rod 17 and the sleeve 16 are connected by a connecting mechanism.

[0035] As Figure 3 shown, the connecting mechanism includes a locking block 18 provided on the sliding rod 17 and rotatable on the sliding rod 17. There is a chute 19 on the sleeve 16 that cooperates with the locking block 18. On both sides of the locking block 18, symmetrically arranged card slots 20 are provided. At the lower end of the chute 19, there are a first protrusion 21, a second protrusion 22, and an inclined surface 23. The locking block 18 slides downward within the chute 19 until the lower card slot 20 contacts the second protrusion 22. The upper end of the locking block 18 deflects to the left by a certain angle. Then the locking block 18 moves upward until the card slot 20 at the left end of the locking block 18 contacts the first protrusion 21, and the right end of the locking block 18 contacts the inclined surface, thereby locking the sliding rod 17 and preventing the sleeve from sliding upward. When it is necessary to release the sliding rod 17 and the sleeve 16, the locking block 18 moves downward. Under the action of the second protrusion 22, the locking block 18 rotates to the left. At this time, the side surface of the locking block 18 corresponds to the first protrusion 21. When the sleeve 16 moves upward, under the action of the first protrusion 21, the locking block 18 exits the vertical position, can enter the chute 19 and slide within the chute 19.

[0036] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "left", "right", "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention 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 should not be construed as a limitation of the present invention.

[0037] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" 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, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An autonomous walking wire foreign body removal device mounted on a drone, comprising a drone body (1), characterized in that: It also comprises a fixed frame (2) arranged on the drone body (1), a rotating frame (3) symmetrically arranged on the fixed frame (2) and rotatably connected to the fixed frame (2), a supporting wheel (4) arranged in the rotating frame (3), and a lifting frame (5) arranged in the fixed frame (2) and raised and lowered in the fixed frame (2); when the lifting frame (5) is raised and lowered, the rotating frame (3) is rotated under the action of a linkage mechanism; a locking mechanism is arranged between the lifting frame (5) and the fixed frame (2); a mechanical arm (6) and a camera (7) are arranged at the front end of the fixed frame (2); and a hot melt cutting knife (8) is arranged at the end of the mechanical arm (6); The linkage mechanism comprises a rotating rod (9) and a first tension spring (10); the upper end of the rotating rod (9) is rotationally connected to the side of the corresponding rotating frame (3); the middle position of the rotating rod (9) is rotationally connected to the lifting frame (5); the lower end of the rotating rod (9) is connected to the fixed frame (2) via the second tension spring (11); the upper end of the first tension spring (10) is connected to the upper end of the fixed frame (2); and the lower end of the first tension spring (10) is connected to the lifting frame (5).

2. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 1, characterized in that: A column (12) is provided inside the fixed frame (2), and the lifting frame (5) is connected to the column (12) via a guide rail slider.

3. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 1, characterized in that: Grooves matching with the wires are provided on both sides of the lifting frame (5).

4. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 1, characterized in that: The clamping mechanism comprises a swing arm (13) which is arranged in the lifting frame (5) and rotatably connected between the bottom and the inner wall of the lifting frame (5); a pressure wheel (15) is provided at the upper end of the swing arm (13).

5. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 4, characterized in that: The swing arm (13) and the fixing frame (2) are connected via a third tension spring (14).

6. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 4, characterized in that: A motor for driving the corresponding supporting wheel (4) to rotate is provided on the rotating frame (3) on the side corresponding to the swing arm (13).

7. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 1, characterized in that: The locking mechanism comprises a sleeve (16) arranged at the upper end of the fixing frame (2) and a sliding rod (17) arranged on the lifting frame (5); the upper end of the sliding rod (17) penetrates into the sleeve (16) and slides in the sleeve (16); the sliding rod (17) and the sleeve (16) are connected via a connecting mechanism.

8. The autonomous walking wire foreign body removal device mounted on a drone as claimed in claim 7, characterized in that: The connecting mechanism comprises a locking block (18) arranged on the sliding rod (17) and rotating on the sliding rod (17); the sleeve (16) is provided with a sliding groove (19) cooperating with the locking block (18); the locking block (18) is symmetrically provided with a clamping groove (20) on both sides; the lower end of the sliding groove (19) is provided with a first protrusion (21), a second protrusion (22) and an inclined surface (23).

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