Safe operation method for quickly releasing overhead line by aerial operation robot and pressing walking device and emergency quick release mechanism thereof

Abstract

The invention discloses a safe operation method for an aerial operation robot to quickly release an overhead line and a pressing walking device and an emergency quick release mechanism thereof, and has the advantages that the pressing walking device is integrated with the emergency quick release mechanism, a rotating seat of the emergency quick release mechanism is hinged with a fixed seat, and a torsion spring is sleeved on a hinge shaft; the two torsion springs are arranged on the two sides of the rotating base respectively, the two ends of each torsion spring abut against the fixed base and the rotating base respectively, the electromagnet is installed on the rotating base, and the pressing mechanism is installed below the rotating base. An iron core of the electromagnet extends out to be locked with the lock plate in a normal state, the pressing walking device can work normally, when an emergency occurs, the electromagnet can quickly act to enable the iron core of the electromagnet to retract to be unlocked from the lock plate, and at the moment, under the acting force of the torsion spring, the rotating seat immediately bounces and rotates to drive the pressing mechanism to quickly eject outwards to be opened so as to release the overhead line. The aerial operation robot can lift off and break away in time, so that damage is avoided.

Description

Technical Field

[0001] The present invention relates to the field of aerial working robots, and in particular to a method for safely operating an aerial working robot by quickly releasing an overhead line, a compacting walking device thereof, and an emergency quick-releasing mechanism. Background Art

[0002] Traditional overhead line inspection and maintenance relies primarily on manual labor. Workers regularly climb towers to visually inspect the lines, measure the insulation performance of insulators, and check for wear on hardware. This method is not only inefficient but also presents numerous safety hazards. For example, workers working at height are susceptible to adverse effects such as inclement weather, aging lines, and animal disturbances, leading to accidents. Furthermore, the limited frequency of manual inspections makes it difficult to detect potential line problems in a timely manner, potentially causing power outages and significant social and economic losses.

[0003] With the continuous advancement of robotics technology, aerial work robots—drones with end-use equipment—are gradually becoming an emerging solution for the inspection and maintenance of overhead lines. Drones rely on a walking mechanism to autonomously navigate overhead lines, performing inspections and repairs, improving operational efficiency and safety. Existing walking mechanisms include a walking mechanism and a clamping mechanism to ensure a stable, equipotential connection with the overhead lines. The clamping mechanism's drive motor, driven by a worm gear, swings the arm, rotating the clamping wheel below the overhead line. This arm then engages the walking wheel of the walking mechanism above the line to lock the line. However, this walking mechanism makes it difficult to quickly release the overhead line when the drone needs to quickly fly away from the line in an emergency, potentially causing damage to the drone. Therefore, it is urgent to develop a safe method for aerial work robots to quickly release overhead lines and a corresponding emergency quick-release mechanism. Summary of the Invention

[0004] A technical problem to be solved by the present application is to overcome the defects of the above-mentioned related technologies and provide a safe operation method for an aerial work robot to quickly release overhead lines, and its clamping walking device and emergency quick release mechanism. The emergency quick release mechanism is integrated into the clamping walking device. When an emergency is detected, the clamping mechanism can be quickly opened to release the overhead lines, and the aerial work robot can be controlled to take off and detach in time to avoid damage.

[0005] The technical solution adopted by this safe operation method to solve the technical problem is: a safe operation method for an aerial operation robot to quickly release an overhead line, which specifically includes the following steps: The detection module detects the activities of the aerial working robot on the overhead line in real time and feeds back to the control module; the activities include normal walking, encountering obstacles or emergency situations; The control module sends control instructions to the clamping walking device according to the activity situation: during normal walking, the walking mechanism of the clamping walking device cooperates with the clamping mechanism to clamp the overhead line and perform the walking action; when encountering an obstacle, the clamping mechanism is normally opened to release the overhead line, and the walking mechanism walks over the obstacle, and after walking over the obstacle, the clamping mechanism is driven to retract and cooperate with the walking mechanism to clamp the overhead line and perform the walking action again; in an emergency, the emergency quick release mechanism is controlled to urgently open the clamping mechanism to release the overhead line, drive the flying mechanism to lift the aerial work robot off the overhead line, and after the aerial work robot lands, the emergency quick release mechanism is manually restored.

[0006] The technical solution adopted by this clamping walking device to solve the technical problem is: a clamping walking device for realizing the above-mentioned safe operation method, including a walking mechanism and a clamping mechanism, the walking mechanism is electrically connected to the control module, the clamping mechanism includes a connecting frame, a driving motor fixed on the connecting frame, a swing arm pivotally connected to the connecting frame and a clamping auxiliary wheel, the clamping auxiliary wheel is pivotally connected to the mounting seat at the far end of the swing arm, the driving motor is electrically connected to the control module, the driving motor is transmission-connected to the swing arm, and is used to drive the swing arm to swing so that the clamping auxiliary wheel on the swing arm rotates to the bottom of the overhead line, and the clamping auxiliary wheel cooperates with the walking wheel of the walking mechanism to clamp the overhead line; it also includes an emergency quick release mechanism, the emergency quick release mechanism is electrically connected to the control module, the clamping mechanism is installed under the emergency quick release mechanism, and the emergency quick release mechanism is used to drive the clamping mechanism to eject outward and release the overhead line when receiving the control instruction of the control module.

[0007] The technical solution adopted by the present emergency quick release mechanism to solve the technical problem is: an emergency quick release mechanism for quickly opening a clamping mechanism to release the overhead line in an emergency, comprising a fixed seat, a locking plate, an electromagnet, a torsion spring and a rotating seat; the fixed seat is fixedly connected to the walking mechanism or the UAV fuselage, the rotating seat is hinged to the fixed seat, the torsion spring is sleeved on the hinge shaft, there are two torsion springs and they are respectively arranged on both sides of the rotating seat, one end of the torsion spring is against the fixed seat, and the other end of the torsion spring is against or fixed to the rotating seat, the electromagnet is installed on the rotating seat, and the clamping mechanism is installed below the rotating seat; The iron core of the electromagnet is used to extend and lock with the lock plate in a normal state, and retract and unlock with the lock plate in an emergency state; The torsion spring is used to elastically rotate the rotating seat when the iron core and the locking plate are unlocked, driving the pressing mechanism to eject outwards and open the overhead line.

[0008] Compared with the related technologies, the advantages of this aerial working robot's quick release overhead line safety operation method and its clamping walking device and emergency quick release mechanism are that its clamping walking device integrates the emergency quick release mechanism, and the emergency quick release mechanism includes a fixed seat, a locking plate, an electromagnet, a torsion spring and a rotating seat; the fixed seat is fixedly connected to the walking mechanism or the UAV fuselage, the rotating seat is hinged to the fixed seat, the torsion spring is sleeved on the hinge shaft, there are two torsion springs and they are respectively arranged on both sides of the rotating seat, one end of the torsion spring is against the fixed seat, and the other end of the torsion spring is against the rotating seat. The electromagnet is mounted on a rotating seat, and a clamping mechanism is mounted below the rotating seat; the iron core of the electromagnet is used to extend and lock with the lock plate under normal conditions, and to retract and unlock with the lock plate under emergency conditions; the torsion spring is used to rotate the rotating seat when the iron core and the lock plate are unlocked, driving the clamping mechanism to eject outward and open the overhead line; when an emergency is detected, the electromagnet can quickly act to retract its iron core and unlock the lock plate. Under the action of the torsion spring, the rotating seat immediately rotates and drives the clamping mechanism to eject outward quickly to open the overhead line, so that the aerial work robot can be lifted off and detached in time to avoid damage.

[0009] Preferably, the ends of the pivot of the compression auxiliary wheel are respectively inserted into and slidably engaged with the mounting seats. A compression spring is abutted between each end of the pivot and the mounting seat below it, and the ends of the compression spring are respectively fixed to the ends of the pivot and the mounting seat. The compression spring can eliminate the vibration of the swing arm caused by the irregular shape of the overhead line during operation, better ensure the contact stability between the compression walking device and the overhead line, and maintain the equipotential state between the aerial work robot and the overhead line during operation. Preferably, the mounting seat is provided with an upwardly extending guide block, and the guide block is provided with a guide hole; a sleeve is fixed to the end of the pivot shaft, the sleeve passes through the guide hole, and the compression spring is provided at the portion where the sleeve passes through the guide hole. The cross section of the guide hole is rectangular, and the outer contour of the sleeve cross section is square. This is used to prevent the sleeve from rotating and the compression spring from rotating and deforming. The design of the sleeve can shorten the length of the clamping auxiliary wheel axle, thereby facilitating the assembly of the clamping auxiliary wheel axle and the mounting seat guide block. The sleeve can be sleeved onto the clamping auxiliary wheel axle from the outside of the guide hole and fixed in a limited position.

[0010] Furthermore, there are two clamping auxiliary wheels, which are symmetrically arranged on both sides of the swing arm, which can better ensure the clamping fit with the running wheel.

[0011] As an improvement, the running wheel is circumferentially patterned with multiple lines, either sunken or convex. Both convex and sunken lines enhance friction between the running wheel and the overhead wire, improving the stability of the aerial work robot's travel speed. The sunken lines cause less damage to the overhead wire.

[0012] Preferably, the indented lines are arranged along the axial direction of the walking wheel, and the arrangement direction of the indented lines is perpendicular to the walking direction of the walking wheel, so as not to affect the walking.

[0013] Furthermore, the indented lines gradually narrow and become shallower from the middle to the two ends. This design structure of the indented lines facilitates the processing of the indented lines.

[0014] As an improvement, both outer sides of the fixing seat are fixed with limit blocks for limiting the rotation angle of the rotating seat, which can be used to prevent the driving motor from colliding with the fixing seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional diagram of the aerial working robot on the overhead line of the present invention when landing or avoiding obstacles.

[0016] Figure 2 It is a side view of the aerial working robot on the overhead line of the present invention when it is walking normally.

[0017] Figure 3 It is a three-dimensional view of the compacting travel device of the present invention when it is normally opened.

[0018] Figure 4 It is a three-dimensional diagram from one viewing angle when the compacting walking device of the present invention is in operation.

[0019] Figure 5 It is a three-dimensional diagram from another perspective when the compacting walking device of the present invention is in operation.

[0020] Figure 6 It is a three-dimensional diagram of the clamping walking device (limiting block omitted) of the present invention opened in an emergency situation.

[0021] Figure 7 It is a partial exploded schematic diagram of the compacting walking device of the present invention.

[0022] Figure 8 It is a three-dimensional diagram of the emergency quick release mechanism of the present invention.

[0023] Figure 9 It is a three-dimensional view of the swing arm and the clamping auxiliary wheel of the clamping mechanism of the clamping walking device of the present invention.

[0024] As shown in the figure: 1. UAV body, 2. Flight mechanism, 3. Tripod, 5. Compression walking device, 51. Walking mechanism, 511. Walking wheel, 512. Bracket, 513. Walking motor, 52. Compression mechanism, 521. Connecting frame, 522. Drive motor, 523. Swing arm, 524. Mounting seat, 5241. Guide block, 5242. Guide hole, 525. Compression auxiliary wheel, 5251. Bushing, 526. Compression spring, 53. Emergency quick release mechanism, 531. Fixed seat, 532. Rotating seat, 533. Articulated shaft, 534. Torsion spring, 535. Electromagnet, 536. Lock plate, 537. Limit block, 6. Visual sensor, 100. Overhead line. DETAILED DESCRIPTION

[0025] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Those skilled in the art may adjust them as needed to suit specific application scenarios.

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] This embodiment is as follows Figure 1 and Figure 2 The aerial working robot shown in the figure comprises a UAV body 1, a flight mechanism 2, a tripod 3, a counterweight, a clamping walking device 5, a power supply system, an avionics system, a communication system, a perception and obstacle avoidance system, an operating terminal and an equipotential system, etc.; the avionics system comprises a control module, the perception and obstacle avoidance system comprises a detection module, the detection module is communicatively connected to the control module, the detection module comprises a plurality of visual sensors 6 mounted on the tripod 3, the detection module is used to detect the positional relationship between the aerial working robot and the overhead line 100 and feed back to the control module, and the control module controls the power supply system, the flight mechanism 2, the clamping walking device 5, the operating terminal and the equipotential system to perform related actions according to the feedback information. The safe operation method of the aerial operation robot for quickly releasing the overhead line 100 specifically includes the following steps: The visual sensor 6 of the detection module detects the activities of the aerial working robot on the overhead line 100 in real time and feeds back to the control module; the activities include normal walking, encountering obstacles or emergency situations; The control module sends control instructions to the clamping walking device 5 according to the activity situation: during normal walking, the walking mechanism 51 of the clamping walking device 5 cooperates with the clamping mechanism 52 to clamp the overhead line 100 and the walking mechanism 51 performs the walking action; when encountering an obstacle, the clamping mechanism 52 is normally opened to release the overhead line 100, and the walking mechanism 51 walks over the obstacle, and after walking over the obstacle, the clamping mechanism 52 is driven to retract and cooperate with the walking mechanism 51 to clamp the overhead line 100, and the walking mechanism 51 performs the walking action again; in an emergency, the emergency quick release mechanism 53 is controlled to urgently open the clamping mechanism 52 to release the overhead line 100, drive the flying mechanism 2 to lift the aerial working robot off the overhead line 100, and after the aerial working robot lands, the emergency quick release mechanism 53 is manually restored.

[0028] In this embodiment, the pressing walking device 5 is as follows Figures 3 to 7 As shown, it includes a running mechanism 51, a pressing mechanism 52 and an emergency quick release mechanism 53, and the running mechanism 51, the pressing mechanism 52 and the emergency quick release mechanism 53 are electrically connected to the control module respectively. Figure 3 In the compacting walking device 5, the emergency quick release mechanism 53 is not released, and the compacting mechanism 52 is normally opened, which is used when landing the overhead line 100, flying away from the overhead line 100 or avoiding obstacles; Figure 4 and Figure 5 In the compacting traveling device 5, the emergency quick release mechanism 53 is not released, and the compacting mechanism 52 cooperates with the traveling mechanism 51 to compact the overhead line 100 and is used during operation; Figure 6 In the clamping walking device 5, the emergency quick release mechanism 53 is released, and the clamping mechanism 52 droops without hindering the aerial working robot from rising and flying away from the overhead line 100. It is used in an emergency and the emergency quick release mechanism 53 needs to be restored after landing.

[0029] In some embodiments, the walking mechanism 51 is as follows Figure 7 The figure includes a walking wheel 511, a bracket 512 and a walking motor 513. The bracket 512 is used to be fixedly connected to the drone body 1. The walking motor 513 and the walking wheel 511 are assembled in the bracket 512. The walking motor 513 is electrically connected to the control module. The walking motor 513 is fixed to one side of the bracket 512. The walking wheel 511 is rotatably connected to the walking motor 513, and the walking wheel 511 is pivotally connected to the bracket 512; the walking wheel 511 is provided with a plurality of patterns in the circumferential direction, and the patterns are sunken patterns. The sunken patterns are arranged along the axial direction of the walking wheel 511. The sunken patterns gradually narrow and become shallower from the middle to the two ends. Of course, the patterns can also be designed as convex patterns. Both the sunken patterns and the convex patterns can enhance the friction between the walking wheel 511 and the overhead line 100, improve the stability of the walking speed, and the sunken patterns will cause less wear on the overhead line 100 than the convex patterns; the locking plate 536 is fixed to the side mounting plate of the bracket 512 by bolts.

[0030] In some embodiments, the clamping mechanism 52 is as follows: Figure 7 and Figure 9 The figure shows a connecting frame 521, a driving motor 522 fixed on the connecting frame 521, a swing arm 523 pivoted on the connecting frame 521 and a clamping auxiliary wheel 525, wherein the clamping auxiliary wheel 525 is pivoted on the mounting seat 524 at the far end of the swing arm 523, the driving motor 522 is electrically connected to the control module, and the output shaft of the driving motor 522 is connected to the worm gear at the end of the swing arm 523 through a worm, and is used to drive the swing arm 523 to swing so that the clamping auxiliary wheel 525 on the swing arm 523 rotates to the bottom of the overhead line 100, and the clamping auxiliary wheel 525 cooperates with the walking wheel 511 of the walking mechanism 51 to clamp the overhead line 100.

[0031] Preferably, both end portions of the pivot of the clamping auxiliary wheel 525 are respectively inserted into the mounting seat 524 and slidingly engaged with the mounting seat 524, and a compression spring 526 is abutted between the pivot end and the mounting seat 524 below it, and the ends of the compression spring 526 are respectively fixed to the pivot end and the mounting seat 524. Preferably, the mounting seat 524 is provided with an upwardly extending guide block 5241, and the guide block 5241 is provided with a guide hole 5242; a shaft sleeve 5251 is fixed to the end of the pivot, and the shaft sleeve 5251 passes through the guide hole 5242, and the compression spring 526 is provided at the portion of the shaft sleeve 5251 passing through the guide hole 5242. The shaft sleeve 5251 is designed to shorten the pivot of the clamping auxiliary wheel 525 to facilitate the assembly of the clamping auxiliary wheel 525 and the mounting seat 524. Preferably, the cross-section of the guide hole 5242 is rectangular, and the outer contour of the cross-section of the shaft sleeve 5251 is square. Furthermore, there are two clamping auxiliary wheels 525, and they are symmetrically arranged on both sides of the swing arm 523.

[0032] Among them, the emergency quick release mechanism 53 is as follows Figure 8As shown, it includes a fixed seat 531, a rotating seat 532, an articulated shaft 533, a torsion spring 534, an electromagnet 535, a lock plate 536 and a limit block 537; the fixed seat 531 is fixedly connected to the walking mechanism 51 or the drone fuselage 1, the rotating seat 532 is hinged to the fixed seat 531, there are two articulated shafts 533 and they are respectively installed on the hinge joints on both sides of the rotating seat 532, the torsion spring 534 has two sleeves on the articulated shafts 533, one end of the torsion spring 534 is against the fixed seat 531, and the torsion spring The other end of 534 abuts or is fixed to the rotating seat 532. The electromagnet 535 is mounted on the rotating seat 532, and the clamping mechanism 52 is mounted below the rotating seat 532. The electromagnet 535 is electrically connected to the control module. The iron core of the electromagnet 535 is used to extend and lock with the lock plate 536 under normal conditions, and retract and unlock with the lock plate 536 under emergency conditions. The torsion spring 534 is used to rotate the rotating seat 532 when the iron core is unlocked from the lock plate 536, driving the clamping mechanism 52 to eject outward and open the overhead line 100. Two limit blocks 537 are fixedly connected to the outside of the fixed seat 531 and are used to limit the rotation of the rotating seat 532.

[0033] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for safely operating an aerial work robot by quickly releasing an overhead line, characterized in that: The specific steps include: The detection module detects the activities of the aerial working robot on the overhead line in real time and feeds back to the control module; the activities include normal walking, encountering obstacles or emergency situations; The control module sends control instructions to the clamping walking device according to the activity situation: during normal walking, the walking mechanism of the clamping walking device cooperates with the clamping mechanism to clamp the overhead line and perform the walking action; when encountering an obstacle, the clamping mechanism is normally opened to release the overhead line, and the walking mechanism walks over the obstacle, and after walking over the obstacle, the clamping mechanism is driven to retract and cooperate with the walking mechanism to clamp the overhead line and perform the walking action again; in an emergency, the emergency quick release mechanism is controlled to urgently open the clamping mechanism to release the overhead line, drive the flying mechanism to lift the aerial work robot off the overhead line, and after the aerial work robot lands, the emergency quick release mechanism is manually restored.

2. A clamping walking device for implementing the safe operation method as claimed in claim 1, comprising a walking mechanism and a clamping mechanism, the clamping mechanism comprising a connecting frame, a driving motor fixed to the connecting frame, a swing arm pivotally connected to the connecting frame, and a clamping auxiliary wheel, the clamping auxiliary wheel being pivotally connected to a mounting seat at the far end of the swing arm, the driving motor being transmission-connected to the swing arm for driving the swing arm to swing so that the clamping auxiliary wheel on the swing arm rotates to the bottom of the overhead line, and the clamping auxiliary wheel cooperates with the walking wheel of the walking mechanism to clamp the overhead line, characterized in that It also includes an emergency quick release mechanism, which is electrically connected to the control module. The clamping mechanism is installed under the emergency quick release mechanism. The emergency quick release mechanism is used to drive the clamping mechanism to eject outward to release the overhead line when receiving a control instruction from the control module.

3. The compacting walking device according to claim 2, characterized in that: The two end portions of the pivot of the clamping auxiliary wheel are respectively inserted into the mounting seat and slidably cooperate with the mounting seat. A compression spring is abutted between the pivot end and the mounting seat below it. The ends of the compression spring are respectively fixed to the pivot end and the mounting seat.

4. The compacting travel device according to claim 3, characterized in that: The mounting seat is provided with an upwardly extending guide block, and the guide block is provided with a guide hole; a shaft sleeve is fixed to the end of the pivot shaft, and the shaft sleeve passes through the guide hole, and the compression spring is arranged at the part where the shaft sleeve passes through the guide hole; the cross section of the guide hole is rectangular, and the outer contour of the shaft sleeve cross section is square.

5. The compacting walking device according to any one of claims 2 to 4, characterized in that: There are two pressing auxiliary wheels, which are symmetrically arranged on both sides of the swing arm.

6. The compacting travel device according to claim 2, characterized in that: The traveling wheel is provided with a plurality of patterns in the circumferential direction, and the patterns are inward-sunken patterns or outward-convex patterns.

7. The compacting travel device according to claim 6, characterized in that: The indented lines are arranged along the axial direction of the traveling wheel.

8. The compacting travel device according to claim 7, characterized in that: The indented lines gradually narrow and become shallower from the middle to both ends.

9. An emergency quick release mechanism for a compacting travel device according to claim 2, characterized in that: It includes a fixed seat, a locking plate, an electromagnet, a torsion spring and a rotating seat; the fixed seat is fixedly connected to the walking mechanism or the UAV fuselage, the rotating seat is hinged to the fixed seat, the torsion spring is sleeved on the hinge shaft, there are two torsion springs and they are respectively arranged on both sides of the rotating seat, one end of the torsion spring is against the fixed seat, and the other end of the torsion spring is against or fixed to the rotating seat, the electromagnet is electrically connected to the control module, the electromagnet is installed on the rotating seat, and the clamping mechanism is installed below the rotating seat; The iron core of the electromagnet is used to extend and lock with the lock plate in a normal state, and retract and unlock with the lock plate when receiving a control signal from the control module in an emergency state; The torsion spring is used to elastically rotate the rotating seat when the iron core and the locking plate are unlocked, driving the pressing mechanism to eject outwards and open the overhead line.

10. The emergency quick release mechanism according to claim 9, characterized in that: Limiting blocks for limiting the rotation angle of the rotating seat are fixed on both outer sides of the fixing seat.

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