Transmission line gantry foreign body removal device

Abstract

The present invention relates to the field of robots, and in particular to a device for removing foreign objects from a gantry of a power transmission line, which can realize the removal of foreign objects on the gantry of a power transmission line. The technical solution is: a device for removing foreign objects from a gantry of a power transmission line, comprising: an unmanned aerial vehicle, an image sensor, a delivery rope unit and a manipulator. The image sensor is fixed to the lower end of the unmanned aerial vehicle, and the photosensitive side of the image sensor faces directly downward. The delivery rope unit is fixed to the unmanned aerial vehicle, and the delivery rope unit is configured to receive a signal transmitted by the unmanned aerial vehicle, and to deliver or collect a rope downward. The manipulator is fixed to the delivery rope unit and is connected to the signal of the unmanned aerial vehicle, and the manipulator is configured to fall or extract in a vertical direction with the delivery rope unit, and the manipulator is also configured to receive a signal from the unmanned aerial vehicle to perform a grabbing action.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a foreign body removal device for a gantry frame of a power transmission line. Background Art

[0002] Most power plants are built on the edge of cities or in rural areas. Birds frequently build nests on the gantry of the transmission line in the power plant's booster station, which poses a great threat to the safe operation of the booster station equipment: bird droppings fall, which easily shortens the creepage distance of the insulators hanging on the gantry and causes discharge, which in turn causes the line to trip. In addition, the gantry of the booster station is now high above the ground (14 meters for 220kV level), and maintenance personnel cannot drive away the birds on the gantry of the live line, which leaves sufficient time and space for birds to build nests. At present, the tools that can remove bird nests with power are mostly insulated operating rods. When the line is out of power, personnel climb up the gantry to use the insulated rod to remove the bird nest or take a lift to the vicinity of the bird nest and use the insulated rod to remove the bird nest.

[0003] Since birds choose to build nests in hidden locations with the gantry centered, and because the line is energized, it would be a great safety risk for personnel to use insulating rods to remove bird nests. Therefore, if you want to remove the bird nest, you need to shut down the line, and then board the lift and hold a long insulating operating rod, which will make the operation inflexible and damage the porcelain bottle. In addition, the safety belt worn by the personnel does not have an independent suspension point outside the lift, and if the lift rolls over, it will cause casualties; in addition, the line power outage must be accompanied by the unit shutdown and dispatch approval, especially during the peak load period of the unit, the line is more difficult to shut down, which will increase the existence time of the bird nest and the risk of line tripping. Summary of the invention

[0004] In order to overcome the defects in the above-mentioned related technologies, the present invention provides a transmission line gantry foreign matter removal device, which can remove foreign matter on the transmission line gantry.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a transmission line gantry foreign body removal device, comprising: a drone, an image sensor, a delivery rope unit and a manipulator. The image sensor is fixed to the lower end of the drone, and the photosensitive side of the image sensor faces directly downward. The delivery rope unit is fixed on the drone, and the delivery rope unit is configured to receive the signal transmitted by the drone, and to deliver or collect the rope downward. The manipulator is fixed on the delivery rope unit and connected to the drone signal. The manipulator is configured to fall or extract in the vertical direction with the delivery rope unit, and the manipulator is also configured to receive the signal of the drone to perform a grabbing action.

[0006] Preferably, the UAV is a rotary-wing UAV.

[0007] Preferably, the releasing rope unit comprises a releasing rope bracket, a winch, a single-chip microcomputer and an encoder; the releasing rope bracket is fixedly connected to the lower end of the drone; the releasing rope bracket is fixed with a winch; the rotating shaft of the winch is coaxially connected to the input end of the encoder; the encoder is fixedly connected to the releasing rope bracket; and the winch and the encoder are both electrically connected to the single-chip microcomputer.

[0008] Preferably, the manipulator comprises a gripper bracket, a first gripper and a second gripper, the gripper bracket comprises a housing and a stepper motor, and the stepper motor is fixed to the housing. The first gripper comprises a first connecting rod, a second connecting rod and a first gripper finger, the first connecting rod and the second connecting rod are arranged in parallel, a first gear is arranged at one end of the first connecting rod, and one end of the first connecting rod is fixedly connected to the output shaft of the stepper motor, the other end of the first connecting rod is fixedly connected to the first gripper finger, and the angle between the first connecting rod and the first gripper finger is 120° to 160°, one end of the second connecting rod is hinged to the gripper bracket, and the other end of the second connecting rod is hinged to the first gripper finger.

[0009] The second gripper includes a third connecting rod, a fourth connecting rod and a second gripper finger. The third connecting rod and the fourth connecting rod are arranged in parallel. A second gear is arranged at one end of the third connecting rod, and the second gear is meshed with the first gear. The other end of the third connecting rod is fixedly connected to the second gripper finger, and the angle between the third connecting rod and the second gripper finger is 120° to 160°. One end of the fourth connecting rod is hinged to the gripper bracket, and the other end of the fourth connecting rod is hinged to the second gripper finger.

[0010] Preferably, the image sensor comprises a USB interface, and the image sensor is connected to the drone via a USB interface signal.

[0011] Preferably, the stepper motor is electrically connected to the drone, the wire between the stepper motor and the drone is arranged in parallel with the rope of the winch, and the wire is fixed relative to the rope, one end of the wire extends from the outer wall of the drum of the winch to the inside of the drum, and one end of the wire extends from the inside of the drum along its center line to the outer side wall of the winch, and one end of the wire is electrically connected to the drone through an electric rotating connector.

[0012] The beneficial effects of the present invention are:

[0013] It can be operated by technical personnel, and the location of foreign objects on the transmission line gantry can be obtained through image sensors. The manipulator can be accurately placed on the foreign objects through the rope unit. Then, through actions such as grabbing and drone ascent, the foreign objects can be quickly cleaned up. It has the advantages of convenient operation and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A structural diagram provided by the present invention;

[0016] Figure 2 A structural diagram of the manipulator provided by the present invention;

[0017] Figure 3 A structural diagram of a launching rope unit provided by the present invention;

[0018] Figure 4 This is a structural diagram of the conductor provided by the present invention being installed in a launching rope unit. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are 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 cannot be understood as a limitation on the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly 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; the term "connected" can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] like Figures 1 to 4 As shown, in some embodiments of the present invention, a transmission line gantry foreign body removal device is provided, comprising: an unmanned aerial vehicle 1, an image sensor 2, a delivery rope unit 3 and a manipulator 4. The image sensor 2 is fixed to the lower end of the unmanned aerial vehicle 1, and the photosensitive side of the image sensor 2 faces directly downward. The delivery rope unit 3 is fixed to the unmanned aerial vehicle 1, and the delivery rope unit 3 is configured to receive the signal transmitted by the unmanned aerial vehicle 1, and to deliver or collect the rope 322 downward. The manipulator 4 is fixed to the delivery rope unit 3 and is connected to the signal of the unmanned aerial vehicle 1. The manipulator 4 is configured to fall or extract in the vertical direction with the delivery rope unit 3, and the manipulator 4 is also configured to receive the signal of the unmanned aerial vehicle 1 to perform a grabbing action.

[0024] Preferably, the drone 1 is a rotary-wing drone. For example, the drone 1 may be a PPL 622C six-rotor drone.

[0025] Preferably, the releasing rope unit 3 includes a releasing rope bracket 31, a winch 32, a single-chip microcomputer and an encoder 34. The releasing rope bracket 31 is fixedly connected to the lower end of the drone 1. The releasing rope bracket 31 is fixed with a winch 32. The rotating shaft of the winch 32 is coaxially connected to the input end of the encoder 34. The encoder 34 is fixedly connected to the releasing rope bracket 31. The winch 32 and the encoder 34 are both electrically connected to the single-chip microcomputer.

[0026] The encoder 34 can be used to calculate the distance that the rope 322 is dropped downward, so that the distance that the rope 322 is dropped downward can be easily calculated or controlled, which is convenient for on-site operation.

[0027] The image sensor 2 may be a CCD image sensor.

[0028] Preferably, the manipulator 4 includes a gripper bracket 41, a first gripper 42 and a second gripper 43. The gripper bracket 41 includes a housing 411 and a stepper motor, and the stepper motor is fixed to the housing 411. The first gripper 42 includes a first connecting rod 421, a second connecting rod 422 and a first gripper finger 423. The first connecting rod 421 and the second connecting rod 422 are arranged in parallel. A first gear 424 is arranged at one end of the first connecting rod 421, and one end of the first connecting rod 421 is fixedly connected to the output shaft of the stepper motor. The other end of the first connecting rod 421 is fixedly connected to the first gripper finger 423, and the angle between the first connecting rod 421 and the first gripper finger 423 is 120° to 160°. One end of the second connecting rod 422 is hinged to the gripper bracket 41, and the other end of the second connecting rod 422 is hinged to the first gripper finger 423.

[0029] The second gripper 43 includes a third connecting rod 431, a fourth connecting rod 432 and a second gripper finger 433. The third connecting rod 431 and the fourth connecting rod 432 are arranged in parallel. A second gear 434 is arranged at one end of the third connecting rod 431, and the second gear 434 is meshed with the first gear 424. The other end of the third connecting rod 431 is fixedly connected to the second gripper finger 433, and the angle between the third connecting rod 431 and the second gripper finger 433 is 120°~160°. One end of the fourth connecting rod 432 is hinged to the gripper bracket 41, and the other end of the fourth connecting rod 432 is hinged to the second gripper finger 433.

[0030] Preferably, the image sensor 2 includes a USB interface, and the image sensor 2 is connected to the drone 1 via a USB interface signal.

[0031] Preferably, the stepper motor is electrically connected to the drone 1, and the wire 44 between the stepper motor and the drone 1 is arranged in parallel with the rope 322 of the winch 32, and the wire 44 is fixed relative to the rope 322, one end of the wire 44 extends from the outer wall of the drum 321 of the winch 32 to the inside of the drum 321, and one end of the wire 44 extends from the inside of the drum 321 along its center line to the outer side wall of the winch 32, and one end of the wire 44 is electrically connected to the drone 1 through an electric rotating connector 45.

[0032] The electric rotating connector 45 can realize that the wire 44 rotates with the reel 321 and is connected to the drone 1 at the same time. The wire 44 and the rope 322 are arranged in parallel and fixed to each other. On the one hand, it is convenient for storage, and on the other hand, it is placed in a position to prevent the wire 44 from touching or entangled with other structures during operation, thereby avoiding accidents.

[0033] The specific operation mode of the present invention is as follows:

[0034] The technician controls the drone 1 to fly to the position of the foreign object on the gantry of the transmission line and then hovers. The winch 32 lowers the manipulator 4. When the manipulator 4 approaches the position of the foreign object, the position of the drone 1 is fine-tuned so that the manipulator 4 is directly above the foreign object and the drone 1 hovers.

[0035] The hoist 32 continues to lower the manipulator 4, and the manipulator 4 is in an open state. After the manipulator 4 contacts the foreign object, the manipulator 4 closes, and the drone 1 is lifted vertically upward to remove the foreign object from the transmission line gantry. Then the drone 1 leaves the top of the transmission line gantry, and the manipulator 4 opens to remove the foreign object. The above actions can be repeated many times.

[0036] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0037] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. Transmission line gantry foreign body removal device, It is characterized in that include: Drones; An image sensor is fixed at the lower end of the drone, with the photosensitive side of the image sensor facing directly downward; A delivery rope unit is fixed on the drone, and is configured to receive a signal transmitted by the drone and deliver or collect a rope downward; A manipulator; fixed on the delivery rope unit and connected to the drone signal, the manipulator is configured to fall or extract in the vertical direction along with the delivery rope unit, and the manipulator is also configured to receive the signal of the drone to perform a grabbing action; The delivery rope unit includes a delivery rope bracket, a hoist, a single-chip microcomputer and an encoder. The delivery rope bracket is fixedly connected to the lower end of the drone, the delivery rope bracket is fixed with a hoist, the rotating shaft of the hoist is coaxially connected to the input end of the encoder, the encoder is fixedly connected to the delivery rope bracket, and the hoist and the encoder are both electrically connected to the single-chip microcomputer; The manipulator comprises a gripper bracket, a first gripper and a second gripper, the gripper bracket comprises a housing and a stepper motor, and the stepper motor is fixed on the housing; The first gripper comprises a first connecting rod, a second connecting rod and a first gripper finger, the first connecting rod and the second connecting rod are arranged in parallel, a first gear is arranged at one end of the first connecting rod, and one end of the first connecting rod is fixedly connected to the output shaft of the stepper motor, the other end of the first connecting rod is fixedly connected to the first gripper finger, and the angle between the first connecting rod and the first gripper finger is 120° to 160°, one end of the second connecting rod is hinged to the gripper bracket, and the other end of the second connecting rod is hinged to the first gripper finger; The second gripper comprises a third connecting rod, a fourth connecting rod and a second gripper finger, the third connecting rod and the fourth connecting rod are arranged in parallel, a second gear is arranged at one end of the third connecting rod, and the second gear is meshed with the first gear, the other end of the third connecting rod is fixedly connected to the second gripper finger, and the angle between the third connecting rod and the second gripper finger is 120° to 160°, one end of the fourth connecting rod is hinged to the gripper bracket, and the other end of the fourth connecting rod is hinged to the second gripper finger; The stepper motor is electrically connected to the drone, and the wire between the stepper motor and the drone is arranged in parallel with the rope of the winch, and the wire is fixed relative to the rope, one end of the wire extends from the outer wall of the drum of the winch to the inside of the drum, and one end of the wire extends from the inside of the drum along its center line to the outer side wall of the winch, and one end of the wire is electrically connected to the drone through an electric rotating connector.

2. The foreign body removal device for the transmission line gantry according to claim 1, It is characterized in that The UAV is a rotary wing UAV.

3. The foreign body removal device for the transmission line gantry according to claim 1, It is characterized in that The image sensor comprises a USB interface, and the image sensor is connected to the drone via a USB interface signal.

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