A drone device for firefighting in power transmission channels

Abstract

The present invention discloses a UAV device for firefighting in power transmission channels, the device includes a UAV body, a power taking device and a fire extinguishing device located on the UAV body, when the UAV body needs to be charged, the power taking device is hung on the power transmission line, so that the UAV body can move along the power transmission line while charging and can also perform firefighting operations through the fire extinguishing device. Through the UAV device for firefighting in power transmission channels disclosed by the present invention, the UAV body can be charged online when operating in the air.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle device for fire fighting in power transmission channels. Background Art

[0002] Fire is one of the most common disasters in human production and life. With the hot progress of UHV DC transmission projects, the UHV DC transmission lines pass through large mountainous areas, hills, agricultural production areas, etc., and the vegetation in the line channels is dense, especially in dense channels, there are a large number of flammable vegetation such as forests and grasses, and there are many mobile fire sources such as forest fires and domestic fires. They are scattered, and mountain fires occur frequently, which puts great pressure on fire prevention and control. The best time to extinguish a fire is at the beginning.

[0003] When a mobile fire source such as a fire used for daily life or production is found near a passage, the drone needs to monitor the fire source. However, conventional drones have limited flight time due to battery capacity and cannot stay nearby for a long time for monitoring.

[0004] Prior art, patent application number CN111268126A, a wireless charging relay station for electric power line patrol drone, charging flight control system and method, the wireless charging relay station for drone, including: a charging platform, which is arranged on a transmission tower, and the charging platform has a wireless charging area for charging the drone; an electromagnetic locking device, which is used to generate magnetic attraction to adsorb the drone on the charging platform when the drone is charging, and to generate magnetic repulsion to eject the drone when the drone takes off; a clamping device, which is used to clamp the drone on the wireless charging area in the horizontal and longitudinal directions; a CT power supply device, which takes power from the transmission line to power the charging platform, the electromagnetic locking device and the clamping device; a controller, which connects the wireless charging system transmitter, the electromagnetic locking device and the clamping device in the wireless charging area. The drone automatically searches for the nearest wireless charging relay station for power supply and conducts long-distance uninterrupted autonomous line patrol. In the prior art, the drone needs to be docked on the transmission tower to realize the drone charging from the transmission line. Assuming a fire occurs, it is impossible for the fire to occur only near the transmission tower. When the fire occurs far away from the transmission tower, the drone charging on the transmission tower will not be able to put out the fire. Summary of the invention

[0005] The technical problem to be solved by the present invention is to solve the problem that the fire-fighting UAV has limited flight time due to battery capacity and can only dock for charging, and cannot perform firefighting operations in time.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A drone device for firefighting in power transmission channels includes a drone body 100 and a power collection device 2450 and a fire extinguishing device 400 located on the drone body 100. When the drone body 100 needs to be charged, the power collection device 2450 is suspended on the power transmission line, so that the drone body 100 can move along the power transmission line while charging and can also perform firefighting operations through the fire extinguishing device 400.

[0008] Advantages: The drone can be charged through the walking power supply device, and can also walk along the power transmission lines. Through the fire extinguishing device, it can detect fires, monitor fires in real time, evacuate nearby people in time, and extinguish fires in time to complete firefighting operations.

[0009] In one embodiment of the present invention, the drone device for power transmission channel fire fighting also includes an equipotential clamp device 300, which is located on one side of the abdomen of the drone body 100. The equipotential clamp device 300 clamps the power transmission line to make the drone body 100 and the power transmission line have the same potential; the fire extinguishing device 400 is located on the other side; and the power supply device 2450 is located on the back of the drone body 100.

[0010] In one embodiment of the present invention, the power taking device 2450 includes a power taking fixed seat 241 and a rotating power taking seat 242 . The rotating power taking seat 242 is located on the power taking fixed seat 241 and rotatably cooperates with the power taking fixed seat 241 .

[0011] In one embodiment of the present invention, the power supply device 2450 also includes a CT power supply device 2434, and the CT power supply device 2434 includes an upper CT power supply device 243 and a lower CT power supply device 244, the upper CT power supply device 243 is fixedly located in the rotating power supply seat 242, and the lower CT power supply device 244 is fixedly located in the power supply fixed seat 241; when the rotating power supply seat 242 and the power supply fixed seat 241 are rotated and fitted together, the upper CT power supply device 243 and the lower CT power supply device 244 are also fitted together accordingly.

[0012] In one embodiment of the present invention, the power taking device 2450 also includes a driven push-pull device 2457, and a pair of the driven push-pull devices 2457 are fixed on both sides of the power taking fixed seat 241; the driven push-pull device 2457 includes a limit member 245 and a push-pull control plate 246; a waist hole 2461 is provided on the push-pull control plate 246, one end of the limit member 245 is fixedly connected to the power taking fixed seat 241, and the other end is located in the waist hole 2461, and slides with the push-pull control plate 246.

[0013] In one embodiment of the present invention, the power extraction device 2450 also includes a gear 251 and a rack 252; the gear 251 is located at the other end of the rotating power extraction seat 242 and is coaxial with the rotation axis of the rotating power extraction seat 242; the rack 252 is fixed at the other end of the push-pull control plate 246, and the gear 251 and the rack 252 are meshed.

[0014] In one embodiment of the present invention, the power taking device also includes a driving push-pull device 253, which is fixed at the bottom of the power taking fixed seat 241; the driving push-pull device 253 includes a connecting plate 2532 and an electric push rod 2533, the connecting plate 2532 is fixedly connected to the push-pull control plate 246, and the protruding end of the electric push rod 2533 is fixedly connected to the bottom of the connecting plate 2532; the push-pull control plate 246 is driven by the electric push rod 2533 to push and pull, so that the gear 251 and the rack 252 are engaged, so that the rotating power taking seat 242 and the power taking fixed seat 241 are rotated to fit together or rotated apart.

[0015] In one embodiment of the present invention, the power extraction device 2450 also includes a clamping wedge 2421, which is fixed at one end of the rotating power extraction seat 242; the driven push-pull device 2457 also includes a clamping lock hook 247, which is fixed at one end of the push-pull control plate 246. When the push-pull control plate 246 makes a push-pull movement, the clamping lock hook 247 can slide on the clamping wedge 2421.

[0016] In one embodiment of the present invention, the equipotential clamp device 300 includes a first pitch seat 310, a first pitch drive device 320 and a launch barrel 330; the first pitch drive device 320 is connected to the first pitch seat 310, and one end of the launch barrel 330 is fixedly connected to the first pitch seat 310, and the first pitch drive device 320 provides power to enable the launch barrel 330 to perform pitch motion around its axis.

[0017] In one embodiment of the present invention, the equipotential clamp device 300 also includes a wire-reeling device 340, an equipotential clamp 3557, a first high-pressure gas storage device 380 and a conductive pull rope 390; the conductive pull rope 390 is located in the launch barrel 330, the wire-reeling device 340 is connected to the equipotential clamp 3557 through the conductive pull rope 390, the equipotential clamp 3557 is located at the other end of the launch barrel 330, and is coaxially matched with the launch barrel 330 with a certain friction force; the first high-pressure gas storage device 380 is located on the frame on one side of the UAV body 100, and its gas output end is connected to the launch barrel 330, and the first high-pressure gas storage device 380 drives the equipotential clamp 3557 to launch and clamp the transmission line.

[0018] In one embodiment of the present invention, the equipotential clamping jaw 3557 includes a clamping jaw seat 350, a second guide fork 360, a guide fork stopper 361 and a guide clamping jaw 370;

[0019] The clamp seat 350 is located at the other end of the launch barrel 330 and is coaxially matched with the launch barrel 330; one ends of multiple second guide forks 360 are evenly fixed on the clamp seat 350, and a pair of guide fork limiters 361 are fixed on the diagonally distributed second guide forks 360; the guide clamp 370 is located in the clamp seat 350 and is rotatably matched with the clamp seat 350.

[0020] In one embodiment of the present invention, when the guide clamping jaw 370 is in an initial state, the second guide fork 360 is engaged with the guide clamping jaw 370 through the guide fork stopper 361;

[0021] When the transmission line falls into the guide clamp 370 and the guide clamp 370 clamps the transmission line, the second guide fork 360 disengages from the guide clamp 370, and the guide clamp 370 rotates freely relative to the second guide fork 360 to adaptively clamp the transmission line, and after clamping, the guide clamp 370 is parallel to the cross-section of the transmission line.

[0022] In one embodiment of the present invention, the guide clamping jaw 370 includes a rotating seat 371, a first clamping jaw swing rod 372, a second clamping jaw swing rod 373, a first equipotential clamping ring 374 and a second equipotential clamping ring 375;

[0023] The rotating seat 371 is located inside the clamping jaw seat 350 and is rotatably matched with the clamping jaw seat 350; one end of the first clamping jaw rocker 372 and the second clamping jaw rocker 373 are respectively hinged to the rotating seat 371, so that the first clamping jaw rocker 372 and the second clamping jaw rocker 373 can rotate around the hinge axis, and a torsion spring is arranged at the hinge axis, and the first clamping jaw rocker 372 and the second clamping jaw rocker 373 swing relative to each other; the first equipotential clamping ring 374 is fixedly connected to the other end of the first clamping jaw rocker 372, and the second equipotential clamping ring 375 is fixedly connected to the second clamping jaw rocker 373.

[0024] In one embodiment of the present invention, the guide clamp 370 further includes a first support rod 376, a second support rod 377 and a limiting guide column 378;

[0025] One end of the first support rod 376 is hinged to the other end of the first clamping jaw rocker 372, one end of the second support rod 377 is hinged to the other end of the second clamping jaw rocker 373, the other end of the first support rod 376 and the other end of the second support rod 377 are hinged to one end of the limiting guide column 378 to form a three-point hinge point.

[0026] In one embodiment of the present invention, when the guide clamp 370 is in the initial state, the limit guide column 378 is pulled up to the limit position, the three-point hinge point protrudes upward, and under the action of the torsion spring, the first equipotential clamp ring 374 and the second clamp rocker 373 remain in the open state;

[0027] The point in the middle of the horizontal distance between the hinge point of the first clamping jaw rocker 372 and the first strut 376 and the hinge point of the second clamping jaw rocker 373 and the second strut 377 is called the dead point position. In the initial state of the guide clamp 370, the three-point hinge point is located above the dead point position.

[0028] In one embodiment of the present invention, when the guide clamp 370 is ejected to clamp the transmission line and collides with the transmission line, the transmission line hits the three-point hinge point, causing the three-point hinge point to move downward and be located below the dead point position, then the first equipotential clamp ring 374 and the second equipotential clamp ring 375 are instantly closed to clamp the transmission line; the second guide fork 360 is disengaged from the first clamp rocker 372 and the second clamp rocker 373.

[0029] In one embodiment of the present invention, when the guide clamp 370 needs to release the power line, the first clamp rocker 372 and the second clamp rocker 373 are pulled apart by the conductive pull rope 390, so that the first equipotential clamp ring 374 and the second equipotential clamp ring 375 that are clamped closed are opened, and the power line is separated from the guide clamp 370.

[0030] In one embodiment of the present invention, the fire extinguishing device 400 includes a second pitch seat 410, a second pitch driving device 420, a fire extinguishing gun barrel 430, a fire identification device 440, a second high-pressure gas storage device 450 and a speaker 460;

[0031] The second pitch seat 410 is located at the other end of the abdomen of the drone body 100; the second pitch drive device 420 is connected to the second pitch seat 410, and the fire extinguishing gun barrel 430 is fixedly connected to the second pitch seat 410, and the second pitch drive device 420 drives the second pitch seat 410 and the fire extinguishing gun barrel 430 to pitch and rotate; the fire situation identification device 440 is fixedly located on one side of the fire extinguishing gun barrel 430, and the speaker 460 is fixedly located on the other side of the fire extinguishing gun barrel 430.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The drone body is charged online through the power supply device. The power supply fixing seat and the rotating power supply seat can be rotated together and separated by only one electric push rod. By sliding the compression lock hook on the tightening wedge, a large compression force can be maintained to make the CT power supply device fit reliably. That is, only one electric push rod is needed to realize the rotation and clamping actions in steps. When clamping, it rotates first and then locks. When opening, it unlocks first and then rotates.

[0034] Through the equipotential clamp device, the drone body and the power transmission line are instantly formed into the same potential, which prevents the control system of the entire device from being disturbed by the electric field, and provides the necessary prerequisite for the drone body to be able to charge while walking on the power transmission line and operate near the power transmission line.

[0035] The wire guide fork is used to gather the power line. In order to save the power of the drone body, when the drone body is charged, the flight system can be turned off, the drone body is suspended on the power line, and driven by the clamping and walking device to make it move along the power line, so that some monitoring equipment fixed on the drone body can continue to work.

[0036] When the staff discovers a fire through the fire identification device, they notify nearby residents through the loudspeaker, adjust the elevation position of the fire extinguishing gun barrel, and drive the fire extinguisher. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The present invention is a schematic diagram of a UAV device for fire fighting in power transmission channels.

[0038] Figure 2 It is a schematic diagram of the walking power-taking device of the present invention.

[0039] Figure 3 It is a schematic diagram of the clamping and traveling device of the present invention.

[0040] Figure 4 It is a schematic diagram of the clamping and traveling device in the initial state of the present invention.

[0041] Figure 5It is a schematic diagram of the clamping and traveling device of the present invention.

[0042] Figure 6 It is a schematic diagram of the power taking device of the present invention.

[0043] Figure 7 This is a schematic diagram of a power extraction device from another angle of the present invention.

[0044] Figure 8 It is a schematic diagram of the power taking device in the initial state of the present invention.

[0045] Fig. 9 It is a schematic diagram of the equipotential clamping device and the fire extinguishing device of the present invention.

[0046] Fig.10 It is a schematic diagram of the equipotential clamping device at different pitch positions of the present invention.

[0047] Fig.11 It is a schematic diagram of the equipotential clamp of the present invention.

[0048] Fig.12 This is a schematic diagram of the equipotential clamp of the present invention clamping a transmission line.

[0049] Fig.13 This is a schematic diagram of the equipotential clamping the transmission line at another angle of the present invention.

[0050] Fig.14 It is a schematic diagram of the guide clamp of the present invention.

[0051] Fig.15 It is a schematic diagram of the guide clamp in one state of the present invention.

[0052] Fig.16 It is a schematic diagram of the guide clamp in another state of the present invention.

[0053] Fig.17 The figure is a schematic diagram of the guide clamp in another state of the present invention.

[0054] Fig.18 It is a schematic diagram of the drone body of the present invention flying to an area that will not be affected by the high-voltage electric field of the power transmission line.

[0055] Fig.19 This is a schematic diagram of the equipotential clamping device of the present invention being launched to clamp a transmission line.

[0056] Fig. 20 It is a schematic diagram of the UAV body of the present invention flying along the power transmission line. DETAILED DESCRIPTION

[0057] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0058] See also Figure 1 As shown, the present invention provides a UAV device for firefighting in power transmission channels, comprising a UAV body 100, a power taking device 2450 and a fire extinguishing device 400 located on the UAV body 100. When the UAV body 100 needs to be charged, the power taking device 2450 is suspended on the power transmission line, so that the UAV body 100 can move along the power transmission line while charging and can also perform firefighting operations through the fire extinguishing device 400. The UAV device for firefighting in power transmission channels also includes an equipotential clamping device 300, which is located on one side of the abdomen of the UAV body 100. The equipotential clamping device 300 clamps the power transmission line to make the UAV body 100 and the power transmission line equal in potential. The fire extinguishing device 400 is located on the other side of the abdomen, and the power taking device 2450 is located on the back of the UAV body 100.

[0059] See also Figure 2 As shown, in one embodiment of the present invention, the UAV device for fire fighting in power transmission channels also includes a walking power supply device 200 mainly composed of a base 210, a wire guide fork 220, a clamping and walking device 230 and a power supply device 2450. The power supply device 2450 is located on the base 210, and the wire guide fork 220 and the clamping and walking device 230 are symmetrically arranged on the base 210 with the power supply device 2450 as the center, and the working axes of the wire guide fork 220, the clamping and walking device 230 and the power supply device 2450 are coaxial. The wire guide fork 220 gathers the power supply line, and the clamping and walking device 230 clamps the power supply line and can walk along the power supply line. The power supply line is located in the power supply device 2450 to charge the UAV body 100 online.

[0060] See also Figure 2 As shown, in one embodiment of the present invention, the conductor guide fork 220 includes a U-shaped seat 221, a first guide fork 222 and a detection device 223. The U-shaped seat 221 is fixedly connected to one side of the base 210. The first guide fork 222 includes a U-shaped member 2221 and a retracting rod 2222. The U-shaped member 2221 fits the U-shaped seat 221 and is fixedly connected thereto. One end of a pair of retracting rods 2222 is respectively fixedly connected to the U-shaped member 2221, so that the first guide fork 222 forms an upward opening, and the opening is larger at the top and smaller at the bottom, so as to retract the transmission line. A pair of detection devices 223 are respectively fixedly located on the U-shaped member 2221 to detect whether the transmission line falls into the U-shaped member 2221.

[0061] See also Figure 2 Figure 3As shown, in one embodiment of the present invention, the clamping and walking device 230 includes a sliding base 231, a bidirectional screw device 232, a sliding block 233, a roller seat 234, a rubber-coated anti-skid roller 235 and a driving device 236. The sliding base 231 is fixedly connected to the base, the bidirectional screw device 232 is located on the sliding base 231, and the bidirectional screw device 232 is connected to the sliding block 233, driving the sliding block 233 to slide toward or away from each other. The roller seat 234 is located on the sliding block 233 and is fixedly connected thereto. The rubber-coated anti-skid roller 235 is located on one side of the roller seat 234, and is nested in the roller seat 234, and can rotate in the roller seat 234. The driving device 236 is located on the other side of the roller seat 234, and the driving device 236 drives the rubber-coated anti-skid roller 235 to rotate on the roller seat 234 in the roller seat 234.

[0062] See also Figure 3 and Figure 4 As shown, in one embodiment of the present invention, the sliding block 233 includes a first sliding block 2331 and a second sliding block 2332, and the roller seat 234 includes a driving roller seat 2341 and a driven roller seat 2342, the driving roller seat 2341 is fixedly connected to the first sliding block 2331, and the driven roller seat 2342 is fixedly connected to the second sliding block 2332. Specifically, the screw of the bidirectional screw device 232 is divided into two halves from the middle, the thread of one half of the screw is right-handed, and the thread of the other half of the screw is left-handed, and the screw with right-handed thread cooperates with the right-handed nut, and the screw with left-handed thread cooperates with the left-handed nut, and the first sliding block 2331 and the second sliding block 2332 are fixedly connected with the right-handed nut and the left-handed nut respectively. When the bidirectional screw device 232 rotates, the right-handed nut and the left-handed nut slide toward or away from each other on the screw, indirectly driving the first sliding block 2331 and the second sliding block 2332 to slide toward or away from each other, and indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide toward or away from each other. The roller seat 234 is a rectangular box, and is concave on one side thereof to form a receiving space 2340, and the rubber-coated anti-skid roller 235 is located in the receiving space 2340, and the rubber-coated anti-skid roller 235 partially protrudes from the roller seat 234. The receiving spaces 2340 on the driving roller seat 2341 and the driven roller seat 2341 are arranged opposite to each other. Correspondingly, each roller seat is provided with a rubber-coated anti-skid roller 235. The rubber-coated anti-skid roller 235 can rotate in the receiving space 2340 under the drive of an external force. The rubber-coated anti-skid roller 235 includes an active rubber-coated anti-skid roller 2351 and a driven rubber-coated anti-skid roller 2352. Specifically, the active rubber-coated anti-skid roller 2351 is located in the receiving space 2340 of the driving roller seat 2341, and the driven rubber-coated anti-skid roller 2352 is located in the receiving space 2340 of the driven roller seat 2341. Both rubber-coated anti-skid rollers are cylindrical with a concave middle and a smooth transition to the two ends to fit the transmission line A, see Figure 5The driving device 236 is fixedly connected to the driving roller seat 2341, and the output end of the driving device 236 drives the active rubber-coated anti-skid roller 2351 to rotate. Specifically, the driving device 236 is, for example, a motor.

[0063] See also Figure 4 and Figure 5 As shown, in one embodiment of the present invention, in the initial state, the driving roller seat 2341 and the driven roller seat 2341 are separated to form a clamping area. When charging is required, when the power line A enters the clamping area, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide toward each other, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide toward each other, and finally making the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 fit and clamp the power line A, and the driving device 236 drives the active rubber-coated anti-skid roller 2351 to rotate, so that the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 can generate a force along the axial direction of the power line A, so that the clamping and walking device 230 can walk along the power line A. After charging is completed, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide in opposite directions, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide in opposite directions, and finally causing the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 to release the transmission line A, and the transmission line A is separated from the clamping area.

[0064] See also Figure 6 and Figure 7 As shown, in one embodiment of the present invention, the power taking device 2450 includes a power taking fixed seat 241, a rotating power taking seat 242, a CT power taking device 2434, a driven push-pull device 2457, a gear 251, a rack 252 and a driving push-pull device 253. The power taking fixed seat 241 is fixedly connected to the base 210, as shown in FIG. Figure 2 As shown. The rotating power supply seat 242 is located on the power supply fixed seat 241 and is rotatably matched with the power supply fixed seat 241. The CT power supply device 2434 is located in the power supply fixed seat 241 and the rotating power supply seat 242. The driven push-pull device 2457 is located on one side of the power supply fixed seat 241. The rack 252 is fixedly connected to the driven push-pull device 2457. The gear 251 is coaxial with the rotation axis of the rotating power supply seat 242. The driving push-pull device 253 is fixed at the bottom of the power supply fixed seat 241. The driving push-pull device 253 drives the driven push-pull device 2457 to push and pull, so that the gear 251 and the rack 252 are engaged, so that the rotating power supply seat 242 and the power supply fixed seat 241 are rotationally fitted or separated, and the driving push-pull device 253 drives the driven push-pull device 2457 to lock or release the rotationally fitted rotating power supply seat 242 and the power supply fixed seat 241.

[0065] See also Figure 6 and Figure 7 As shown, in one embodiment of the present invention, the power supply fixing seat 241 is concave, and is arranged in a C shape rotated 90° counterclockwise with the opening facing upward, forming a lower CT slot. The rotating power supply seat 242 is convex, and is arranged in an inverted C shape with the opening facing downward, forming an upper CT slot. When the power supply fixing seat 241 and the rotating power supply seat 242 are rotated and separated, it is convenient for the power transmission line to fall into the CT slot. The power supply device 2450 also includes a clamping wedge 2421, which is located at one end of the rotating power supply seat 242 opposite to the gear 251, and the clamping wedge 2421 is arranged in a triangular block shape. The CT power supply device 2434 includes an upper CT power supply device 243 and a lower CT power supply device 244. The upper CT power supply device 243 is fixedly located in the rotating power supply seat 242, that is, in the upper CT slot, and the lower CT power supply device 244 is fixedly located in the power supply fixing seat 241, that is, in the lower CT slot. When the rotating power supply seat 242 and the power supply fixing seat 241 are rotated and fitted, the upper CT power supply device 243 and the lower CT power supply device 244 fit together to form a complete CT power supply device 2434. The CT power supply device 2434 is also connected to the charging device of the drone body for charging the drone body.

[0066] See also Figure 6 and Figure 7As shown, in one embodiment of the present invention, the driven push-pull device 2457 includes a limiter 245, a push-pull control plate 246 and a clamping lock hook 247. A waist hole 2461 is provided on the push-pull control plate 246. One end of the limiter 245 is fixedly connected to the power-taking fixed seat 241, and the other end is located in the waist hole 2461, and slides with the push-pull control plate 246. The push-pull control plate 246 performs push-pull motion relative to the power-taking fixed seat 241. The rack 252 is fixed at one end of the push-pull control plate 246 to facilitate meshing with the gear 251. The clamping lock hook 247 is fixed at the other end of the push-pull control plate 246. When the push-pull control plate 246 performs push-pull motion, the clamping lock hook 247 can slide on the inclined surface of the clamping wedge block 2421. Specifically, a pair of driven push-pull devices 2457 are respectively located on both sides of the power supply fixing seat 241, and gears 251 and racks 152 are provided on both sides of the power supply fixing seat 241. The driving push-pull device 253 includes a fixing seat 2531, a connecting plate 2532 and an electric push rod 2533, and one end of the electric push rod 2533 is fixedly connected to the bottom of the power supply fixing seat 241 through the fixing seat 2531. The connecting plate 2532 is concavely arranged, and its two ends are respectively fixedly connected to the push-pull control board 246 located on both sides of the power supply fixing seat 241. The bottom of the power supply fixing seat 241 is located at the concave part of the connecting plate 2532, and the extended end of the electric push rod 2533 is fixedly connected to the bottom of the connecting plate 2532, providing power for the push-pull control board 246 to make push-pull movements. The power taking device 2450 also includes a support seat 2411 , and two ends of the support seat 2411 are respectively fixedly connected to the base and the power taking fixing seat 241 to provide space for driving the push-pull device 253 .

[0067] See also Figures 6 to 8 As shown, in one embodiment of the present invention, in the initial state of the power taking device 2450, the power taking fixed seat 241 and the rotating power taking seat 242 are in a rotating separation state, the electric push rod 2533 is in a retracted state, and the gear 251 and the rack 252 are engaged. When the power transmission line falls into the lower CT slot, the electric push rod 2533 pushes the push-pull control plate 246 to move rightward, driving the gear 251 and the rack 252 to engage, so that the rotating power taking seat 242 rotates counterclockwise until the rotating power taking seat 242 and the power taking fixed seat 241 are in contact. When the rotating power supply seat 242 and the power supply fixing seat 241 are fitted, the gear 251 and the rack 252 just disengage, at this time, the electric push rod 2533 continues to push the push-pull control plate 246 to move to the right, driving the clamping lock hook 247 to contact the clamping wedge block 2421, and the clamping lock hook 247 slides along the inclined surface of the clamping wedge block 2421. The wedge force clamps and locks the rotating power supply seat 242 and the power supply fixing seat 241, while maintaining a large clamping force, that is, locking the power supply line in the power supply device 2450. The power supply device 2450 is suspended on the power supply line, and the drone body is charged through the power supply line and the CT power supply device 2434.

[0068] See also Figures 6 to 8 As shown, in one embodiment of the present invention, when charging is completed, the electric push rod 2533 retracts, driving the push-pull control plate 246 to move to the left, so that the clamping lock hook 247 is separated from the clamping wedge block 2421, and the locking state of the rotating power supply seat 242 and the power supply fixed seat 241 is released. The electric push rod 2533 continues to drive the push-pull control plate 246 to move to the left, the gear 251 and the rack 252 begin to engage, and the rotating power supply seat 242 rotates clockwise until it is completely separated from the power supply fixed seat 241, so that the transmission line is separated from the CT power supply device 2434.

[0069] See also Figure 2 As shown, in one embodiment of the present invention, the walking power-taking device 200 further includes a rotating device 260, one end of which is fixedly connected to the base 210, and the other end is connected to the back of the drone body, so that the drone body can rotate relative to the driving base 210, the wire guide fork 220, and the clamping and walking device 230 located on its back. When the drone body is suspended on the power transmission line, the drone body and the device located on the back can be rotated.

[0070] See also Figures 2 to 8 As shown, in one embodiment of the present invention, the transmission line A is gathered by the first guide fork 222. When the detection device 223 detects that the transmission line A falls into the U-shaped member 2221, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide toward each other, and indirectly drives the driving roller seat 2341 and the driven roller seat 2342 to slide toward each other, and finally makes the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 fit and clamp the transmission line A. At the same time, the electric push rod 2533 pushes the push-pull control plate 246 to move rightward, drives the gear 251 and the rack 252 to mesh, and makes the rotating power supply seat 242 rotate counterclockwise until the rotating power supply seat 242 fits with the power supply fixed seat 241. When the rotating power supply seat 242 and the power supply fixing seat 241 are fitted, the gear 251 and the rack 252 just disengage, at this time, the electric push rod 2533 continues to push the push-pull control plate 246 to move to the right, driving the clamping lock hook 247 to contact the clamping wedge block 2421, and the clamping lock hook 247 slides along the inclined surface of the clamping wedge block 2421, and the wedge force clamps and locks the rotating power supply seat 242 and the power supply fixing seat 241. During charging, if the drone body 100 needs to move, in order to save the power of the drone body 100, after charging, the flight system can be turned off, and the driving device 236 drives the driving roller seat 2341 to rotate, so that the driving roller seat 2341 and the driven roller seat 2342 can generate a force along the axial direction of the transmission line A. Even if the clamping and walking device 230 can walk along the transmission line A, some monitoring equipment fixed on the drone body 100 can continue to work.

[0071] See also Figures 2 to 8 As shown, in one embodiment of the present invention, when charging is completed, the electric push rod 2533 retracts, driving the push-pull control plate 246 to move to the left, so that the clamping lock hook 247 is separated from the clamping wedge block 2421, and the locking state of the rotating power supply seat 242 and the power supply fixed seat 241 is released. The electric push rod 2533 continues to drive the push-pull control plate 246 to move to the left, the gear 251 and the rack 252 begin to engage, and the rotating power supply seat 242 rotates clockwise until it is completely separated from the power supply fixed seat 241, so that the power supply line is separated from the CT power supply device 2434, and at the same time, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide backwards, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide backwards, so that the power supply line A is separated from the clamping area and the wire guide fork 220.

[0072] See also Fig. 9 As shown, in one embodiment of the present invention, there is a high-voltage electric field near the transmission line. In order to prevent the high-voltage electric field from affecting the control system of the drone body, when the drone body has not yet entered the influence area of ​​the high-voltage electric field, that is, when it is still some distance away from the transmission line, the equipotential clamping device 300 is used to make the drone body and the transmission line form the same potential to protect the control system of the drone body.

[0073] See also Fig. 9 As shown, in one embodiment of the present invention, the equipotential clamping device 300 includes a first elevation seat 310, a first elevation driving device 320, a launching barrel 330, a wire collection device 340, an equipotential clamping device 3557, a first high-pressure gas storage device 380 and a conductive pull rope 390, see Fig.16 As shown. The first pitch seat 310 is fixedly located at one end of the abdomen of the drone body 100, the first pitch drive device 320 is connected to the first pitch seat 310, and one end of the launch barrel 330 is fixedly connected to the first pitch seat 310. The first pitch drive device 320 provides power to enable the launch barrel 330 to perform pitch motion around its axis. The equipotential clamp 3557 is located at the other end of the launch barrel 330, and is coaxially matched with the launch barrel 330 with a certain friction force. The first high-pressure gas storage device 380 is located on the frame on one side of the drone body 100, and its gas output end is connected to the launch barrel 330. The high-pressure driving force provided by the first high-pressure gas storage device 380 enables the equipotential clamp 3557 to be ejected from the launch barrel 330. The conductive pull rope 390 is located in the launch barrel 330, the take-up device 340 is fixedly connected to the launch barrel 330, and the two ends of the conductive pull rope 390 are respectively fixedly connected to the take-up device 340 and the equipotential clamp 3557. The equipotential clamp 3557 that is ejected can be recovered through the take-up device 340 and the conductive pull rope 390.

[0074] See also Fig. 9 and Fig.10 As shown, in one embodiment of the present invention, the first elevation drive device 320 provides power, so that the launch barrel 330 can perform a ±90° elevation movement around the first elevation seat 310 .

[0075] See also Fig.11 As shown, in one embodiment of the present invention, the equipotential clamp 3557 includes a clamp seat 350, a second guide fork 360, a guide fork limiter 361 and a guide clamp 370. One ends of a plurality of second guide forks 360 are evenly fixed on the clamp seat 350, and a pair of guide fork limiters 361 are fixed on the diagonally distributed second guide forks 360. The guide clamp 370 is located in the clamp seat 350 and is rotatably matched with the clamp seat 350. In the initial state of the guide clamp 370, the second guide fork 360 is engaged with the guide clamp 370 through the guide fork limiter 361. When the transmission line A falls into the guide clamp 370 and the guide clamp 370 clamps the transmission line A, the second guide fork 360 is disengaged from the guide clamp 370, and the guide clamp 370 is free to rotate relative to the second guide fork 360, which can adapt to clamping the transmission line A. After clamping, the guide clamp 370 is parallel to the cross section of the transmission line A, see Fig.12 and Fig.13 shown.

[0076] See also Fig.12 and Fig.13 As shown, in one embodiment of the present invention, the number of the second guide forks 360 is, for example, 4, to prevent the two second guide forks 360 from rotating during the flight and causing the inability to touch and gather the transmission line A. When rotating to be parallel to the transmission line A, the two second guide forks 360 cannot touch and gather the transmission line A.

[0077] See also Fig.14As shown, in one embodiment of the present invention, the guide clamp 370 includes a rotating seat 371, a first clamp swing rod 372, a second clamp swing rod 373, a first equipotential clamp ring 374, a second equipotential clamp ring 375, a first support rod 376, a second support rod 377, a limit guide column 378 and a wire guide tube 379. The rotating seat 371 is located in the clamp seat 350 and is rotatably matched with the clamp seat 350. One end of the first clamp swing rod 372 and the second clamp swing rod 373 are respectively hinged to the rotating seat 371, so that the first clamp swing rod 372 and the second clamp swing rod 373 can rotate around the hinge axis, and a torsion spring is arranged at the hinge axis, so that the first clamp swing rod 372 and the second clamp swing rod 373 swing relative to each other. One end of the first equipotential clamp ring 374 is fixedly connected to the other end of the first clamp swing rod 372, and one end of the second equipotential clamp ring 375 is fixedly connected to the other end of the second clamp swing rod 373. One end of the first support rod 376 is hinged to the other end of the first clamping jaw swing rod 372, one end of the second support rod 377 is hinged to the other end of the second clamping jaw swing rod 373, and the other end of the first support rod 376 and the other end of the second support rod 377 are hinged to one end of the limiting guide column 378 to form a three-point hinge point B. Fig.15 As shown, the limiting guide column 378 is coaxially slidably matched with the rotating seat 371. A pair of wire guide tubes 379 are fixed on the rotating seat 371 side by side with the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373, respectively. The pair of wire guide tubes 379 are fixed on the rotating seat 371 in a V shape. A conductive pull rope 390 is respectively arranged in the pair of wire guide tubes 379. Fig.16 , one end of a pair of conductive pull ropes 390 is fixedly connected to the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373 respectively, and the other end of the pair of conductive pull ropes 390 is fixedly connected to the wire taking-up device. The second guide fork is engaged with the wire pulling guide tube and the first clamping jaw swing rod 372 or the second clamping jaw swing rod 373 in sequence through the guide fork limiter. The guide clamp 370 also includes a transmission line limit plate 3791, a pair of transmission line limit plates 3791 is parallel to the plane of the first equipotential clamp ring 374 and the second equipotential clamp ring 375, and is arranged front and back and fixedly connected to the rotating seat 371. Among them, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 can conduct electricity. The first clamping jaw swing rod 372 and the first equipotential clamp ring 374 are, for example, integrally formed, and the first clamping jaw swing rod 372 can also conduct electricity. The second equipotential clamp ring 375 and the second clamping jaw swing rod 373 are, for example, also integrally formed, and the second clamping jaw swing rod 373 can also conduct electricity.

[0078] See also Figures 14 to 17As shown, in one embodiment of the present invention, in the initial state of the guide clamp 370, the limit guide column 378 is pulled up to the limit position, and the three-point hinge point B protrudes upward. Under the action of the torsion spring, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 remain in the open state. The point in the middle of the horizontal distance between the hinge point of the first clamp swing rod 372 and the first support rod 376 and the hinge point of the second clamp swing rod 373 and the second support rod 377 is called the dead point position C. In the initial state of the guide clamp 370, the three-point hinge point B is located above the dead point position C. When the guide clamp 370 is ejected and collides with the transmission line A, the transmission line A hits the three-point hinge point B, causing the three-point hinge point B to move downward and be located below the dead point position C. At this time, the first equipotential clamp ring 374 and the second equipotential clamp ring 375, under the action of the torsion spring, instantly clamp the transmission line A. At this time, the second guide fork 360 is separated from the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373, and the first equipotential clamp ring 374 and the second equipotential clamp ring 375 rotate freely relative to the second guide fork 360, adaptively clamping the transmission line A, and after clamping, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 are parallel to the cross section of the transmission line A. When the drone body is fully charged, the wire collection device 340 pulls the conductive pull rope 390, and the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373 are pulled apart by the conductive pull rope 390, so that the first equipotential clamp ring 374 and the second equipotential clamp ring 375 that are clamped and closed are opened, and the transmission line A is separated from the guide clamp 370.

[0079] See also Figure 2 As shown, in one embodiment of the present invention, the drone device for power transmission channel fire fighting further includes a power transmission line positioning device 2300, which is located on the side of the drone body 100 and is used to locate the power transmission line.

[0080] See also Figure 1 and Fig. 9As shown, in one embodiment of the present invention, the fire extinguishing device 400 includes a second pitch seat 410, a second pitch drive device 420, a fire extinguishing gun barrel 430, a fire identification device 440, a second high-pressure gas storage device 450 and a speaker 460. The second pitch seat 410 is located at the other end of the abdomen of the drone body 100, the second pitch drive device 420 is connected to the second pitch seat 410, and the fire extinguishing gun barrel 430 is fixedly connected to the second pitch seat 410, and the second pitch drive device 420 drives the second pitch seat 410 and the fire extinguishing gun barrel 430 to pitch and rotate. Specifically, it can pitch and rotate 0 to -90°. The gas supply end of the second high-pressure gas storage device 450 is connected to the fire extinguishing gun barrel 430 to provide high-pressure gas power for the fire extinguishing gun barrel 430. The fire identification device 440 is fixed to one side of the fire extinguishing gun barrel 430, and is used for fire identification, positioning the fire position and monitoring the fire situation. The speaker 460 is fixed to the other side of the fire extinguishing gun barrel 430 and is used for shouting warnings.

[0081] See also Figures 1 to 17 As shown, in one embodiment of the present invention, the drone device for power transmission channel fire fighting, for example, also includes a remote master controller (not shown in the figure), which is connected to the drone body 100, the walking power supply device 200, the equipotential clamp device 300, the fire extinguishing device 400 and the power transmission line positioning device 2300. When the staff discovers the fire through the fire identification device 440, they notify the nearby residents through the loudspeaker 460, adjust the pitch position of the fire extinguishing gun barrel 430, and drive the fire extinguishing. When the drone body 100 has no power, the power transmission line positioning device 2300 identifies the position of the power transmission line A, drives the equipotential clamp device 300 to send the equipotential clamp 3557, makes the drone body 100 and the power transmission line equal point, and controls the walking power supply device 200 to charge the drone body 100. When the drone body 100 is charging and finds a fire, it can also realize that the walking power supply device 200 moves along the power transmission line, adjusts the position of the fire extinguishing device 400, and fires the fire extinguishing gun barrel 430 to extinguish the fire. It is also possible to implement the mobile power taking device 200 to charge and inspect along the transmission line at the same time.

[0082] See also Figures 18 to 20 As shown, in one embodiment of the present invention, when the fire extinguishing device 400 detects a fire, that is, the fire identification device 440 detects a fire, and the drone body 100 is confirmed to be low on power, it is ensured that the drone body 100 is online charging while being able to move to the vicinity of the fire to drive the fire extinguishing device 400 to extinguish the fire.

[0083] Please follow Fig.18 and Fig.19As shown, in one embodiment of the present invention, the transmission line positioning device 2300 locates the position of the transmission line A, and the drone body 100 flies toward the position of the transmission line A, flies to the vicinity of the area that will not be affected by the high-voltage electric field of the transmission line A, and stops approaching.

[0084] Please follow Figures 18 to 20 As shown, in one embodiment of the present invention, after the equipotential clamping device 300 clamps the power line A, the drone body 100 starts to fly in the direction close to the power line A, and the power line A falls into the walking power taking device 200. The walking power taking device 200 clamps the power line A. During this process, the wire-retracting device on the equipotential clamping device 300 works synchronously, so that the conductive pull rope generates a certain tension force to avoid entanglement. After the fire is extinguished and the charging is completed, the walking power taking device 200 releases the power line A, relaxes the conductive pull rope through the wire-retracting device, and flies in the direction away from the power line A. After reaching the safe area, the conductive pull rope is tightened again through the wire-retracting device, so that the guide clamp is opened to release the power line A, and finally the guide clamp is recovered through the wire-retracting device.

[0085] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A drone device for firefighting in power transmission channels, characterized in that: The invention comprises a drone body (100), a power collection device (2450) and a fire extinguishing device (400) located on the drone body (100); when the drone body (100) needs to be charged, the power collection device (2450) is suspended on a power transmission line, so that the drone body (100) can move along the power transmission line while charging and can also perform firefighting operations through the fire extinguishing device (400); The drone device for power transmission channel fire fighting further comprises an equipotential clamping device (300), the equipotential clamping device (300) being located on one side of the abdomen of the drone body (100), the equipotential clamping device (300) clamping the power transmission line so that the drone body (100) and the power transmission line have the same potential; the fire extinguishing device (400) is located on the other side; and the power taking device (2450) is located on the back of the drone body (100); The equipotential clamping device (300) comprises a first elevation seat (310), a first elevation driving device (320) and a launching gun barrel (330); the first elevation driving device (320) is connected to the first elevation seat (310), one end of the launching gun barrel (330) is fixedly connected to the first elevation seat (310), and the launching gun barrel (330) is able to perform an elevation movement around its axis by providing power through the first elevation driving device (320); the equipotential clamping device (300) further comprises a wire taking-up device (340), an equipotential clamping device (3557), a first high-pressure gas storage device (380) and a conductive pull rope (390).

2. The UAV device for firefighting in power transmission channels according to claim 1 is characterized in that: The power extraction device (2450) comprises a power extraction fixing seat (241) and a rotating power extraction seat (242); the rotating power extraction seat (242) is located on the power extraction fixing seat (241) and is rotationally matched with the power extraction fixing seat (241).

3. The UAV device for firefighting in power transmission channels according to claim 2 is characterized in that: The power supply device (2450) further includes a CT power supply device (2434), wherein the CT power supply device (2434) includes an upper CT power supply device (243) and a lower CT power supply device (244), wherein the upper CT power supply device (243) is fixedly positioned in the rotating power supply seat (242), and the lower CT power supply device (244) is fixedly positioned in the power supply fixed seat (241); when the rotating power supply seat (242) and the power supply fixed seat (241) are rotated and fitted together, the upper CT power supply device (243) and the lower CT power supply device (244) are also fitted together accordingly.

4. The UAV device for firefighting in power transmission channels according to claim 3 is characterized in that: The power taking device (2450) further comprises a driven push-pull device (2457), wherein a pair of the driven push-pull devices (2457) are fixedly located on both sides of the power taking fixing seat (241); the driven push-pull device (2457) comprises a limiter (245) and a push-pull control plate (246); a waist hole (2461) is provided on the push-pull control plate (246); one end of the limiter (245) is fixedly connected to the power taking fixing seat (241), and the other end is located in the waist hole (2461) and slidably cooperates with the push-pull control plate (246).

5. The UAV device for firefighting in power transmission channels according to claim 4 is characterized in that: The power extraction device (2450) further comprises a gear (251) and a rack (252); the gear (251) is located at the other end of the rotating power extraction seat (242) and is coaxial with the rotation axis of the rotating power extraction seat (242); the rack (252) is fixedly located at the other end of the push-pull control plate (246), and the gear (251) and the rack (252) are meshed.

6. The UAV device for firefighting in power transmission channels according to claim 5 is characterized in that: The power taking device (2450) further comprises a driving push-pull device (253), which is fixedly located at the bottom of the power taking fixed seat (241); the driving push-pull device (253) comprises a connecting plate (2532) and an electric push rod (2533); the connecting plate (2532) is fixedly connected to the push-pull control plate (246); the extended end of the electric push rod (2533) is fixedly connected to the bottom of the connecting plate (2532); the push-pull control plate (246) is driven by the electric push rod (2533) to perform a push-pull movement, so that the gear (251) and the rack (252) are meshed, so that the rotating power taking seat (242) and the power taking fixed seat (241) are rotationally fitted or rotationally separated.

7. The UAV device for firefighting in power transmission channels according to claim 6 is characterized in that: The power extraction device (2450) further includes a clamping wedge (2421) fixedly located at one end of the rotating power extraction seat (242); the driven push-pull device (2457) further includes a clamping lock hook (247), the clamping lock hook (247) fixedly located at one end of the push-pull control plate (246), and when the push-pull control plate (246) performs a push-pull movement, the clamping lock hook (247) can slide on the clamping wedge (2421).

8. The UAV device for firefighting in power transmission channels according to claim 1 is characterized in that: The conductive pull rope (390) is located in the launch barrel (330), and the wire collection device (340) is connected to the equipotential clamp (3557) through the conductive pull rope (390). The equipotential clamp (3557) is located at the other end of the launch barrel (330) and is coaxially matched with the launch barrel (330) with a certain friction force. The first high-pressure gas storage device (380) is located on a frame on one side of the UAV body (100), and its gas output end is connected to the launch barrel (330). The first high-pressure gas storage device (380) drives the equipotential clamp (3557) to launch and clamp the transmission line.

9. The UAV device for firefighting in power transmission channels according to claim 8, characterized in that: The equipotential clamping jaw (3557) comprises a clamping jaw seat (350), a second guide fork (360), a guide fork limiter (361) and a guide clamping jaw (370); The clamping claw seat (350) is located at the other end of the launching barrel (330) and is coaxially matched with the launching barrel (330); one end of a plurality of second guide forks (360) is evenly fixed on the clamping claw seat (350), and a pair of guide fork limiters (361) are fixed on diagonally distributed second guide forks (360); the guide clamping claw (370) is located in the clamping claw seat (350) and is rotatably matched with the clamping claw seat (350).

10. The UAV device for firefighting in power transmission channels according to claim 9 is characterized in that: When the guide clamping claw (370) is in an initial state, the second guide fork (360) is engaged with the guide clamping claw (370) via the guide fork limiting member (361); When the transmission line falls into the guide clamp (370) and the guide clamp (370) clamps the transmission line, the second guide fork (360) disengages from the guide clamp (370), and the guide clamp (370) freely rotates relative to the second guide fork (360) to adaptively clamp the transmission line. After clamping, the guide clamp (370) is parallel to the cross section of the transmission line.

11. The UAV device for firefighting in power transmission channels according to claim 10, characterized in that: The guide clamping jaw (370) comprises a rotating seat (371), a first clamping jaw swing rod (372), a second clamping jaw swing rod (373), a first equipotential clamping ring (374) and a second equipotential clamping ring (375); The rotating seat (371) is located in the clamping jaw seat (350) and is rotatably matched with the clamping jaw seat (350); one end of the first clamping jaw swing rod (372) and the second clamping jaw swing rod (373) are respectively hinged to the rotating seat (371), so that the first clamping jaw swing rod (372) and the second clamping jaw swing rod (373) can rotate around the hinge axis, and a torsion spring is arranged at the hinge axis, and the first clamping jaw swing rod (372) and the second clamping jaw swing rod (373) swing relative to each other; the first equipotential clamping ring (374) is fixedly connected to the other end of the first clamping jaw swing rod (372), and the second equipotential clamping ring (375) is fixedly connected to the second clamping jaw swing rod (373).

12. The UAV device for firefighting in power transmission channels according to claim 11, characterized in that: The guide clamp (370) further comprises a first support rod (376), a second support rod (377) and a position-limiting guide column (378); One end of the first support rod (376) is hinged to the other end of the first clamping jaw swing rod (372), one end of the second support rod (377) is hinged to the other end of the second clamping jaw swing rod (373), and the other end of the first support rod (376) and the other end of the second support rod (377) are hinged to one end of the limiting guide column (378), forming a three-point hinge point.

13. The UAV device for firefighting in power transmission channels according to claim 12, characterized in that: When the guide clamping jaw (370) is in an initial state, the limit guide column (378) is pulled up to the limit position, the three-point hinge point protrudes upward, and under the action of the torsion spring, the first equipotential clamping ring (374) and the second clamping jaw swing rod (373) remain in an open state; The point at the middle of the horizontal distance between the hinge point of the first clamping jaw rocker (372) and the first strut (376) and the hinge point of the second clamping jaw rocker (373) and the second strut (377) is called the dead point position. In the initial state of the guide clamping jaw (370), the three-point hinge point is located above the dead point position.

14. The UAV device for firefighting in power transmission channels according to claim 13, characterized in that: When the guide clamp (370) is ejected to clamp the transmission line and collides with the transmission line, the transmission line hits the three-point hinge point, causing the three-point hinge point to move downward and be located below the dead point position, and then the first equipotential clamp ring (374) and the second equipotential clamp ring (375) are instantly closed to clamp the transmission line; the second guide fork (360) is disengaged from the first clamp rocker (372) and the second clamp rocker (373).

15. The UAV device for firefighting in power transmission channels according to claim 14, characterized in that: When the guide clamp (370) needs to release the transmission line, the first clamp rocker (372) and the second clamp rocker (373) are pulled apart by the conductive pull rope (390), so that the first equipotential clamp ring (374) and the second equipotential clamp ring (375) that are clamped closed are opened, and the transmission line is separated from the guide clamp (370).

16. The UAV device for firefighting in power transmission channels according to claim 1, characterized in that: The fire extinguishing device (400) comprises a second elevation seat (410), a second elevation driving device (420), a fire extinguishing gun barrel (430), a fire condition identification device (440), a second high-pressure gas storage device (450) and a speaker (460); The second pitch seat (410) is located at the other end of the belly of the drone body (100); the second pitch drive device (420) is connected to the second pitch seat (410), and the fire extinguishing gun barrel (430) is fixedly connected to the second pitch seat (410), and the second pitch drive device (420) drives the second pitch seat (410) and the fire extinguishing gun barrel (430) to pitch and rotate; the fire identification device (440) is fixedly located on one side of the fire extinguishing gun barrel (430), and the speaker (460) is fixedly located on the other side of the fire extinguishing gun barrel (430).

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