A drone equipotential gripper system for emergency handling of power transmission channels

Abstract

The present invention discloses an equipotential clamp system for unmanned aerial vehicles used for emergency treatment of power transmission channels, comprising an unmanned aerial vehicle body and an equipotential clamp device located on the unmanned aerial vehicle body, wherein the equipotential clamp device clamps a power transmission line, so that the unmanned aerial vehicle body and the power transmission line are at the same potential, so that the unmanned aerial vehicle body can fly along the power transmission line. The unmanned aerial vehicle equipotential clamp system for emergency treatment of power transmission channels disclosed by the present invention can realize the unmanned aerial vehicle body flying along the power transmission line.

Description

Technical Field

[0001] The present invention relates to the field of UAV technology, and in particular to a UAV equipotential gripper system for emergency handling of power transmission channels. Background Technology

[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, and dense vegetation in the line channels, especially in dense channels where there are a large number of flammable vegetation such as forest grass. There are many and scattered mobile fire sources such as forest fires and domestic fires. Mountain fires occur frequently, and the pressure of fire prevention and control is high. The best time to extinguish a fire is at the beginning.

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

[0004] Existing technology, patent publication number CN114944617A, an equipotential device and its lifting platform, including a frame, the side of the frame close to the power transmission line is respectively provided with a first equipotential mechanism and a switch mechanism that can swing up and down, the switch mechanism is located below the first equipotential mechanism, and the first equipotential mechanism is connected with the switch mechanism, the first equipotential mechanism is used to control the switch state of the switch mechanism, and the switch mechanism is used for switch control between external power equipment and power supply. In the prior art, the equipotential device is installed on the lifting platform, and the load needs to be docked on the lifting platform to form an equipotential between the load and the power transmission line, but the movement of the load is restricted. SUMMARY OF THE INVENTION

[0005] The technical problem to be solved by the present invention is: how to eliminate the signal interference between the load and the transmission line without restricting the movement of the load.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] A drone equipotential clamp system for emergency treatment of power transmission channels, comprising a drone body 100 and an equipotential clamp device 300 located on the drone body 100, the equipotential clamp device 300 clamps the power transmission line, making the drone body 100 and the power transmission line at the same potential, so that the drone body 100 can fly along the power transmission line.

[0008] Advantages: The equal-potential jaw device enables the power transmission line to be at the same potential as the UAV body, avoiding the impact on the UAV body and the control system of the expected fixed connection device, and enabling the UAV body to fly along the power transmission line. It also provides a prerequisite for the UAV body to move and charge along the power transmission line, enabling the UAV body to move and cruise even during charging.

[0009] In an embodiment of the present invention, the equal-potential jaw device 300 includes a first pitching seat 310, a first pitching driving device 320, and a launching barrel 330; the first pitching driving device 320 is connected to the first pitching seat 310, and one end of the launching barrel 330 is fixedly connected to the first pitching seat 310. By providing power through the first pitching driving device 320, the launching barrel 330 can make a pitching motion around its axis.

[0010] In an embodiment of the present invention, the equal-potential jaw device 300 further includes a wire winding device 340, an equal-potential jaw 3557, a first high-pressure gas storage device 380, and a conductive cable 390; the conductive cable 390 is located inside the launching barrel 330, the wire winding device 340 is connected to the equal-potential jaw 3557 through the conductive cable 390, the equal-potential jaw 3557 is located at the other end of the launching barrel 330, and is coaxially fitted with the launching barrel 330 with a certain friction; 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 launching barrel 330. The first high-pressure gas storage device 380 drives the equal-potential jaw 3557 to be launched and clamp the power transmission line.

[0011] In an embodiment of the present invention, the equal-potential jaw 3557 includes a jaw seat 350, a second guide fork 360, a guide fork limiting member 361, and a guide jaw 370;

[0012] The jaw seat 350 is located at the other end of the launching barrel 330 and is coaxially fitted with the launching barrel 330; one ends of a plurality of the second guide forks 360 are uniformly fixed on the jaw seat 350, and a pair of the guide fork limiting members 361 are fixedly located on the diagonally distributed second guide forks 360; the guide jaw 370 is located inside the jaw seat 350 and is rotationally fitted with the jaw seat 350.

[0013] In an embodiment of the present invention, in the initial state of the guide jaw 370, the second guide fork 360 is engaged with the guide jaw 370 through the guide fork limiting member 361;

[0014] When the power transmission line falls into the guiding jaw 370 and the guiding jaw 370 clamps the power transmission line, the second guiding fork 360 disengages from the guiding jaw 370, and the guiding jaw 370 rotates freely relative to the second guiding fork 360 to adaptively clamp the power transmission line. After clamping, the cross-section of the guiding jaw 370 is parallel to that of the power transmission line.

[0015] In an embodiment of the present invention, the guiding jaw 370 includes a rotating seat 371, a first jaw swing rod 372, a second jaw swing rod 373, a first equipotential clamping ring 374, and a second equipotential clamping ring 375.

[0016] The rotating seat 371 is located within the jaw seat 350 and is rotatably engaged with the jaw seat 350. One end of each of the first jaw swing rod 372 and the second jaw swing rod 373 is respectively hinged to the rotating seat 371, enabling the first jaw swing rod 372 and the second jaw swing rod 373 to rotate about the hinge axis. A torsion spring is provided at the hinge axis, causing the first jaw swing rod 372 and the second jaw swing rod 373 to swing relative to each other. The first equipotential clamping ring 374 is fixedly connected to the other end of the first jaw swing rod 372, and the second equipotential clamping ring 375 is fixedly connected to the second jaw swing rod 373.

[0017] In an embodiment of the present invention, the guiding jaw 370 further includes a first support rod 376, a second support rod 377, and a limit guiding column 378.

[0018] One end of the first support rod 376 is hinged to the other end of the first jaw swing rod 372. One end of the second support rod 377 is hinged to the other end of the second jaw swing rod 373. The other ends of the first support rod 376 and the second support rod 377 are hinged to one end of the limit guiding column 378, forming three hinge points.

[0019] In an embodiment of the present invention, in the initial state of the guiding jaw 370, the limit guiding column 378 is pulled up to the limit position, and the three hinge points protrude upward. Under the action of the torsion spring, the first equipotential clamping ring 374 and the second jaw swing rod 373 remain in an open state.

[0020] The point at the middle of the horizontal distance between the hinge point of the first jaw swing rod 372 and the first support rod 376 and the hinge point of the second jaw swing rod 373 and the second support rod 377 is called the dead point position. In the initial state of the guiding jaw 370, the three hinge points are located above the dead point position.

[0021] In an embodiment of the present invention, when the guiding jaw 370 is ejected to clamp the power transmission line, after hitting the power transmission line, the power 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 instantaneously close to clamp the power transmission line; the second guiding fork 360 disengages from the first jaw swing rod 372 and the second jaw swing rod 373.

[0022] In an embodiment of the present invention, when the guiding jaw 370 needs to release the power transmission line, the first jaw swing rod 372 and the second jaw swing rod 373 are respectively pulled apart by the conductive pull rope 390, so that the clamped and closed first equipotential clamp ring 374 and the second equipotential clamp ring 375 are opened, and the power transmission line is disengaged from the guiding jaw 370.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] Through the equipotential jaw device, the drone body and the power transmission line form an equipotential, avoiding the control system of the entire device from being interfered by the electric field, and providing a necessary prerequisite for the drone body to be able to charge while walking on the power transmission line. In order to save the power of the drone body, after the drone body is charged, the flight system can be turned off, and the drone body is suspended on the power transmission line and driven to walk along the power transmission line through the clamping and walking device. Then, some monitoring devices fixed on the drone body can still work.

[0025] The wire guiding fork is used to gather the power transmission line, and the power taking device charges the drone body online. Only one electric push rod can realize the rotational fitting and rotational separation of the power taking fixing seat and the rotary power taking seat. By sliding the pressing lock hook on the tight wedge block, a large pressing force can be maintained, so that the CT power taking device is reliably fitted, improving the charging efficiency. Only one electric push rod can successively perform the rotational and clamping actions step by step. When clamping, it rotates first and then locks; when opening, it unlocks first and then rotates. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a drone equipotential jaw system for emergency disposal of a power transmission channel according to the present invention.

[0027] Figure 2 It is a schematic diagram of an equipotential jaw device at different pitching positions according to the present invention.

[0028] Figure 3 It is a schematic diagram of an equipotential jaw according to the present invention.

[0029] Figure 4 It is a schematic diagram of an equipotential jaw clamping a power transmission line according to the present invention.

[0030] Figure 5 Schematic diagram of the equal-potential jaws clamping the power transmission line from another angle of the present invention.

[0031] Figure 6 Schematic diagram of the guiding jaws of the present invention.

[0032] Figure 7 Schematic diagram of the guiding jaws of the present invention in a certain state.

[0033] Figure 8 Schematic diagram of the guiding jaws of the present invention in another state.

[0034] Figure 9 Schematic diagram of the guiding jaws of the present invention in yet another state.

[0035] Figure 10 Schematic diagram of an unmanned aerial vehicle equal-potential jaw system for emergency disposal of power transmission channels according to another embodiment of the present invention.

[0036] Figure 11 Schematic diagram of the walking power-taking device of the present invention.

[0037] Figure 12 Schematic diagram of the clamping and walking device of the present invention.

[0038] Figure 13 Schematic diagram of the clamping and walking device of the present invention in the initial state.

[0039] Figure 14 Schematic diagram of the clamping and walking device of the present invention when clamped.

[0040] Figure 15 Schematic diagram of the power-taking device of the present invention.

[0041] Figure 16 Schematic diagram of the power-taking device of the present invention from another angle.

[0042] Figure 17 Schematic diagram of the power-taking device of the present invention in the initial state.

[0043] Figure 18 Schematic diagram of the unmanned aerial vehicle body flying to an area not affected by the high-voltage electric field of the power transmission line.

[0044] Figure 19 Schematic diagram of the equal-potential jaw device being launched to clamp the power transmission line.

[0045] Figure 20 Schematic diagram of the unmanned aerial vehicle body flying along the power transmission line. Detailed implementation manners

[0046] To facilitate the understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings of the specification.

[0047] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0048] There is a high-voltage electric field near the transmission line. To avoid the influence of the high-voltage electric field on the control system of the UAV body, when the UAV body has not yet entered the affected area of the high-voltage electric field, that is, when there is still a certain distance from the transmission line, it is necessary to protect the control system of the UAV body from being affected.

[0049] Embodiment 1

[0050] Please refer to Figure 1 As shown, a UAV equipotential jaw system for emergency disposal of transmission channels includes a UAV body 100 and an equipotential jaw device 300 located on the UAV body 100. The equipotential jaw device 300 clamps the transmission line, making the UAV body 100 equipotential with the transmission line and enabling the UAV body 100 to fly along the transmission line.

[0051] Please refer to Figure 1 As shown, in an embodiment of the present invention, the equipotential jaw device 300 includes a first pitching seat 310, a first pitching driving device 320, a launch barrel 330, a wire winding device 340, an equipotential jaw 3557, a first high-pressure gas storage device 380, and a conductive cable 390. The first pitching seat 310 is fixedly located at one end of the abdomen of the UAV body 100. The first pitching driving device 320 is connected to the first pitching seat 310. One end of the launch barrel 330 is fixedly connected to the first pitching seat 310. By the power provided by the first pitching driving device 320, the launch barrel 330 can make a pitching motion around its axis. The equipotential jaw 3557 is located at the other end of the launch barrel 330 and is coaxially fitted 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. By the high-pressure driving force provided by the first high-pressure gas storage device 380, the equipotential jaw 3557 can be ejected from the launch barrel 330. The conductive cable 390 is located inside the launch barrel 330. The wire winding device 340 is fixedly connected to the launch barrel 330. Both ends of the conductive cable 390 are fixedly connected to the wire winding device 340 and the equipotential jaw 3557 respectively. Through the wire winding device 340 and the conductive cable 390, the ejected equipotential jaw 3557 can be recovered.

[0052] Please refer to Figure 1 and Figure 2 As shown, in an embodiment of the present invention, powered by the first pitching drive device 320, the launch gun barrel 330 can perform a pitching motion of ±90° around the first pitching seat 310.

[0053] Please refer to Figure 1 and Figure 3 As shown, in an embodiment of the present invention, the equipotential jaw 3557 includes a jaw seat 350, a second guide fork 360, a guide fork stopper 361 and a guide jaw 370. One end of a plurality of second guide forks 360 is uniformly fixed on the jaw seat 350, and a pair of guide fork stoppers 361 are fixedly located on the second guide forks 360 distributed diagonally. The guide jaw 370 is located inside the jaw seat 350 and is rotationally matched with the jaw seat 350. In the initial state of the guide jaw 370, the second guide fork 360 is engaged with the guide jaw 370 through the guide fork stopper 361. When the power transmission line A falls into the guide jaw 370 and the guide jaw 370 clamps the power transmission line A, the second guide fork 360 is disengaged from the guide jaw 370, and the guide jaw 370 rotates freely relative to the second guide fork 360, which can adapt to clamping the power transmission line A. After clamping, the guide jaw 370 is parallel to the cross-section of the power transmission line A, as shown in Figure 4 and Figure 5 shown.

[0054] Please refer to Figure 4 and Figure 5 As shown, in an embodiment of the present invention, the number of the second guide forks 360 is, for example, 4, to avoid the situation that the two second guide forks 360 rotate during flight and cause the inability to touch and gather the power transmission line A. When rotated to be parallel to the power transmission line A, the two second guide forks 360 cannot touch and gather the power transmission line A.

[0055] Please refer to Figure 6 and Figure 7As shown, in an embodiment of the present invention, the guiding jaw 370 includes a rotating base 371, a first jaw swing rod 372, a second jaw swing rod 373, a first equipotential clamping ring 374, a second equipotential clamping ring 375, a first support rod 376, a second support rod 377, a limit guiding column 378, and a wire drawing conduit 379. The rotating base 371 is located inside the jaw base 350 and is rotationally matched with the jaw base 350. One ends of the first jaw swing rod 372 and the second jaw swing rod 373 are respectively hinged to the rotating base 371, enabling the first jaw swing rod 372 and the second jaw swing rod 373 to rotate around the hinge axis, and a torsion spring is provided at the hinge axis for the first jaw swing rod 372 and the second jaw swing rod 373 to swing relatively. One end of the first equipotential clamping ring 374 is fixedly connected to the other end of the first jaw swing rod 372, and one end of the second equipotential clamping ring 375 is fixedly connected to the other end of the second jaw swing rod 373. One end of the first support rod 376 is hinged to the other end of the first jaw swing rod 372, one end of the second support rod 377 is hinged to the other end of the second jaw swing rod 373, and the other ends of the first support rod 376 and the second support rod 377 are hinged to one end of the limit guiding column 378 to form a three-point hinge point B, and the limit guiding column 378 is slidably matched with the rotating base 371 coaxially. A pair of wire drawing conduits 379 are respectively fixedly arranged on the rotating base 371 side by side with the first jaw swing rod 372 and the second jaw swing rod 373, and the pair of wire drawing conduits 379 are fixedly arranged on the rotating base 371 in a V shape. Conductive wire ropes 390 are respectively arranged inside the pair of wire drawing conduits 379, one ends of the pair of conductive wire ropes 390 are respectively fixedly connected to the first jaw swing rod 372 and the second jaw swing rod 373, and the other ends of the pair of stretching members 390 are fixedly connected to the wire take-up device. The second guiding fork is engaged with the wire drawing conduit and the first jaw swing rod 372 in sequence through the guiding fork limiting member, or is engaged with the second jaw swing rod 373. The guiding jaw 370 further includes a power line limiting plate 3791, and a pair of power line limiting plates 3791 are parallel to the planes of the first equipotential clamping ring 374 and the second equipotential clamping ring 375 and are fixedly connected to the rotating base 371 front and back. Among them, the first equipotential clamping ring 374 and the second equipotential clamping ring 375 can conduct electricity. The first jaw swing rod 372 and the first equipotential clamping ring 374 are integrally formed, for example, and the first jaw swing rod 372 can also conduct electricity. The second equipotential clamping ring 375 and the second jaw swing rod 373 are also integrally formed, for example, and the second jaw swing rod 373 can also conduct electricity.

[0056] Please refer to Figures 6 to 9As shown, in an embodiment of the present invention, in the initial state of the guiding jaw 370, the limiting guiding column 378 is pulled up to the limit position, the three-point hinge point B protrudes upward, and under the action of the torsion spring, the first equipotential clamping ring 374 and the second equipotential clamping ring 375 are kept in the expanded state. The point at the middle of the horizontal distance between the hinge points of the first jaw swing rod 372 and the first strut 376 and the hinge points of the second jaw swing rod 373 and the second strut 377 is called the dead point position C. In the initial state of the guiding jaw 370, the three-point hinge point B is located above the dead point position C. When the guiding jaw 370 is ejected and collides with the power transmission line A, the power 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, under the action of the torsion spring, the first equipotential clamping ring 374 and the second equipotential clamping ring 375 instantaneously clamp the power transmission line A. At this time, the second guiding fork 360 disengages from the first jaw swing rod 372 and the second jaw swing rod 373, and the first equipotential clamping ring 374 and the second equipotential clamping ring 375 rotate freely relative to the second guiding fork 360 to adaptively clamp the power transmission line A. After clamping, the cross-sections of the first equipotential clamping ring 374 and the second equipotential clamping ring 375 are parallel to the power transmission line A. When the charging of the UAV body is completed, the wire winding device 340 pulls the conductive pulling rope 390, and respectively pulls the first jaw swing rod 372 and the second jaw swing rod 373 away through the conductive pulling rope 390, so that the clamped and closed first equipotential clamping ring 374 and the second equipotential clamping ring 375 are opened, and the power transmission line A disengages from the guiding jaw 370.

[0057] Embodiment 2

[0058] Please refer to FIG. 10. In another embodiment of the present invention, the equipotential jaw device for the UAV in the power transmission channel further includes a walking power taking device 200 and a fire extinguishing device 400. The walking power taking device 200 is located on the back of the UAV body 100, the equipotential jaw device 300 is located on one side of the abdomen of the UAV body 100, and the fire extinguishing device 400 is located on the other side of the abdomen of the UAV body 100. When the UAV body 100 needs to be charged, the equipotential jaw device 300 is ejected to clamp the power transmission line, and the walking power taking device 200 is suspended on the power transmission line, so that the UAV body 100 can move and charge along the power transmission line.

[0059] Please refer to Figure 11As shown, in one embodiment of the present invention, the walking power-collecting device 200 includes a base 210 and a power-collecting device 2450 located on the base 210, and a wire guide fork 220 and a clamping and walking device 230 symmetrically arranged with the power-collecting device 2450 as the center, and the working axes of the wire guide fork 220, the clamping and walking device 230 and the power-collecting device 2450 are coaxial. The wire guide fork 220 gathers the power line, and the clamping and walking device 230 clamps the power line and can walk along the power line. The power line is located in the power-collecting device 2450 to charge the drone body 100 online.

[0060] Please refer to Figure 11 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] Please refer to Figures 12 to 14 As 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] Please refer to Figures 12 to 14As shown, in an 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 rod of the bidirectional screw rod device 232 is divided into two halves in the middle. The thread of one half of the screw rod is right-handed, and the thread of the other half of the screw rod is left-handed. The right-handed screw rod cooperates with a right-handed nut, and the left-handed screw rod cooperates with a left-handed nut. The first sliding block 2331 and the second sliding block 2332 are respectively fixedly connected to the right-handed nut and the left-handed nut. When the bidirectional screw rod device 232 rotates, the right-handed nut and the left-handed nut slide towards or away from each other on the screw rod, indirectly driving the first sliding block 2331 and the second sliding block 2332 to slide towards or away from each other, and indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide towards or away from each other. The roller seat 234 is in the shape of a rectangular box and is concave on one side to form a receiving space 2340. The rubber-coated anti-slip roller 235 is located in the receiving space 2340, and a part of the rubber-coated anti-slip roller 235 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, a rubber-coated anti-slip roller 235 is provided on each roller seat. The rubber-coated anti-slip roller 235 can rotate in the receiving space 2340 under the drive of an external force. The rubber-coated anti-slip roller 235 includes a driving rubber-coated anti-slip roller 2351 and a driven rubber-coated anti-slip roller 2352. Specifically, the driving rubber-coated anti-slip roller 2351 is located in the receiving space 2340 of the driving roller seat 2341, and the driven rubber-coated anti-slip roller 2352 is located in the receiving space 2340 of the driven roller seat 2341. Both rubber-coated anti-slip rollers are cylinders with a concave middle and a smooth transition to both ends to fit the transmission line A, as shown in Figure 5 Figure [0000166] shown. The driving device 236 is fixedly connected to the driving roller seat 2341, and the output end of the driving device 236 drives the driving rubber-coated anti-slip roller 2351 to rotate. Specifically, the driving device 236 is, for example, a motor.

[0063] Please refer to Figures 12 to 14As 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 out of the clamping area.

[0064] Please refer to Figure 15 and Figure 16 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, see Figure 2 As shown in FIG. 1 , 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 meshed, 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] Please refer to Figure 15 and Figure 16 ​​As shown, in an embodiment of the present invention, the power-taking fixing seat 241 is concave, arranged in a C shape that rotates counterclockwise by 90° with the opening facing upward, forming a lower CT groove. The rotating power-taking seat 242 is convex, arranged in an inverted C shape with the opening facing downward, forming an upper CT groove. When the power-taking fixing seat 241 and the rotating power-taking seat 242 rotate and separate, it is convenient for the power transmission line to fall into the CT groove. The power-taking device 2450 further includes a pressing wedge 2421, which is located at one end of the rotating power-taking seat 242 opposite to the gear 251, and the pressing wedge 2421 is arranged in a triangular block shape. The CT power-taking device 2434 includes an upper half CT power-taking device 243 and a lower half CT power-taking device 244. The upper half CT power-taking device 243 is fixedly attached and located inside the rotating power-taking seat 242, and the lower half CT power-taking device 244 is fixedly attached and located inside the power-taking fixing seat 241. When the rotating power-taking seat 242 and the power-taking fixing seat 241 rotate and fit together, the upper half CT power-taking device 243 and the lower half CT power-taking device 244 fit together to form a complete CT power-taking device 2434. The CT power-taking device 2434 is also communicatively connected to the charging device of the UAV body for charging the UAV body.

[0066] Please refer to Figure 15 and Figure 16 As shown, in an embodiment of the present invention, the driven push-pull device 2457 includes a limiting member 245, a push-pull control board 246, and a pressing lock hook 247. A waist-shaped hole 2461 is provided on the push-pull control board 246. One end of the limiting member 245 is fixedly connected to the power-taking fixing seat 241, and the other end is located inside the waist-shaped hole 2461, slidingly cooperating with the push-pull control board 246. The push-pull control board 246 makes a push-pull movement relative to the power-taking fixing seat 241. The rack 252 is fixedly located at one end of the push-pull control board 246 for easy meshing with the gear 251. The pressing lock hook 247 is fixedly located at the other end of the push-pull control board 246. When the push-pull control board 246 makes a push-pull movement, the pressing lock hook 247 can slide on the inclined surface of the pressing wedge 2421. Specifically, a pair of driven push-pull devices 2457 are respectively located on both sides of the power-taking fixing seat 241, and gears 251 and racks 152 are provided on both sides of the power-taking fixing seat 241. The driving push-pull device 253 includes a fixing seat 2531, a connecting plate 2532, and an electric push rod 2533. One end of the electric push rod 2533 is fixedly connected to the bottom of the power-taking fixing seat 241 through the fixing seat 2531. The connecting plate 2532 is concave, and both ends are fixedly connected to the push-pull control boards 246 located on both sides of the power-taking fixing seat 241. The bottom of the power-taking fixing seat 241 is located in the concave portion of the connecting plate 2532. The extending 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 a push-pull movement. The power-taking device 2450 further includes a support seat 2411, and both ends of the support seat 2411 are fixedly connected to the base and the power-taking fixing seat 241 respectively, providing space for the driving push-pull device 253.

[0067] Please refer to Figures 15 to 17 As shown, in an embodiment of the present invention, in the initial state of the power-taking device 2450, the power-taking fixed seat 241 and the rotary power-taking seat 242 are in a rotationally separated 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 groove, the electric push rod 2533 pushes the push-pull control plate 246 to move to the right, driving the gear 251 and the rack 252 to engage, causing the rotary power-taking seat 242 to rotate counterclockwise until the rotary power-taking seat 242 and the power-taking fixed seat 241 are in contact. When the rotary power-taking seat 242 and the power-taking fixed seat 241 are in contact, 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 pressing lock hook 247 to contact the pressing wedge 2421. The pressing lock hook 247 slides along the inclined surface of the pressing wedge 2421, and the wedging force presses and locks the rotary power-taking seat 242 and the power-taking fixed seat 241, while maintaining a large pressing force, that is, locking the power transmission line in the power-taking device 2450. The power-taking device 2450 is suspended on the power transmission line, and the power transmission line and the CT power-taking device 2434 are used to charge the UAV body.

[0068] Please refer to Figures 15 to 17 As shown, in an embodiment of the present invention, after the charging is completed, the electric push rod 2533 retracts, driving the push-pull control plate 246 to move to the left, separating the pressing lock hook 247 from the pressing wedge 2421, releasing the locking state of the rotary power-taking seat 242 and the power-taking fixed seat 241. 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 start to engage, and the rotary power-taking seat 242 rotates clockwise until it is completely separated from the power-taking fixed seat 241, causing the power transmission line to disengage from the CT power-taking device 2434.

[0069] Please refer to Figure 11 As shown, in an embodiment of the present invention, the walking power-taking device 200 further includes a rotating device 260. One end of the rotating device 260 is fixedly connected to the base 210, and the other end is connected to the back of the UAV body, enabling the UAV body to rotate relative to the driving base 210, the wire guiding fork 220, and the clamping and walking device 230 located on its back. It is used to enable the UAV body to rotate with the devices located on its back when the UAV body is suspended on the power transmission line.

[0070] Please refer to Figures 11 to 17As 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 2421, and the clamping lock hook 247 slides along the inclined surface of the clamping wedge 2421, and the wedge force clamps and locks the rotating power supply seat 242 and the power supply fixing seat 241. During charging, in order to save the power of the drone body 100, the flight system can be turned off, and the drone body 100 can be suspended on the transmission line A. If the drone body 100 needs to move, 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 transmission line A. Even if the clamping and walking device 230 can walk along the transmission line A, some monitoring equipment of the fixed drone body 100 can continue to work.

[0071] Please refer to Figures 11 to 17 As shown in FIG. 1 , 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, and the gear 251 and the rack 252 begin to mesh, 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. 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] Please refer to Figure 10 As shown, in one embodiment of the present invention, the UAV equipotential clamp system for emergency disposal of power transmission channels also includes a power transmission line positioning device 2300, which is located on the side of the UAV body 100 and is used to locate the power transmission line. ​​

[0073] Please refer to Figure 1 and Figure 10 As shown, in an embodiment of the present invention, the fire extinguishing device 400 includes a second pitching seat 410, a second pitching driving device 420, a fire extinguishing gun barrel 430, a fire situation recognition device 440, a second high-pressure gas storage device 450, and a loudspeaker 460. The second pitching seat 410 is located at the other end of the abdomen of the UAV body 100. The second pitching driving device 420 is connected to the second pitching seat 410. The fire extinguishing gun barrel 430 is fixedly connected to the second pitching seat 410. The second pitching seat 410 and the fire extinguishing gun barrel 430 are driven by the second pitching driving device 420 to pitch and rotate. Specifically, it can pitch and rotate from 0 to -90°. The gas delivery 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 situation recognition device 440 is fixed on one side of the fire extinguishing gun barrel 430 for fire situation recognition, positioning the fire location, and monitoring the fire situation. The loudspeaker 460 is fixed on the other side of the fire extinguishing gun barrel 430 for shouting warnings.

[0074] Please refer to Figures 1 to 17 As shown, in an embodiment of the present invention, the UAV equipotential jaw system for power transmission line emergency disposal further includes a remote master controller (not shown in the figure), which is communicatively connected to the UAV body 100, the walking power taking device 200, the equipotential jaw device 300, the fire extinguishing device 400, and the transmission line positioning device 2300. When the staff discovers a fire through the fire situation recognition device 440, they notify the nearby residents through the loudspeaker 460, adjust the pitching position of the fire extinguishing gun barrel 430, and drive to extinguish the fire. When the UAV body 100 runs out of power, the position of the transmission line A is identified through the transmission line positioning device 2300, and the equipotential jaw device 300 is driven to send out the equipotential jaw 3557 to make the UAV body 100 equipotential with the transmission line, and the walking power taking device 200 is controlled to charge the UAV body 100. When the UAV body 100 is charging and a fire is discovered, the walking power taking device 200 can also move along the high-voltage transmission line, adjust the position of the fire extinguishing device 400, and fire the fire extinguishing gun barrel 430 to extinguish the fire.

[0075] Please refer to Figures 18 to 20 As shown, in an embodiment of the present invention, when the fire extinguishing device 400 monitors a fire, that is, when the fire situation recognition device 440 monitors a fire and the UAV body 100 has insufficient power, while ensuring online charging of the UAV body 100, it can also move to the vicinity of the fire and drive the fire extinguishing device 400 to extinguish the fire.

[0076] Please refer to Figures 18 to 20As shown, in an embodiment of the present invention, the transmission line positioning device 2300 locates the position of the transmission line A, and the UAV body 100 flies towards the position of the transmission line A. It 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 further.

[0077] Please refer to Figures 18 to 20 As shown, in an embodiment of the present invention, after the equipotential jaw device 300 clamps the transmission line A, the UAV body 100 starts to fly in the direction close to the transmission line A, and drops the transmission line A into the walking power-taking device 200. The walking power-taking device 200 clamps the transmission line A. During this process, the wire winding device on the equipotential jaw device 300 works synchronously to generate a certain tension on the conductive pull rope to avoid winding. When the fire extinguishing is completed and the charging is completed, the walking power-taking device 200 releases the transmission line A, relaxes the conductive pull rope through the wire winding device, and at the same time flies in the direction away from the transmission line A. After reaching the safe area, the conductive pull rope is tightened again through the wire winding device to open the guiding jaw and release the transmission line A, and finally the guiding jaw is recovered through the wire winding device.

[0078] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A drone equipotential gripper system for emergency handling of power transmission channels, characterized in that: It comprises an unmanned aerial vehicle body (100) and an equipotential clamping device (300) located on the unmanned aerial vehicle body (100), wherein the equipotential clamping device (300) clamps a power transmission line so that the unmanned aerial vehicle body (100) and the power transmission line have the same potential, and the unmanned aerial vehicle body (100) can fly along the power transmission line; The equipotential clamping jaw device (300) comprises an equipotential clamping jaw (3557), and 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); One ends of a plurality of second guide forks (360) are evenly fixed on the clamping claw seat (350), and a pair of guide fork limiters (361) are fixed on the 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); 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) is disengaged from the guide clamp (370), and the guide clamp (370) is freely rotated 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.

2. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 1 is characterized in that: The equipotential clamp device (300) comprises a first pitch seat (310), a first pitch drive device (320) and a launch gun barrel (330); the first pitch drive device (320) is connected to the first pitch seat (310), one end of the launch gun barrel (330) is fixedly connected to the first pitch seat (310), and the first pitch drive device (320) provides power to enable the launch gun barrel (330) to perform pitch motion around its axis.

3. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 2 is characterized in that: The equipotential clamping device (300) further comprises a wire taking-up device (340), 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 taking-up device (340) is connected to the equipotential clamping device (3557) through the conductive pull rope (390), the equipotential clamping device (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 at 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 clamping device (3557) to launch and clamp the transmission line.

4. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 3 is characterized in that: The clamping claw seat (350) is located at the other end of the launching gun barrel (330) and is coaxially matched with the launching gun barrel (330).

5. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 1 is 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 inside 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, so that 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).

6. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 5 is characterized in that: The guide clamp (370) further includes a first support rod (376), a second support rod (377) and a 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) to form a three-point hinge point.

7. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 6 is characterized in that: When the guide clamp (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 clamp ring (374) and the second clamp rocker (373) remain in an open state; The point at the middle of the horizontal distance between the hinge point of the first clamping jaw swing rod (372) and the first support rod (376) and the hinge point of the second clamping jaw swing rod (373) and the second support rod (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.

8. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 7, 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 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 separated from the first clamp rocker (372) and the second clamp rocker (373).

9. The drone equipotential gripper system for emergency handling of power transmission channels according to claim 8, characterized in that: When the guide clamp (370) needs to release the power 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 power transmission line is separated from the guide clamp (370).

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