A power line hanging and removing grounding wire device carried by a drone

Abstract

The present application discloses a device for hanging and removing grounding wires for power lines carried by an unmanned aerial vehicle, which relates to the technical field of power line maintenance, and includes a mounting frame, and a first grounding unit and a second grounding unit are respectively provided at both ends of the mounting frame. The first grounding unit includes, from top to bottom, a first picking-up component and a first clamping component for clamping the crossarm angle steel, and the second grounding unit includes, from top to bottom, a second picking-up component and a second clamping component for clamping the conductor, and the first clamping component and the second clamping component are connected by a grounding wire. The first picking-up component includes a first electromagnet, and a first magnetic patch that matches the first electromagnet is provided at the upper end of the first clamping component. The second picking-up component includes a second electromagnet, and a second magnetic patch that matches the second electromagnet is provided at the upper end of the second clamping component. The present application provides a device for hanging and removing grounding wires for power lines carried by an unmanned aerial vehicle, which can reduce the risk of hanging and removing grounding wires in manual high-altitude operations and improve work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of power line maintenance, in particular to a power line grounding wire hanging and removing device carried by an unmanned aerial vehicle. Background Art

[0002] When the power transmission and distribution lines are shut down for maintenance, the operators must first use an electric tester to verify that there is no voltage on the line, ensure that the line has been powered off, and hang ground wires at both ends of the work area before they can start working. Testing the electricity and hanging ground wires can effectively prevent accidental closing of the switch and sudden power outages from causing harm to the human body. It can also discharge the induced charge generated by the maintenance line due to the proximity of the charged body into the ground, prevent the induced electricity on the power line from hurting people, and protect the safety of maintenance personnel. Testing the electricity and hanging ground wires are one of the technical measures to ensure safe work, and are also operations that must be performed every time there is a power outage for maintenance.

[0003] At present, before the power line is shut down for maintenance, the ground wire is hung by manual tower climbing, which mainly has the following pain points:

[0004] (1) Transmission towers are tens of meters high, and high-altitude work is labor-intensive. Manual tower climbing carries the risk of falling from heights.

[0005] (2) Some workers did not operate in a standardized manner, used unqualified tools, were close to energized lines, or suddenly switched on power, which exposed workers to safety hazards such as electric shock and injury.

[0006] (3) Manually climbing the tower to install the grounding wire has low work efficiency. Before the power outage for maintenance, at least two sets (6) of grounding wires must be installed at both ends of the work area. If two groups of personnel install the wires at the same time, at least two aerial workers and four ground workers are required. The two groups of personnel work at the same time, and the operation takes about 30 minutes. If there is only one group of personnel, the operation takes at least 60 minutes, which is inefficient and consumes a lot of physical energy. Summary of the invention

[0007] In response to the above-mentioned problems, the present application provides a power line grounding wire hanging and removing device carried by a drone, which avoids manual high-altitude operations to hang and remove the grounding wires, thereby improving the efficiency of line maintenance operations.

[0008] The technical solution adopted by the present invention to solve the technical problem is:

[0009] A power line hanging and removing grounding wire device carried by an unmanned aerial vehicle comprises a mounting frame hung on the unmanned aerial vehicle, two ends of the mounting frame are respectively provided with a first grounding unit and a second grounding unit, and the mounting frame is provided with a first camera and a second camera corresponding to the first grounding unit and the second grounding unit respectively;

[0010] The first grounding unit includes, from top to bottom, a first picking component and a first clamping component for clamping the cross arm angle steel, and the second grounding unit includes, from top to bottom, a second picking component and a second clamping component for clamping the conductor, and the first clamping component and the second clamping component are connected via a grounding wire;

[0011] The first picking component comprises a first outer shell, a first electromagnet is arranged on the first outer shell, and a first magnetic patch matching with the first electromagnet is arranged on the upper end of the first clamping component;

[0012] The second picking component comprises a second outer shell, a second electromagnet is arranged on the second outer shell, and a second magnetic patch matching with the second electromagnet is arranged at the upper end of the second clamping component.

[0013] Furthermore, the first clamping component includes a first frame, a fixed clamping plate and a first clamping block are provided on the first frame, the first clamping block is slidably connected to the first frame, and a first driving assembly for driving the first clamping block is provided between the first clamping block and the first frame, a first guide connecting piece is provided at the upper end of the first frame, and the first magnetic patch is provided on the upper end surface of the first guide connecting piece.

[0014] Furthermore, a first power collection component is provided at the upper end of the first guide connecting member, and the first power collection component includes a first positive power collection ring and a first negative power collection ring arranged coaxially, a first insulating ring is provided between the first positive power collection ring and the first negative power collection ring, and a first positive power collection probe and a first negative power collection probe are provided on the lower side of the first outer shell, and when the first clamping component is connected to the first picking component, the first positive power collection probe contacts with the first positive power collection ring, and the first negative power collection probe contacts with the first negative power collection ring.

[0015] Furthermore, a first detection switch is provided on the first clamping component.

[0016] Furthermore, the first detection switch is arranged on the fixing clamping plate, and the fixing clamping plate is provided with a through hole. When the first clamping component is hung on the cross arm angle steel, the first detection switch can detect the cross arm angle steel through the through hole.

[0017] Furthermore, a first guide cylinder is provided on the lower end surface of the first outer shell. When the first clamping component is connected and fixed to the first picking component, the upper end of the first guide connecting member is inserted into the first guide cylinder, and under the positioning action of the first guide cylinder, the first magnetic patch is aligned with the first electromagnet.

[0018] Furthermore, the second clamping component includes a second frame, guide plates are respectively provided at both ends of the second frame, positioning grooves are provided on the guide plates, two second clamping blocks are slidably provided on the second frame between the two guide plates, a second driving component for driving the two second clamping blocks to move toward or away from each other is provided between the second clamping blocks and the second frame, a second guide connecting piece is provided at the upper end of the second frame, and the second magnetic patch is provided on the upper end surface of the second guide connecting piece.

[0019] Furthermore, a second power collection assembly is provided at the upper end of the second guide connecting member, and the second power collection assembly includes a coaxially arranged second positive power collection ring and a second negative power collection ring, a second insulating ring is provided between the second positive power collection ring and the second negative power collection ring, and a second positive power collection probe and a second negative power collection probe are provided on the lower side of the second outer shell. When the second clamping component is connected to the second picking component, the second positive power collection probe contacts the second positive power collection ring, and the second negative power collection probe contacts the second negative power collection ring.

[0020] Furthermore, a second detection switch is provided on the second clamping component.

[0021] Furthermore, the second detection switch is arranged on the outer side surface of a guide plate, and the second detection switch is located directly above the positioning groove.

[0022] Furthermore, a second guide cylinder is provided on the lower end surface of the second outer shell. When the second clamping component is connected and fixed to the second picking component, the upper end of the second guide connecting member is inserted into the second guide cylinder, and under the positioning action of the second guide cylinder, the second magnetic patch is aligned with the second electromagnet.

[0023] Furthermore, a wire winding component is provided on the mounting frame between the first grounding unit and the second grounding unit.

[0024] Further, the wire winding component includes a winding drum arranged on the mounting frame, the grounding wire is wound on the winding drum, and the grounding wire wound on the winding drum includes a fixed end and a free end, the fixed end is close to the connection between the winding drum and the mounting frame, and the free end is close to the suspended end of the winding drum;

[0025] A rotating shaft is rotatably arranged inside the winding drum, and a third driving assembly for driving the rotating shaft to rotate is arranged between the rotating shaft and the mounting frame;

[0026] An unfolding frame is arranged at one end of the rotating shaft close to the suspended end of the winding drum; the unfolding frame comprises an end plate, and a wire-moving rod extending toward one side of the winding drum is arranged at the edge of the end plate, and the wire-moving rod is located on the inner side of the free end.

[0027] Furthermore, a baffle is provided on the winding drum at one end close to the mounting frame, and a clamping notch is provided on the baffle. The grounding wire passes through the clamping notch in a direction away from the mounting frame and is then wound around the winding drum.

[0028] Furthermore, a limiting rod extending toward one side of the winding drum is provided at the edge of the end plate, and the limiting rod is located outside the free end.

[0029] Furthermore, the limiting rod is arranged perpendicular to the end plate, and the angle between the wire-moving rod and the end plate is greater than 90°.

[0030] The beneficial effects of the present invention are:

[0031] The embodiment of the present application provides a power line grounding wire hanging and removing device carried by a drone, which can replace manual labor during each power line power outage maintenance and promote the mechanization of maintenance operations.

[0032] (1) No personnel are required to climb the tower to work, which fundamentally avoids the safety risks of falling from heights, electric shock, and falling objects injuring people that are present in high-altitude work.

[0033] (2) Machinery replaces manual labor to improve work efficiency. A power line grounding wire installation and removal device carried by a drone provided in an embodiment of the present application is used to carry out grounding wire installation and removal operations. If two sets of devices are operated at the same time, the total time required is about 20 minutes, which can effectively reduce the operation time compared with manual tower climbing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the three-dimensional structure of a power line hanging and removing grounding wire device carried by a drone provided in an embodiment of the present application Figure 1 ;

[0035] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0036] Figure 3 A schematic diagram of the three-dimensional structure of a power line hanging and removing grounding wire device carried by a drone provided in an embodiment of the present application Figure 2 ;

[0037] Figure 4 A front view of a power line hanging and removing grounding wire device carried by a drone provided in an embodiment of the present application;

[0038] Figure 5 An exploded view of a power line hanging and removing grounding wire device carried by a drone provided in an embodiment of the present application;

[0039] Figure 6 is an exploded view of the first grounding unit;

[0040] Figure 7 is a schematic diagram of the three-dimensional structure of the first picking component;

[0041] Figure 8 is a schematic diagram of the three-dimensional structure of the first clamping component;

[0042] Fig. 9 is a cross-sectional view of a first guide connecting member;

[0043] Fig.10 is an exploded view of a clamping portion of a first clamping member;

[0044] Fig.11 is a schematic diagram of the three-dimensional structure of the clamping part of the first clamping component;

[0045] Fig.12 is an exploded view of the second grounding unit;

[0046] Fig.13 is an exploded view of the second clamping component;

[0047] Fig.14 is an exploded view of a clamping portion of the second clamping member;

[0048] Fig.15 is a schematic diagram of the three-dimensional structure of the clamping part of the second clamping component;

[0049] Fig.16 It is a schematic diagram of the three-dimensional structure of the wire winding component;

[0050] Fig.17 for Fig.16 A schematic diagram of the enlarged structure of part B;

[0051] Fig.18 for Fig.16 A schematic diagram of the enlarged structure of the middle C part;

[0052] Fig.19 The figure is a schematic diagram of the three-dimensional structure of the display stand;

[0053] Fig. 20 A cross-sectional view of the wire winding component.

[0054] In the figure: 1, mounting frame; 11, upper horizontal plate; 111, second ear plate; 1111, arc-shaped slide; 12, lower horizontal plate; 13, connecting column; 14, mounting cylinder;

[0055] 2. first grounding unit; 21. first pickup component; 211. first outer shell; 2111. first flange plate; 212. first electromagnet; 213. first guide cylinder; 22. first clamping component; 221. first frame; 2211. first web plate; 2212. first wing plate; 2213. first connecting plate; 2214. first connecting ear; 222. fixing clamp plate; 2221. through hole; 223. first clamping block; 224. first guide connecting member; 2241. First magnetic patch; 2251, first motor; 2252, first guide column; 2253, first lead screw; 2254, first nut; 2255, first driving gear; 2256, first driven gear; 226, first cover; 227, second cover; 2281, first positive electrode power ring; 2282, first negative electrode power ring; 2283, first insulating ring; 2284, first positive electrode power probe; 2285, first negative electrode power probe; 229, first detection switch;

[0056] 3. Second grounding unit; 31. Second picking component; 311. Second outer shell; 3111. Second flange plate; 312. Second electromagnet; 313. Second guide cylinder; 32. Second clamping component; 321. Second frame; 3211. Second web plate; 3212. Second wing plate; 3213. Second connecting plate; 3214. Second connecting ear; 322. Guide plate; 3221. Positioning groove; 323. Second clamping block; 324. Second guide connecting member; 3241. Second magnetic patch; 3251. Second motor; 3252. Second guide column; 3253. Second lead screw; 3254. Second nut; 3255. Second driving gear; 3256. Second driven gear; 326. Third cover; 327. Fourth cover; 328. Second detection switch;

[0057] 4. The first camera;

[0058] 5. Second camera;

[0059] 6. Ground wire; 61. Fixed end; 62. Free end;

[0060] 7. Bracket; 71. Mounting plate; 72. First ear plate; 73. Articulated shaft; 74. Locking bolt;

[0061] 8. Wire winding component; 81. Wire reel; 811. First baffle; 8111. Clamping notch; 812. Second baffle; 82. Rotating shaft; 83. Display rack; 831. End plate; 832. Wire-pulling rod; 833. Limit rod; 841. Third motor; 842. Third transmission mechanism;

[0062] 9. Cross arm angle steel. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application, and the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by those skilled in the art without creative work on the basis of the embodiments of the present application shall belong to the protection scope of the present application.

[0064] For the convenience of description, the coordinate system is defined as Figure 1 As shown, the left-right direction is the horizontal direction, the front-back direction is the longitudinal direction, and the up-down direction is the vertical direction.

[0065] like Figure 1 and Figure 3 As shown, a grounding wire hanging and removing device for power lines carried by a drone includes a mounting frame 1, and the mounting frame 1 is hung on a drone (not shown in the figure) through a rope (not shown in the figure). The left and right ends of the mounting frame 1 are respectively provided with a first grounding unit 2 and a second grounding unit 3. Figure 1 In the coordinate system shown, the first grounding unit 2 is located at the left end of the mounting frame 1, and the second grounding unit 3 is located at the right end of the mounting frame 1. The mounting frame 1 is provided with a first camera 4 and a second camera 5 corresponding to the first grounding unit 2 and the second grounding unit 3, respectively. During installation, the first camera 4 is used to observe the installation status of the first grounding unit 2, and the second camera 5 is used to observe the installation status of the second grounding unit 3.

[0066] like Figure 4 As shown, the first grounding unit 2 includes, from top to bottom, a first picking component 21 and a first clamping component 22 for clamping the cross arm angle steel 9, and the second grounding unit 3 includes, from top to bottom, a second picking component 31 and a second clamping component 32 for clamping the conductor, and the first clamping component 22 and the second clamping component 32 are connected via a grounding wire 6.

[0067] like Figure 6 and Figure 8As shown, the first picking component 21 includes a first outer shell 211, and the first outer shell 211 is provided with a first power supply (not shown in the figure), a first electromagnet 212 and a first control module (not shown in the figure) for controlling the first electromagnet 212 to gain or lose power. An avoidance hole is provided on the lower side wall of the first outer shell 211, and the suction surface of the first electromagnet 212 is exposed to the outside of the first outer shell 211 through the avoidance hole. The upper end of the first clamping component 22 is provided with a first magnetic patch 2241 that matches the first electromagnet 212. When the first electromagnet 212 is energized, the first electromagnet 212 can achieve the connection and fixation of the first picking component 21 and the first clamping component 22 by attracting the first magnetic patch 2241.

[0068] like Fig.12 and Fig.13 As shown, the second picking component 31 includes a second outer shell 311, and the second outer shell 311 is provided with a second power supply (not shown in the figure), a second electromagnet 312 and a second control module (not shown in the figure) for controlling the second electromagnet 312 to gain or lose power. An avoidance hole is provided on the lower side wall of the second outer shell 311, and the suction surface of the second electromagnet 312 is exposed to the outside of the second outer shell 311 through the avoidance hole. The upper end of the second clamping component 32 is provided with a second magnetic patch 3241 that matches the second electromagnet 312. When the second electromagnet 312 is energized, the second electromagnet 312 can achieve the connection and fixation of the second picking component 31 and the second clamping component 32 by attracting the second magnetic patch 3241.

[0069] As a specific implementation method, Figure 5 As shown, the mounting frame 1 in this embodiment includes an upper horizontal plate 11 and a lower horizontal plate 12, a connecting column 13 is provided between the upper horizontal plate 11 and the lower horizontal plate 12, and the upper horizontal plate 11 and the lower horizontal plate 12 are connected as a whole through the connecting column 13. The first grounding unit 2 and the second grounding unit 3 are respectively arranged at the left and right ends of the lower horizontal plate 12, and the first camera 4 and the second camera 5 are respectively arranged at the left and right ends of the upper horizontal plate 11.

[0070] As a specific implementation, the first outer shell 211 described in this embodiment is provided with a first flange plate 2111, and the second outer shell 311 is provided with a second flange plate 3111. The first flange plate 2111 and the second flange plate 3111 are respectively fixedly connected to the lower cross plate 12 by screws (not shown in the figure).

[0071] As a specific implementation, the first flange plate 2111 described in this embodiment is located in the middle of the first outer shell 211, and the second flange plate 3111 is located in the middle of the second outer shell 311. The left and right ends of the lower transverse plate 12 are respectively provided with mounting holes, and the upper ends of the first outer shell 211 and the second outer shell 311 both pass through the mounting holes and extend to the upper part of the lower transverse plate 12.

[0072] As a specific implementation method, Figure 1 and Figure 2 As shown, the first camera 4 and the second camera 5 described in this embodiment are connected to the upper horizontal plate 11 through a bracket 7. The bracket 7 includes a horizontally arranged mounting plate 71, and the first camera 4 and the second camera 5 are fixedly arranged on the lower side of the mounting plate 71 by screws. A first ear plate 72 extending upward perpendicularly to the mounting plate 71 is fixedly arranged on the upper side of the mounting plate 71. A second ear plate 111 extending downward perpendicularly to the upper horizontal plate 11 is fixedly arranged on the lower side of the upper horizontal plate 11. The first ear plate 72 is hinged to the second ear plate 111 through a hinge shaft 73, a locking bolt 74 is arranged on the first ear plate 72, and the locking bolt 74 is threadedly connected to the first ear plate 72, and an arc-shaped slide groove 1111 matched with the locking bolt 74 is arranged on the second ear plate 111, and the arc-shaped slide groove 1111 takes the hinge shaft 73 as the center of the circle. In this way, the installation angles of the first camera 4 and the second camera 5 can be adjusted as needed so that they face the corresponding grounding units.

[0073] like Figure 8 , Fig.10 and Fig.11 As shown, the first clamping member 22 includes a first frame 221, on which a fixed clamping plate 222 and a first clamping block 223 are arranged, the fixed clamping plate 222 is fixedly connected to the first frame 221 in a detachable manner, the first clamping block 223 is slidably connected to the first frame 221 through a sliding assembly, and a first driving assembly for driving the first clamping block 223 to slide is arranged between the first clamping block 223 and the first frame 221. The first clamping block 223 and the fixed clamping plate 222 are arranged relative to each other, as shown in FIG. Figure 4As shown, the first clamping block 223 can approach the fixed clamping plate 222 under the driving action of the first driving assembly, so as to clamp the vertical wing plate of the cross arm angle steel 9 between the fixed clamping plate 222 and the first clamping block 223. The upper end of the first frame 221 is provided with a first guide connecting member 224 extending upward, and the first magnetic patch 2241 is fixedly provided on the upper end surface of the first guide connecting member 224 in a detachable manner.

[0074] As a specific implementation, the first frame 221 described in this embodiment includes a first web 2211, and first wing plates 2212 arranged perpendicularly to the first web 2211 are respectively provided at both ends of the first web 2211, and the first web 2211 and the first wing plates 2212 together form an "I"-shaped structure. The fixing clamp 222 is fixedly provided on one of the first wing plates 2212 by screws (not shown in the figure), and a first motor 2251 is provided on the other first wing plate 2212 on one side of the first web 2211, and the power output shaft of the first motor 2251 passes through the first wing plate 2212 and extends to the outer side of the first wing plate 2212 (the side opposite to the two first wing plates 2212 is the inner side). A first guide column 2252 and a first lead screw 2253 are provided between the two first wing plates 2212 and located on the other side of the first web 2211. The two ends of the first guide column 2252 are respectively fixedly connected to the first wing plates 2212. The two ends of the first lead screw 2253 are respectively rotatably connected to the first wing plates 2212 through bearing assemblies. A first nut 2254 matching the first lead screw 2253 is provided on the first clamping block 223. Exemplarily, two first guide columns 2252 are provided between the two first wing plates 2212 and located on the other side of the first web 2211, and the two first guide columns 2252 are respectively located on both sides of the first lead screw 2253. The first lead screw 2253 is connected to the power output shaft of the first motor 2251 through a first transmission mechanism. Exemplarily, the first transmission mechanism adopts gear transmission, a first driving gear 2255 is provided on the power output shaft of the first motor 2251, and a first driven gear 2256 meshing with the first driving gear 2255 is provided on the first lead screw 2253. A first connecting plate 2213 is provided on the upper side of the first web 2211, and the lower end of the first guide connector 224 is fixedly connected to the first connecting plate 2213 by a screw (not shown in the figure).

[0075] Furthermore, a first cover 226 is provided on the outer side of the first wing 2212 on which the first motor 2251 is installed (the side opposite to the two first wing 2212 is the inner side), and the first transmission mechanism is located in the first cover 226. A second cover 227 is provided on the first web 2211, and the first motor 2251 is located in the second cover 227.

[0076] like Fig.13 , Fig.14 and Fig.15 As shown, the second clamping component 32 includes a second frame 321, and guide plates 322 are respectively provided at both ends of the second frame 321, and the two guide plates 322 are arranged in parallel. A positioning groove 3221 is provided on the guide plate 322, and the positioning groove 3221 is a V-shaped structure with an opening facing downward. Two second clamping blocks 323 are slidably provided on the second frame 321 and located between the two guide plates 322, and the sliding direction of the second clamping blocks 323 is parallel to the guide plates 322. A second driving component for driving the two second clamping blocks 323 to move toward or away from each other is provided between the second clamping blocks 323 and the second frame 321. When the two guide plates 322 are straddling the wire (i.e., the wire is located in the positioning groove 3221 and abuts against the pointed blind end of the positioning groove 3221), the wire is located between the two second clamping blocks 323. At this time, the two second clamping blocks 323 move toward each other under the driving action of the second driving assembly to clamp the wire. The upper end of the second frame 321 is provided with a second guide connector 324 extending upward, and the second magnetic patch 3241 is fixedly provided on the upper end surface of the second guide connector 324 in a detachable manner.

[0077] As a specific implementation, the second frame 321 described in this embodiment includes a second web 3211 arranged parallel to the guide plate 322, and second wing plates 3212 are respectively arranged at both ends of the second web 3211. The second web 3211 and the second wing plate 3212 together form an "I"-shaped structure, and the two ends of the guide plate 322 are respectively fixedly connected to the second wing plate 3212 in a detachable manner. A second guide column 3252 and a second lead screw 3253 are arranged on one side of the second web 3211 between the two second wing plates 3212, and the two ends of the second guide column 3252 are respectively fixedly connected to the second wing plate 3212, and the two ends of the second lead screw 3253 are respectively rotatably connected to the second wing plate 3212 through a bearing assembly, and a second nut 3254 matched with the second lead screw 3253 is arranged on the second clamping block 323. Exemplarily, two second guide posts 3252 are arranged on one side of the second web 3211 between the two second wing plates 3212, and the two second guide posts 3252 are respectively arranged on both sides of the second lead screw 3253. A second motor 3251 is arranged on the other side of the second web 3211 on one of the second wing plates 3212, and the power output shaft of the second motor 3251 passes through the second wing plate 3212 and extends to the outer side of the second wing plate 3212 (the side opposite to the two second wing plates 3212 is the inner side). The second lead screw 3253 is connected to the power output shaft of the second motor 3251 through a second transmission mechanism. Exemplarily, the second transmission mechanism adopts gear transmission, and a second driving gear 3255 is arranged on the power output shaft of the second motor 3251, and a second driven gear 3256 meshing with the second driving gear 3255 is arranged on the second lead screw 3253. A second connecting plate 3213 is disposed on the upper side of the second web 3211 , and a lower end of the second guide connector 324 is fixedly connected to the second connecting plate 3213 by means of screws (not shown in the figure).

[0078] Furthermore, a third cover 326 is provided on the outer side of the second wing plate 3212 (the inner side is the side opposite to the two second wing plates 3212) on which the second motor 3251 is installed, and the second transmission mechanism is located in the third cover 326. A fourth cover 327 is provided on the second web 3211, and the second motor 3251 is located in the fourth cover 327.

[0079] Furthermore, if Figure 8 and Fig. 9As shown, the first guide connector 224 is made of insulating material. A first power collection component is arranged at the upper end of the first guide connector 224. The first magnetic patch 2241 is in a circular structure, and the first power collection component includes a first positive power collection ring 2281 and a first negative power collection ring 2282 which are coaxially arranged with the first magnetic patch 2241. A first insulating ring 2283 is arranged between the first positive power collection ring 2281 and the first negative power collection ring 2282. The first insulating ring 2283 blocks the first positive power collection ring 2281 and the first negative power collection ring 2282 to avoid short circuit. The first positive power collection ring 2281 and the first negative power collection ring 2282 are connected to the electrical devices in the first clamping component 22 through a line (not shown in the figure). As Figure 6 and Figure 7 As shown, the first power collection component also includes a first positive power collection probe 2284 and a first negative power collection probe 2285 arranged on the lower side of the first outer shell 211, and the first positive power collection probe 2284 and the first negative power collection probe 2285 are connected to the first power supply (not shown in the figure) through a line (not shown in the figure). When the first clamping part 22 is connected to the first pickup part 21 through the first electromagnet 212, the first positive power collection probe 2284 contacts the first positive power collection ring 2281, and the first negative power collection probe 2285 contacts the first negative power collection ring 2282. At this time, the first power supply in the first pickup part 21 can supply power to the electrical devices in the first clamping part 22.

[0080] As a specific implementation, in this embodiment, a plurality of first positive pole power sampling probes 2284 and a plurality of first negative pole power sampling probes 2285 are arranged on the lower side of the first outer shell 211, and the plurality of first positive pole power sampling probes 2284 and the plurality of first negative pole power sampling probes 2285 are uniformly arranged in a circumferential direction around the first electromagnet 212.

[0081] Similarly, if Fig.12 and Fig.13 As shown, a second power-taking component is disposed at the upper end of the second guide connector 324 , and the structure and power-taking method of the second power-taking component are the same as those of the first power-taking component.

[0082] Specifically, the second power-collecting component includes a second positive power-collecting ring and a second negative power-collecting ring coaxially arranged with the second magnetic patch 3241, a second insulating ring is arranged between the second positive power-collecting ring and the second negative power-collecting ring, the second insulating ring blocks the second positive power-collecting ring and the second negative power-collecting ring to avoid short circuit, and the second positive power-collecting ring and the second negative power-collecting ring are connected to the electrical device in the second clamping component 32 through a line (not shown in the figure). The second power-collecting component also includes a second positive power-collecting probe and a second negative power-collecting probe arranged on the lower side of the second outer shell 311, and the second positive power-collecting probe and the second negative power-collecting probe are connected to the second power supply (not shown in the figure) through a line (not shown in the figure). When the second clamping component 32 is connected to the second picking component 31 through the second electromagnet 312, the second positive power taking probe contacts the second positive power taking ring, and the second negative power taking probe contacts the second negative power taking ring. At this time, the second power supply in the second picking component 31 can supply power to the electrical devices in the second clamping component 32.

[0083] As a specific implementation, in this embodiment, a plurality of second positive power sampling probes and a plurality of second negative power sampling probes are arranged on the lower side of the second outer shell 311, and the plurality of second positive power sampling probes and the plurality of second negative power sampling probes are uniformly arranged along the circumferential direction around the second electromagnet 312.

[0084] The first motor 2251 and the second motor 3251 are both motors with brakes, so that during contact picking, the first picking component 21 and the second picking component 31 are powered, so that the first motor 2251 and the second motor 3251 are actuated to achieve clamping. When separated, since the first motor 2251 and the second motor 3251 are both equipped with brakes, the motors cannot rotate and can continue to maintain the clamping state, but do not require electric energy to maintain it, which can avoid long-term clamping of the clamping components and excessive loss of electric energy.

[0085] Furthermore, if Figure 8 and Fig.10 As shown, the first clamping component 22 is provided with a first detection switch 229. When the first clamping component 22 is hung on the cross arm angle steel 9, the cross arm angle steel 9 can be detected by the first detection switch 229, thereby controlling the action of the first driving component to enable the first clamping component 22 to clamp the cross arm angle steel 9.

[0086] As a specific implementation, the first detection switch 229 described in this embodiment is fixedly arranged on the outer side surface of the fixing clamp plate 222 (the side facing the first clamp block 223 is the inner side) in a detachable manner, and a through hole 2221 is arranged on the fixing clamp plate 222 at the transmitting end of the first detection switch 229. When the first clamping member 22 is hung on the cross arm angle steel 9, the first detection switch 229 can detect the vertical wing plate of the cross arm angle steel 9 through the through hole 2221.

[0087] like Fig.12 and Fig.13 As shown, the second clamping component 32 is provided with a second detection switch 328. When the second clamping component 32 is hung on the wire, the wire can be detected by the second detection switch 328, thereby controlling the action of the second driving component to enable the second clamping component 32 to clamp the wire.

[0088] As a specific implementation, the second detection switch 328 described in this embodiment is fixedly disposed on the outer side surface of a guide plate 322 (the side opposite to the two guide plates 322 is the inner side) in a detachable manner, and the second detection switch 328 is located directly above the positioning groove 3221, and the emission end of the second detection switch 328 faces downward. When the second clamping member 32 is hooked on the wire, the second detection switch 328 can detect the wire.

[0089] Furthermore, the first clamping component 22 is provided with a third control module (not shown in the figure), and the third control module can control the first drive assembly according to the signal fed back by the first detection switch 229. The second clamping component 32 is provided with a fourth control module (not shown in the figure), and the fourth control module can control the second drive assembly according to the signal fed back by the second detection switch 328.

[0090] As a specific implementation, the first guide connector 224 described in this embodiment is provided with a mounting cavity, and the third control module is provided in the mounting cavity of the first guide connector 224. The second guide connector 324 is provided with a mounting cavity, and the fourth control module is provided in the mounting cavity of the second guide connector 324.

[0091] Furthermore, if Figure 4 and Figure 6As shown, a first guide cylinder 213 is fixedly provided on the lower end surface of the first outer shell 211 in a detachable manner. The first guide cylinder 213 includes a positioning portion and a guide portion from top to bottom, the positioning portion is a cylindrical structure, and the guide portion is a conical structure with the large end facing downward. When the first clamping component 22 is connected and fixed to the first picking component 21, the upper end of the first guide connector 224 is inserted into the positioning portion of the first guide cylinder 213, and under the positioning action of the positioning portion, the first magnetic patch 2241 is aligned with the first electromagnet 212, the first positive pole power collection ring 2281 is aligned with the first positive pole power collection probe 2284, and the first negative pole power collection ring 2282 is aligned with the first negative pole power collection probe 2285.

[0092] Similarly, if Figure 4 and Fig.12 As shown, a second guide cylinder 313 is fixedly provided on the lower end surface of the second outer shell 311 in a detachable manner, and the second guide cylinder 313 has the same structure as the first guide cylinder 213, which will not be described in detail herein.

[0093] Furthermore, if Figure 1 and Figure 3 As shown, a wire winding component 8 is provided on the mounting frame 1 between the first grounding unit 2 and the second grounding unit 3 .

[0094] like Figure 5 As shown, a mounting tube 14 with a square cross section is provided between the upper horizontal plate 11 and the lower horizontal plate 12 of the mounting frame 1 , and a square hole with the same internal shape as that of the mounting tube 14 is provided on the lower horizontal plate 12 .

[0095] like Fig.16 , Fig.18 , Fig.19 and Fig. 20As shown, the wire winding component 8 includes a winding drum 81 arranged on the side wall of the mounting barrel 14, and the grounding wire 6 is wound on the winding drum 81. A rotating shaft 82 is rotatably arranged inside the winding drum 81, and both ends of the rotating shaft 82 are rotatably connected to the winding drum 81 through bearing assemblies. One end of the rotating shaft 82 passes through the side wall of the mounting barrel 14 and extends to the outside of the mounting barrel 14, and the other end of the rotating shaft 82 extends to the outside of the winding drum 81 and is fixedly connected to the unfolding frame 83 in a detachable manner. A third driving assembly for driving the rotating shaft 82 to rotate is arranged between the rotating shaft 82 and the mounting barrel 14. The grounding wire 6 is wound on the winding drum 81 in a direction away from the side wall of the mounting barrel 14, and the grounding wire 6 wound on the winding drum 81 includes a fixed end 61 close to the side wall of the mounting barrel 14 and a free end 62 away from the side wall of the mounting barrel 14. Here, the fixed end 61 is the starting end of winding, and winding can only be started from the starting end when winding is performed, and disassembly can only be performed from the free end 62 when disassembly is performed. The display frame 83 includes an end plate 831 with a circular structure, and the end plate 831 is fixedly connected to the end surface of the rotating shaft 82 by screws. The edge of the end plate 831 is provided with a wire-shifting rod 832 extending toward one side of the winding drum 81, and the wire-shifting rod 832 is located on the inner side of the free end 62 (the side facing the winding drum 81 is the inner side).

[0096] like Fig.16 As shown, when the deployment frame 83 is driven by the third driving assembly to rotate, it can push the free end 62 to rotate around the winding drum 81, thereby pulling the ground wire 6 off the winding drum 81 to achieve deployment.

[0097] Furthermore, in order to make the fixed end 61 be in a fixed position, Fig.16 , Fig.18 and Fig. 20 As shown, a first baffle 811 is provided on one end of the winding drum 81 close to the side wall of the mounting drum 14, and a clamping notch 8111 is provided on the first baffle 811. The grounding wire 6 passes through the clamping notch 8111 in a direction away from the side wall of the mounting drum 14 and is wound on the winding drum 81. In this way, the fixed end 61 can always be located at the position of the clamping notch 8111, avoiding interference between the grounding wire 6 on one side of the fixed end 61 and the wire-pulling rod 832 during the unfolding process. A second baffle 812 is provided on the suspended end of the winding drum 81.

[0098] Furthermore, if Fig.16 and Fig.19As shown, a limit rod 833 extending toward one side of the winding drum 81 is provided at the edge of the end plate 831, and the limit rod 833 is located on the outside of the free end 62 (the side facing the winding drum 81 is the inside). By providing the limit rod 833, the ground wire 6 on the winding drum 81 can be limited and controlled to prevent the ground wire 6 from falling off the winding drum 81 without being extended by the wire-pulling rod 832.

[0099] Furthermore, the limiting rod 833 is arranged perpendicularly to the end plate 831, and the angle between the wire-pushing rod 832 and the end plate 831 is greater than 90 degrees. In this way, the grounding wire 6 pulled off from the winding drum 81 can slide along the wire-pushing rod 832 in a direction away from the side wall of the mounting tube 14, so that it can slide off the wire-pushing rod 832 better, and the grounding wire 6 can be deployed.

[0100] As a specific implementation, the third driving assembly described in this embodiment includes a third motor 841 disposed on the side wall of the mounting tube 14, and the power output shaft of the third motor 841 passes through the side wall of the mounting tube 14 and extends to the outside of the mounting tube 14. The power output shaft of the third motor 841 is connected to the rotating shaft 82 through a third transmission mechanism 842. Exemplarily, the third transmission mechanism 842 adopts synchronous belt transmission.

[0101] As a specific implementation, a first connecting ear 2214 is provided on the first frame 221 described in this embodiment, a second connecting ear 3214 is provided on the second frame 321, one end of the grounding wire 6 is connected to the first connecting ear 2214, and the other end of the grounding wire 6 is connected to the second connecting ear 3214.

[0102] An operation process of a power line hanging and removing grounding wire device carried by an unmanned aerial vehicle comprises the following steps:

[0103] First, after the electrical test, the first electromagnet 212 and the second electromagnet 312 are energized, and the first grounding unit 2 and the second grounding unit 3 are connected by adsorption.

[0104] Second, the UAV is launched into the air with the power line hanging and removing grounding wire device and flies to the operation location.

[0105] Third, when the ground operator reaches the vicinity of the cross arm, the first camera 4 on the mounting frame 1 assists the ground operator to locate the installation position of the first grounding unit 2, and lowers the first grounding unit 2 so that the first clamping component 22 of the first grounding unit 2 is hooked on the cross arm angle steel 9. When the first detection switch 229 detects the cross arm angle steel 9, the first motor 2251 is activated, and the first clamping component 22 is clamped and fixed to the vertical wing plate of the cross arm angle steel 9. Then the first electromagnet 212 loses power, and the first clamping component 22 is separated from the first picking component 21, completing the installation of the first clamping component 22.

[0106] Fourth, the third motor 841 is actuated to extend the grounding wire 6 .

[0107] Fifth, the drone moves, driving the power line grounding wire hanging and removing device to approach the same-phase conductor. After reaching the vicinity of the conductor end, the second camera 5 on the mounting frame 1 assists the ground operator to locate the installation position of the second grounding unit 3, and lowers the second grounding unit 3 so that the second clamping component 32 of the second grounding unit 3 is hung on the conductor. When the second detection switch 328 detects the conductor, the second motor 3251 is actuated, and the second clamping component 32 is clamped and fixed to the conductor. Then the second electromagnet 312 loses power, the second clamping component 32 is disengaged from the second pickup component 31, and the installation of the second clamping component 32 is completed. At this point, the grounding wire 6 of the one-phase conductor is hung.

[0108] Sixth, repeat the operations from the first step to the fifth step to complete the installation of the grounding wires 6 of the remaining phase conductors.

[0109] Seventh, after the inspection and maintenance work is completed, the drone is launched with the power line grounding wire hanging and removing device and flies to the operation position. First, it arrives near the end of the wire. The second camera 5 on the mounting frame 1 assists the ground operator to locate the second clamping part 32 installed on the wire. The second electromagnet 312 is energized to adsorb and connect the second clamping part 32 and control the second motor 3251 to make the second clamping part 32 release the wire. Then the drone rises to a higher altitude to complete the removal of the second clamping part 32.

[0110] Eighth, the drone moves and flies toward the cross arm. After reaching the vicinity of the cross arm, the first camera 4 on the mounting frame 1 assists the ground operator to locate the first clamping component 22 installed on the cross arm angle steel 9. The first electromagnet 212 is energized, adsorbs and connects the first clamping component 22 and controls the first motor 2251 to operate so that the first clamping component 22 releases the cross arm angle steel 9. The drone rises to a higher altitude, and the removal of the first clamping component 22 is completed. At this point, the removal of the grounding wire 6 of the single-phase conductor is completed.

[0111] Ninth, repeat the operations from step 7 to step 8 to complete the removal of the ground wires 6 of the remaining phase conductors.

[0112] Other embodiments obtained by those skilled in the art by combining, splitting, reorganizing, etc. the embodiments of the present application on the basis of the embodiments provided in the present application do not exceed the protection scope of the present application.

[0113] The above specific implementation methods have detailed the purpose, technical solutions and beneficial effects of the embodiments of the present application. The above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. That is, any modifications, equivalent substitutions, improvements, etc. made on the basis of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle, characterized in that: The invention comprises a mounting frame (1) mounted on a drone, wherein two ends of the mounting frame (1) are respectively provided with a first grounding unit (2) and a second grounding unit (3), and the mounting frame (1) is provided with a first camera (4) and a second camera (5) respectively corresponding to the first grounding unit (2) and the second grounding unit (3); The first grounding unit (2) comprises, from top to bottom, a first picking component (21) and a first clamping component (22) for clamping the cross arm angle steel (9); the second grounding unit (3) comprises, from top to bottom, a second picking component (31) and a second clamping component (32) for clamping the conductor; the first clamping component (22) and the second clamping component (32) are connected via a grounding wire (6); The first picking component (21) comprises a first outer shell (211), a first electromagnet (212) is provided on the first outer shell (211), and a first magnetic patch (2241) matching the first electromagnet (212) is provided at the upper end of the first clamping component (22); The second picking component (31) comprises a second outer shell (311), a second electromagnet (312) is arranged on the second outer shell (311), and a second magnetic patch (3241) matching with the second electromagnet (312) is arranged at the upper end of the second clamping component (32); A wire winding component (8) is provided on the mounting frame (1) between the first grounding unit (2) and the second grounding unit (3); The wire winding component (8) comprises a winding drum (81) arranged on the mounting frame (1), the grounding wire (6) is wound on the winding drum (81), and the grounding wire (6) wound on the winding drum (81) comprises a fixed end (61) and a free end (62), the fixed end (61) is close to the connection between the winding drum (81) and the mounting frame (1), and the free end (62) is close to the suspended end of the winding drum (81); A rotating shaft (82) is rotatably disposed inside the winding drum (81), and a third driving assembly for driving the rotating shaft (82) to rotate is disposed between the rotating shaft (82) and the mounting frame (1); An extension frame (83) is provided at one end of the rotating shaft (82) close to the suspended end of the winding drum (81); the extension frame (83) comprises an end plate (831), and a wire-moving rod (832) extending toward one side of the winding drum (81) is provided at the edge of the end plate (831), and the wire-moving rod (832) is located on the inner side of the free end (62); A limiting rod (833) extending toward one side of the winding drum (81) is provided at the edge of the end plate (831), and the limiting rod (833) is located outside the free end (62); The limiting rod (833) and the end plate (831) are arranged vertically, and the angle between the wire-moving rod (832) and the end plate (831) is greater than 90°.

2. The power line hanging and removing grounding wire device carried by an unmanned aerial vehicle according to claim 1, characterized in that: The first clamping component (22) comprises a first frame (221), a fixed clamping plate (222) and a first clamping block (223) are arranged on the first frame (221), the first clamping block (223) is slidably connected to the first frame (221), and a first driving component for driving the first clamping block (223) is arranged between the first clamping block (223) and the first frame (221), a first guide connecting piece (224) is arranged at the upper end of the first frame (221), and the first magnetic patch (2241) is arranged on the upper end surface of the first guide connecting piece (224).

3. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 2, characterized in that: A first power collection component is arranged at the upper end of the first guide connecting member (224), and the first power collection component comprises a first positive power collection ring (2281) and a first negative power collection ring (2282) arranged coaxially, a first insulating ring (2283) is arranged between the first positive power collection ring (2281) and the first negative power collection ring (2282), and a first positive power collection probe (2284) and a first negative power collection probe (2285) are arranged on the lower side of the first outer shell (211), and when the first clamping component (22) is connected to the first picking component (21), the first positive power collection probe (2284) contacts the first positive power collection ring (2281), and the first negative power collection probe (2285) contacts the first negative power collection ring (2282).

4. The power line hanging and removing grounding wire device carried by an unmanned aerial vehicle according to claim 2, characterized in that: The first clamping component (22) is provided with a first detection switch (229) for detecting the cross arm angle steel.

5. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 4, characterized in that: The first detection switch (229) is arranged on the fixing clamp (222), and the fixing clamp (222) is provided with a through hole (2221). When the first clamping component (22) is hung on the cross arm angle steel (9), the first detection switch (229) can detect the cross arm angle steel (9) through the through hole (2221).

6. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 2, characterized in that: A first guide cylinder (213) is provided on the lower end surface of the first outer shell (211); when the first clamping component (22) is connected and fixed to the first picking component (21), the upper end of the first guide connecting member (224) is inserted into the first guide cylinder (213), and under the positioning effect of the first guide cylinder (213), the first magnetic patch (2241) is aligned with the first electromagnet (212).

7. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 1, characterized in that: The second clamping component (32) comprises a second frame (321), guide plates (322) are respectively arranged at both ends of the second frame (321), positioning grooves (3221) are arranged on the guide plates (322), two second clamping blocks (323) are slidably arranged on the second frame (321) and located between the two guide plates (322), a second driving component for driving the two second clamping blocks (323) to move towards or away from each other is arranged between the second clamping blocks (323) and the second frame (321), a second guide connecting piece (324) is arranged at the upper end of the second frame (321), and the second magnetic patch (3241) is arranged on the upper end surface of the second guide connecting piece (324).

8. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 7, characterized in that: A second power collection assembly is provided at the upper end of the second guide connector (324), and the second power collection assembly includes a coaxially arranged second positive power collection ring and a second negative power collection ring, a second insulating ring is provided between the second positive power collection ring and the second negative power collection ring, and a second positive power collection probe and a second negative power collection probe are provided on the lower side of the second outer shell (311). When the second clamping component (32) is connected to the second pickup component (31), the second positive power collection probe contacts the second positive power collection ring, and the second negative power collection probe contacts the second negative power collection ring.

9. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 7, characterized in that: The second clamping component (32) is provided with a second detection switch (328) for detecting the wire.

10. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 9, characterized in that: The second detection switch (328) is arranged on the outer side surface of a guide plate (322), and the second detection switch (328) is located directly above the positioning groove (3221).

11. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 7, characterized in that: A second guide cylinder (313) is provided on the lower end surface of the second outer shell (311); when the second clamping component (32) is connected and fixed to the second picking component (31), the upper end of the second guide connecting member (324) is inserted into the second guide cylinder (313), and under the positioning effect of the second guide cylinder (313), the second magnetic patch (3241) is aligned with the second electromagnet (312).

12. The device for hanging and removing ground wires of power lines carried by an unmanned aerial vehicle according to claim 1, characterized in that: A baffle is provided on the end of the winding drum (81) close to the mounting frame (1), and a clamping notch (8111) is provided on the baffle. The grounding wire (6) passes through the clamping notch (8111) in a direction away from the mounting frame (1) and is then wound around the winding drum (81).

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