Unmanned aerial vehicle mounted wire local insulation repair device and control method

Abstract

The invention discloses an unmanned aerial vehicle mounted wire local insulation repair device and a control method, and belongs to the technical field of electric power facility maintenance, the unmanned aerial vehicle mounted wire local insulation repair device comprises a frame, a rotating assembly and a pressing assembly, and a side plate of the frame is provided with a downward opening; the rotating assembly comprises a motor, a driving wheel is installed at the output end of the motor, the lower portion of the driving wheel is meshed with a first driven wheel, a bracket is fixedly installed on the first driven wheel, and a pressing assembly is detachably installed on the bracket; the pressing assembly comprises electric push rods which are oppositely arranged, a fixing plate is arranged at the output ends of the electric push rods, a flexible sleeve is installed on the fixing plate, and a semi-arc concave part is formed in the surface of the side, away from the fixing plate, of the flexible sleeve; and the position of the semicircular concave part on the flexible sleeve is matched with the top position of the opening of the side plate of the frame. According to the invention, pressure control is adopted to enable the flexible material to be tightly attached, no gap is left, multi-angle multi-time pressing operation can be carried out on the insulating packaging material and the wire, and the pressing and bonding effect between the wire and the packaging material is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power facility maintenance, and in particular to a local insulation repair device and a control method for a wire mounted on an unmanned aerial vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The insulation layer of overhead wires has the functions of insulation, short circuit prevention and wire protection. However, due to the contact of trees with the insulation skin and long-term scratches or other external factors, the insulation layer of the wire is partially damaged, which can easily cause short circuit phenomena such as two-phase short circuit and single-phase short circuit grounding, endangering the safety of people and the power grid. For this reason, it is generally necessary to repair the damaged insulation by manually wrapping the insulation wrapping material. Manual work has a certain risk of electric shock and falling.

[0004] Patent "CN117977454A" discloses an insulation recovery tool and working method for drone mounting, including two groups of side panels arranged in parallel, the two side panels are connected by a structural frame, an insulating rope connected to the drone is provided on the top of the structural frame, and a clamping mechanism is provided in the structural frame; the clamping mechanism includes at least two groups of drive components arranged in the horizontal direction, the drive components include at least two groups of rotating shafts arranged in parallel in the vertical direction, each group of rotating shafts is movably connected to the corresponding connecting rods, the connecting rods rotate around the corresponding rotating shafts, one end of the connecting rod is connected to the movable end of the corresponding push rod, and the other end of the connecting rod is connected to the corresponding insulating fixed body, and an insulator is provided on the insulating fixed body; the push rod is extended and retracted to drive the corresponding connecting rod to rotate around the corresponding rotating shaft, and the connecting rods in the same drive assembly rotate in opposite directions, so that the insulating fixed body and the insulator are close to or away from the cable from different directions.

[0005] Patent "CN117728326A" discloses a cable insulation recovery tool and working method based on drone mounting, including a lifting assembly, one end of the lifting assembly is connected to the drone, and the other end is connected to the guide bracket through a release assembly, the guide bracket is connected to the clamping assembly, the guide bracket has an opening for guiding the cable into the clamping assembly, and the clamping assembly drives the clamped cable through a driving assembly; the release assembly is connected to the top of the guide bracket, including a first bracket and a second bracket arranged vertically, the first bracket is provided with a groove, the second bracket has at least two groups arranged in parallel, and the two groups of second brackets are respectively connected to the two ends of the first bracket, the second bracket is connected to a push rod, the movable end of the push rod extends into the groove of the first bracket, one end of the lifting assembly is embedded in the groove of the first bracket and connected to the release assembly through the movable end of the push rod in the groove; when the movable end of the push rod is retracted, the lifting assembly is separated from the release assembly.

[0006] In the prior art, after the mounting repair device is hoisted into place by an unmanned aerial vehicle, the push rods on both sides extend out to squeeze the insulating packaging material to the damaged part of the wire. After the push rods run to the maximum stroke, they are kept for a certain period of time to achieve the compaction of the insulating packaging material. The prior art has the following shortcomings: First, the extrusion material has a poor fit with the wire. The extrusion material is currently foam, and a "concave" shape design is adopted. There will be gaps when the wire is pressed, resulting in loose wrapping after the operation is completed, and gaps are left at the damaged part of the wire; second, the compaction angle is single, and the number of compaction times is small. The existing repair device only achieves horizontal angle compaction or "X" type compaction, and the compaction effect at the connection of the insulating packaging material is poor, which is prone to problems such as incomplete bonding and warping; third, the existing device lacks a quick unlocking mechanism for the compaction module. When the compaction module is in the compaction state, if the device fails such as power failure, the push rod will be in a self-locking state, which is difficult to unlock manually. Summary of the invention

[0007] In view of the above problems, the present invention proposes a local insulation repair device and control method for UAV-mounted wires, which adopts pressure control to make the flexible material fit tightly without leaving any gaps. The insulating packaging material and the wires can be pressed multiple times at multiple angles to ensure the pressing and bonding effect between the wires and the packaging material, and solve the problem of the insulating packaging material not being pressed firmly and leaving gaps.

[0008] In order to achieve the above object, the present invention adopts the following technical solution: A first aspect of the present invention provides a local insulation repair device for a UAV mounted wire, comprising a frame, a rotating assembly and a pressing assembly, wherein a side plate of the frame is provided with an opening facing downward; The rotating assembly includes a motor, a driving wheel is installed at the output end of the motor, the lower part of the driving wheel is meshed with the first driven wheel, a bracket is fixedly installed on the first driven wheel, and a clamping assembly is detachably installed on the bracket; The clamping assembly comprises electric push rods arranged opposite to each other, a fixing plate is provided at the output end of the electric push rod, a flexible sleeve is installed on the fixing plate, and a semicircular arc depression is provided on the surface of the flexible sleeve away from the fixing plate; The position of the semicircular arc depression on the flexible sleeve matches the top position of the opening of the side plate of the frame.

[0009] As a further implementation, the clamping assembly further includes slide rails, which are located on both sides of the electric push rod, and the slide rails are connected to the fixed plate at the output end of the electric push rod through a slide rail connector.

[0010] As a further implementation, the slide rail and the electric push rod are both connected to the bracket via bolts.

[0011] As a further implementation, the frame includes a top plate, two bottom plates and two side plates, and the openings on the two side plates are trumpet-shaped.

[0012] As a further implementation, it also includes a detection component, which includes a fiber optic sensor and a fiber optic amplifier. There are two fiber optic sensors and two fiber optic amplifiers, which are respectively installed on two side panels of the frame.

[0013] As a further implementation, a slot-type photoelectric sensor is installed at the end of the slide rail, and a pressure sensor is installed inside the flexible sleeve.

[0014] As a further implementation, the side of the bracket away from the first driven wheel is connected to the second driven wheel through a self-lubricating semicircular sleeve, and the upper part of the second driven wheel is meshed with the third driven wheel.

[0015] As a further implementation, the second driven wheel and the third driven wheel are connected to the side plate of the frame at a side away from the bracket.

[0016] A second aspect of the present invention provides a control method for a local insulation repair device for a UAV mounted wire, based on the local insulation repair device for a UAV mounted wire described in the first aspect of the present invention, comprising the following steps: S1 uses a drone to hoist the insulation repair device above the wire to be partially insulated, so that the wire is under the opening of the frame side plate of the device, and uses an optical fiber sensor to detect whether the distance between the device and the wire meets the requirements for successful mounting; After the S2 device is mounted successfully, the two electric push rods in the clamping assembly are controlled to extend at the same time and speed, and the insulating packaging material is squeezed onto the conductor in the horizontal direction, so that a pair of relatively arranged flexible sleeves are closely fitted, and then the insulating packaging material bonded to the semicircular arc depression on the surface of the flexible sleeve is closely fitted with the insulation damaged part of the conductor. The pressure sensor is used to detect the squeezing force between the flexible sleeves. When the squeezing force is just greater than the preset value, the pressure is just enough to compress the insulating packaging material, and the electric push rod is stopped from extending and the compression state is maintained for a certain period of time; S3 controls the electric push rod to retract. When the electric push rod is retracted to the right position, the motor is started. The output end of the motor drives the driving wheel to rotate. The driving wheel drives the first driven wheel and the bracket connected to the first driven wheel to rotate, thereby driving the pressing assembly on the bracket to rotate a certain angle. The operation of S2 is repeated to press the insulation damage of the insulation packaging material and the wire again. S4 repeats step S3 to press the insulation damaged parts of the insulation packaging material and the conductor multiple times at multiple angles; The S5 clamping device rotates back to its original position, the repair work is completed, and the insulation repair device is lifted away using a drone.

[0017] As a further implementation method, when controlling the electric push rod to retract, a slot-type photoelectric sensor is used to detect whether the push rod is retracted into place.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The local insulation repair device and control method of the unmanned aerial vehicle mounted wire disclosed in the present invention fully consider the insulation repair operation scene, aiming at the problems of low repair success rate of the existing repair device, gaps between the wire and the packaging material, and poor compression and bonding effect at the connection of the two packaging materials, the compression assembly disclosed in the present invention adopts an electric push rod arranged relatively, and the output end of the electric push rod is provided with a flexible sleeve, and the surface of the flexible sleeve is provided with a semi-circular arc depression, and the insulating packaging material is bonded in the semi-circular arc depression. The two relatively arranged flexible sleeves with semi-circular arc depressions can fit each other, and the diameter of the circular hole formed in the middle is slightly larger than the diameter of the wire to be repaired for insulation. The flexible material can fit tightly under the action of force without leaving gaps, and can facilitate the insulation packaging material and the wire to fit tightly. A pressure sensor is installed inside the flexible sleeve, and the pressure sensor is used to detect the extrusion force between the flexible sleeves. When the extrusion force is just greater than the preset value, the pressure can just compress the insulating packaging material, stop the electric push rod from extending and keep the compression state for a certain period of time to ensure that the insulating packaging material and the wire can be compressed. Afterwards, the rotating assembly drives the pressing assembly to rotate at multiple angles, and multiple pressing operations are performed at multiple angles to ensure the pressing and bonding effect, and to ensure the close fit between the wire and the packaging material without leaving any gaps, thereby ensuring the success rate of insulation repair. In view of the possible warping of the packaging material after insulation repair, the device disclosed in the present invention is designed with a rotatable cutting blade, which can cut and remove the warped insulation edge of the wrapped wire to ensure the repair effect.

[0019] In order to solve the problem of lack of a quick unlocking mechanism for the clamping die assembly, the clamping assembly of the present invention is connected to the bracket by bolts. When the clamping assembly is in a clamping state, if the device fails such as a power outage, the electric push rod can be manually unlocked by removing the bolts.

[0020] In order to solve the problem of overall imbalance or tilt of the device due to the rotation of the compression assembly or sudden strong external wind on the wire, the device of the present invention is designed with a reasonable weight distribution, and heavier devices such as batteries and optical fiber amplifiers are evenly placed under the two side panels to lower the center of gravity and ensure the balance of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 This is a schematic diagram of the overall structure of the local insulation repair device for the UAV mounted wire of the present invention; Figure 2 This is a schematic diagram of the partial structure of the local insulation repair device for the UAV mounted wire of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the partial structure of the local insulation repair device for the UAV mounted wire of the present invention. Figure 2 ; Figure 4 It is a structural schematic diagram of a front view of a local insulation repair device for a UAV mounted wire of the present invention; Figure 5 It is a schematic structural diagram of a top view of a local insulation repair device for a UAV mounted wire of the present invention; Figure 6 It is a structural schematic diagram of the rotating assembly of the present invention; Figure 7 The insulation repair process of the present invention Figure 1 ; Figure 8 The insulation repair process of the present invention Figure 2 .

[0023] Among them, 1. flexible sleeve; 2. fixed plate; 3. electric push rod; 4. slide rail connector; 5. slide rail; 6. motor; 7. frame top plate; 8. driving wheel; 9. first driven wheel; 10. self-lubricating semicircular shaft sleeve; 11. driven wheel side plate; 12. frame bottom plate; 13. motor side plate; 14. second driven wheel; 15. third driven wheel; 16. bracket; 17. wire; 18. sealing box. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0026] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0027] Embodiment 1 like Figure 1-5 As shown, the present embodiment provides a local insulation repair device for a UAV mounted wire, comprising a frame, a rotating assembly and a clamping assembly, wherein the frame comprises a top plate, two bottom plates and two side plates, wherein the two side plates are respectively a driven wheel side plate and a motor side plate, and both side plates are provided with openings facing downward, and the openings on the side plates are trumpet-shaped facing downward, and such a downward opening design is convenient for mounting the wires whose insulation needs to be repaired.

[0028] The rotating assembly includes a motor, which is a disc motor with an absolute encoder. The angle control mode can be used to rotate the clamping assembly to a specific angle to achieve a multi-angle clamping action. A driving wheel is installed at the output end of the motor, and the lower part of the driving wheel is meshed with the first driven wheel. A bracket is fixedly installed on the first driven wheel, and a clamping assembly is detachably installed on the bracket. When the motor is started, the output end of the motor drives the driving wheel to rotate, and the driving wheel drives the first driven wheel and the bracket connected to the first driven wheel to rotate, thereby driving the clamping assembly on the bracket to rotate a certain angle, so that the insulation packaging material and the insulation damaged parts of the wire can be compressed multiple times at multiple angles.

[0029] like Figure 6 As shown, the clamping assembly includes relatively arranged electric push rods, the output end of the electric push rods is provided with a fixed plate, a flexible sleeve is installed on the fixed plate, and a semi-circular depression is provided on the surface of the flexible sleeve on the side away from the fixed plate. Insulating packaging materials are bonded in the semi-circular depression, and the two flexible sleeves with semi-circular depressions can fit each other. The diameter of the circular hole formed in the middle is slightly larger than the diameter of the wire to be insulated and repaired. This design can facilitate the insulation packaging materials to fit the wires tightly. A pressure sensor is installed inside the flexible sleeve, and the pressure sensor is used to detect the squeezing force between the flexible sleeves. When the squeezing force is just greater than the preset value, the pressure can just compress the insulation packaging materials, stop the extension movement of the electric push rod, and maintain the compression state for a certain period of time to ensure that the insulation packaging materials and the wires can be compressed.

[0030] The position of the semicircular depression on the flexible sleeve is matched with the top position of the opening of the side plate of the frame, so that the insulation layer repair operation can be carried out after the device is mounted on the conductor.

[0031] The clamping assembly also includes a slide rail, which is located on both sides of the electric push rod and is connected to the fixed plate at the output end of the electric push rod through a slide rail connector. The slide rail supports and guides the entire clamping assembly. A slot-type photoelectric sensor is installed at the end of the slide rail. The slot-type photoelectric sensor is used to detect whether the push rod is recovered in place. The next rotation action is performed only after the push rod is recovered in place, ensuring that the device operates normally and there is no interference between the components.

[0032] The slide rail and the electric push rod are connected to the bracket by bolts. When the clamping assembly is in the clamping state, if the device fails such as power failure, the electric push rod can be manually unlocked by removing the bolts.

[0033] The wire local insulation repair device disclosed in the present invention also includes a detection component, which includes an optical fiber sensor and an optical fiber amplifier. There are two optical fiber sensors and two optical fiber amplifiers, and the optical fiber sensors are installed on the two side panels of the frame, and the optical fiber amplifier is installed in a sealed box at the bottom of the side panel. The optical fiber sensor detects the distance in front of the sensor, and the optical fiber amplifier converts the digital distance signal detected by the optical fiber sensor into an IO signal to determine whether the distance between the device and the wire meets the requirements for successful mounting.

[0034] The side of the bracket away from the first driven wheel is connected to the second driven wheel through a self-lubricating semicircular sleeve, and the upper part of the second driven wheel is meshed with the third driven wheel. The side of the second driven wheel and the third driven wheel away from the bracket is connected to the side plate of the frame. This design can ensure that the rotational movement of the clamping assembly and the rotating assembly is more stable.

[0035] The battery, board, optical fiber amplifier and other devices disclosed in the present invention are placed in a sealed box, and the sealed box is placed on the bottom plate of the device. By reasonably allocating the weight, the center of gravity is lowered and the device is kept stable during operation.

[0036] Two small motors are installed on the upper part of a side plate of the present invention, and the motor output shaft is connected to the blade fixing device and the blade. The motor can change the relative position of the blade and the wire by rotating to cut and remove the warped packaging materials at different positions.

[0037] Embodiment 2 like Figure 7-8 As shown, this embodiment provides a control method for a local insulation repair device for a UAV mounted wire, based on a local insulation repair device for a UAV mounted wire in Embodiment 1, comprising the following steps: S1 uses a drone to hoist the insulation repair device above the wire to be partially insulated, so that the wire is under the opening of the frame side plate of the device, and uses an optical fiber sensor to detect whether the distance between the device and the wire meets the requirements for successful mounting; After the S2 device is mounted successfully, the two electric push rods in the clamping assembly are controlled to extend at the same time and speed, and the insulating packaging material is squeezed onto the conductor in the horizontal direction, so that a pair of relatively arranged flexible sleeves are closely fitted, and then the insulating packaging material bonded to the semicircular arc depression on the surface of the flexible sleeve is closely fitted with the insulation damaged part of the conductor. The pressure sensor is used to detect the squeezing force between the flexible sleeves. When the squeezing force is just greater than the preset value, the pressure is just enough to compress the insulating packaging material, and the electric push rod is stopped from extending and the compression state is maintained for a certain period of time; S3 controls the electric push rod to retract. When the electric push rod is retracted to the right position, the motor is started. The output end of the motor drives the driving wheel to rotate. The driving wheel drives the first driven wheel and the bracket connected to the first driven wheel to rotate, thereby driving the pressing assembly on the bracket to rotate a certain angle. The operation of S2 is repeated to press the insulation damage of the insulation packaging material and the wire again. S4 repeats step S3 to press the insulation damaged parts of the insulation packaging material and the conductor multiple times at multiple angles; The S5 clamping device rotates back to its original position, the repair work is completed, and the insulation repair device is lifted away using a drone.

[0038] In this embodiment, when the electric push rod is controlled to retract, a slot-type photoelectric sensor is used to detect whether the push rod is retracted into place.

[0039] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0040] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A local insulation repair device for a UAV mounted wire, characterized in that: It comprises a frame, a rotating assembly and a pressing assembly, wherein the side plate of the frame is provided with an opening facing downward; The rotating assembly includes a motor, a driving wheel is installed at the output end of the motor, the lower part of the driving wheel is meshed with the first driven wheel, a bracket is fixedly installed on the first driven wheel, and a pressing assembly is detachably installed on the bracket; The clamping assembly comprises electric push rods arranged opposite to each other, the output end of the electric push rods is provided with a fixing plate, a flexible sleeve is installed on the fixing plate, and a semicircular arc depression is provided on the surface of the flexible sleeve away from the fixing plate; The position of the semicircular arc depression on the flexible sleeve is matched with the top position of the side plate opening of the frame.

2. A local insulation repair device for a UAV mounted wire as claimed in claim 1, characterized in that: The clamping assembly also includes slide rails, which are located on both sides of the electric push rod and are connected to the fixing plate at the output end of the electric push rod through a slide rail connector.

3. A local insulation repair device for a UAV mounted wire as claimed in claim 2, characterized in that: The slide rail and the electric push rod are connected to the bracket through bolts.

4. A local insulation repair device for a UAV mounted wire as claimed in claim 1, characterized in that: The frame comprises a top plate, two bottom plates and two side plates, and the openings on the two side plates are trumpet-shaped.

5. The local insulation repair device for a UAV mounted wire as claimed in claim 1, characterized in that: It also includes a detection component, which includes an optical fiber sensor and an optical fiber amplifier. There are two optical fiber sensors and two optical fiber amplifiers, which are respectively installed on two side plates of the frame.

6. A device for repairing local insulation of a UAV mounted wire as claimed in claim 2, characterized in that: A slot-type photoelectric sensor is installed at the end of the slide rail, and a pressure sensor is installed inside the flexible sleeve.

7. A device for repairing local insulation of a UAV mounted wire as claimed in claim 1, characterized in that: The side of the bracket away from the first driven wheel is connected to the second driven wheel through a self-lubricating semicircular sleeve, and the upper part of the second driven wheel is meshed with the third driven wheel.

8. A device for repairing local insulation of a UAV mounted wire as claimed in claim 7, characterized in that: The second driven wheel and the third driven wheel are connected to the side plate of the frame at a side away from the bracket.

9. A control method for a local insulation repair device of a wire mounted on an unmanned aerial vehicle, characterized in that: A local insulation repair device for a UAV mounted wire according to any one of claims 1 to 8 comprises the following steps: S1 uses a drone to hoist the insulation repair device above the wire to be partially insulated, so that the wire is under the opening of the frame side plate of the device, and uses an optical fiber sensor to detect whether the distance between the device and the wire meets the requirements for successful mounting; After the S2 device is mounted successfully, the two electric push rods in the clamping assembly are controlled to extend at the same time and speed, and the insulating packaging material is squeezed onto the conductor in the horizontal direction, so that a pair of relatively arranged flexible sleeves are closely fitted, and then the insulating packaging material bonded to the semicircular arc depression on the surface of the flexible sleeve is closely fitted to the insulation damaged part of the conductor. The pressure sensor is used to detect the squeezing force between the flexible sleeves. When the squeezing force is just greater than the preset value, the pressure is just enough to compress the insulating packaging material, and the electric push rod is stopped from extending and the compression state is maintained for a certain period of time; S3 controls the electric push rod to retract. When the electric push rod is retracted to the right position, the motor is started. The output end of the motor drives the driving wheel to rotate. The driving wheel drives the first driven wheel and the bracket connected to the first driven wheel to rotate, thereby driving the pressing assembly on the bracket to rotate a certain angle. The operation of S2 is repeated to press the insulation damage of the insulation packaging material and the wire again. S4 repeats step S3 to press the insulation damaged parts of the insulation packaging material and the conductor multiple times at multiple angles; The S5 clamping device rotates back to its original position, the repair work is completed, and the insulation repair device is lifted away using a drone.

10. A control method for a local insulation repair device for a UAV mounted wire as claimed in claim 9, characterized in that: When controlling the retraction of the electric push rod, a slot-type photoelectric sensor is used to detect whether the push rod is retracted into place.

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