An unmanned aerial vehicle based mounting tower climbing anti-falling system

Abstract

The application discloses a tower climbing and mounting anti-falling system based on a UAV, which comprises a tower climbing and mounting device, and the tower climbing and mounting device comprises a mounting frame, two locking structures and a locking frame. The two locking structures have a first state of downward rotation and unfolding or a second state of upward rotation and folding. When the locking structure is in the first state, it can contact the tower and rotate around the tower to switch to the second state of being wrapped outside the tower when the mounting frame is mounted on the tower. The locking frame can lock the position of the locking structure in the second state when the mounting frame is mounted on the tower. The locking structure of the device is in the initial state of downward rotation and unfolding, which can significantly expand the mounting range of the mounting bracket, so that the installation process can be quickly positioned to the appropriate fixing point, effectively reducing the installation difficulty. The locking frame can effectively prevent loosening or displacement caused by vibration or other external forces, and improve the stability and safety of the tower climbing and mounting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerial work protection devices, and particularly relates to a mounting tower anti-falling system based on a UAV. BACKGROUND

[0002] In the existing high-altitude work of power transmission line towers, workers only climb to high altitudes for work by setting foot nails or ladders on the tower. In order to prevent workers from falling during climbing, an unmanned aerial vehicle (UAV) mounting anti-falling device is usually used in the prior art. The UAV mounting anti-falling device is a new type of safety equipment used in power line tower inspection and maintenance, operation and maintenance, etc. It flies to the top of the tower by carrying a tower climbing protection fixed bracket and a security rope on the UAV, and uses an innovative gravity self-locking mechanical mechanism to realize the rapid installation and removal of the fixed bracket on the tower top with the assistance of real-time video transmission.

[0003] The patent with publication number CN218919785U provides a device for mounting and removing anti-falling ropes using a UAV, which includes a fixed component, an aerial suspension component, and a lifting hook. The fixed component includes a body and a locking device. The bottom end of the body is provided with an opening, and the body is suspended on the tower material through the opening. The body is connected with an anti-falling rope. The bottom end of the aerial suspension component is connected with a second mechanical arm. The advantages of this scheme are as follows: the body is connected with the UAV through the aerial suspension component and the lifting hook. Since the body is connected with the anti-falling rope, the anti-falling rope can be hung on the tower material by operating the UAV, which enables workers to simply and quickly hang the aerial anti-falling rope, so that workers can safely and efficiently carry out tower inspection and maintenance work, effectively reducing the work risk and labor intensity of workers.

[0004] However, the existing UAV mounting and removing anti-falling rope device still has some shortcomings. When the mounting bracket is hung on the top of the tower, the mounting range of the existing mounting bracket is small, which may cause installation difficulties and make it difficult to find a suitable fixing point. In addition, the mechanical wall used for limiting at the bottom of the tower is movable, which has poor stability and safety. SUMMARY

[0005] The present application aims to overcome the above technical deficiencies and provides a mounting tower anti-falling system based on a UAV, which solves the technical problem of small mounting range of the mounting bracket in the prior art and difficulty in finding a suitable fixing point.

[0006] To achieve the above technical purpose, the present application adopts the following technical scheme:

[0007] The application provides a tower climbing anti-falling system based on a UAV, comprising a tower climbing and hanging device, wherein the tower climbing and hanging device comprises a hanging frame, two locking structures and a locking frame; the bottom of the hanging frame is provided with an opening area for being hung on a tower; the two locking structures are respectively arranged on the two sides of the opening area and are respectively rotationally connected with the two ends of the hanging frame, and each locking structure has a first state of being downwardly unfolded or a second state of being upwardly folded; when the locking structure is in the first state, it can contact the tower and rotate around the tower to switch to the second state of being wrapped outside the tower when the hanging frame is hung on the tower; and the locking frame is slidingly arranged on the outside of the hanging frame and can lock the position of the locking structure in the second state when the hanging frame is hung on the tower.

[0008] In some embodiments, each locking structure comprises a first connecting rod and a second connecting rod which are arranged perpendicularly to each other; one end of the first connecting rod is connected with one end of the second connecting rod; one end of the first connecting rod is rotationally connected with the hanging frame through a rotating shaft; when the locking structure is in the first state, the area formed between the first connecting rod and the second connecting rod faces downward; and when the locking structure is in the second state, the first connecting rod and the second connecting rod are respectively located on the side and the bottom of the tower.

[0009] In some embodiments, the two locking structures are arranged staggered with each other on the two sides of the hanging frame.

[0010] In some embodiments, the locking structure further comprises a movable rod and a spring; the movable rod is arranged on the inner side of the first connecting rod and is rotationally connected with the middle part of the first connecting rod near one end of the second connecting rod; the other end of the movable rod extends away from the second connecting rod; and the two ends of the spring are respectively connected with the first connecting rod and the end of the movable rod away from the second connecting rod; when the locking structure is in the second state, the movable rod contacts the tower on the inner side of the first connecting rod, so as to compress the spring.

[0011] In some embodiments, the inner side of the first connecting rod is provided with a guide inclined table which is located at the end of the movable rod away from the second connecting rod and has an inclined surface for guiding the tower to slide along the side of the first connecting rod to the inner side of the movable rod.

[0012] In some embodiments, the tower clamping device further comprises a security rope fixing frame, the security rope fixing frame comprising a fixing frame, an arc-shaped rod and a connecting buckle, the fixing frame being arranged on one side of the locking frame, the arc-shaped rod being rotatably connected to the fixing frame at the middle part thereof, two ends of the arc-shaped rod respectively forming a clamping end and a pressing end, the clamping end being provided with the connecting buckle and being capable of being clamped and connected to the locking frame; the connecting buckle being used for connecting a fall-preventing flexible guide rail; when the locking structure is in the second state, the connecting buckle is pulled by the fall-preventing flexible guide rail, the clamping end of the arc-shaped rod is rotated downward, and the pressing end is rotated upward and tightly abuts against the bottom surface of the second connecting rod.

[0013] In some embodiments, one end of the first connecting rod is provided with a bending part near the middle part, the bending part being rotatably connected to the clamping frame, when the locking structure is in the first state, one end of the first connecting rod protrudes from the side edge of the clamping frame; the locking frame comprises a sliding frame, the sliding frame being arranged on the top of the clamping frame, two ends of the sliding frame being slidably connected to two ends of the clamping frame, when the sliding frame slides downward, one end of the first connecting rod protruding from the side edge of the clamping frame is contacted, the first connecting rod is rotated on the clamping frame until the locking structure reaches the second state.

[0014] In some embodiments, the locking frame further comprises a connecting column and a limiting disc, one end of the connecting column being connected to the sliding frame, the other end of the connecting column being slidably connected to the limiting disc, the cross-sectional area of the limiting disc being greater than the cross-sectional area of the connecting column, the connecting column being a polygonal structure, the number of sides of the polygonal structure being even.

[0015] In some embodiments, the unmanned aerial vehicle-based tower fall-preventing system further comprises an unmanned aerial vehicle mounting device, the unmanned aerial vehicle mounting device comprising an unmanned aerial vehicle body and a connecting structure, the connecting structure being connected to the bottom of the unmanned aerial vehicle body, one side of the connecting structure having two clamping parts arranged side by side and capable of relative movement, the clamping parts being used for clamping the connecting column.

[0016] In some embodiments, the connecting structure comprises a mounting box, a mounting rod, a cylinder, a driving rod, a linkage rod, a driving wheel, a sliding rack and a clamping plate, the mounting box connects the unmanned aerial vehicle body through the mounting rod, the cylinder is installed on one side of the mounting box, the driving end of the cylinder extends to the inside of the mounting box through the mounting box, and the driving end is connected with the driving rod, the two ends of the driving rod are respectively connected with one end of the two linkage rods, the other end of the linkage rod is connected with the inner wall of the mounting box and the driving wheel, the side surface of the driving wheel is provided with teeth, one side of the driving wheel is provided with a sliding rack meshing with the teeth, the axes of the two sliding racks are collinear and are in sliding fit with the mounting box, and one side of the sliding rack is provided with the clamping plate, and the two clamping plates are arranged side by side and extend to the outside of the mounting box at one end.

[0017] Compared with the prior art, the unmanned aerial vehicle based mounting tower anti-falling system provided by the application is provided with a mounting bracket and two locking structures, the bottom of the mounting bracket is designed with an opening area specially used for mounting on the tower. In use, the mounting bracket is mounted on the tower through the opening area, and the two locking structures are located on the two sides of the opening area and are rotationally connected with the two ends of the mounting bracket. In the initial state, they are downwardly unfolded and can contact and rotate around the tower. The position is automatically adjusted during the mounting process. After the mounting is completed, the mounting bracket is switched to the second state, and the locking structures are wrapped outside the tower to fix the tower. The locking structures are in the unfolded state of downward rotation in the initial state, so that the mounting bracket can be easily guided and mounted on the tower. This design significantly expands the mounting range of the mounting bracket, so that the installation process can quickly locate the appropriate fixing point, effectively reducing the installation difficulty.

[0018] By configuring the locking frame, when the mounting bracket is installed on the tower, the locking frame will automatically slide down and lock the locking structure, ensuring the position stability of the locking structure in the second state. This effectively prevents loosening or displacement caused by vibration or other external forces, thereby improving the stability and safety of the tower mounting and mounting device. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the overall three-dimensional structure schematic diagram of the unmanned aerial vehicle based mounting tower anti-falling system provided by the embodiment of the application;

[0020] Figure 2 is the three-dimensional structure schematic diagram of the tower mounting and mounting device of the unmanned aerial vehicle based mounting tower anti-falling system provided by the embodiment of the application in the first state;

[0021] Figure 3 is the front view structure schematic diagram of the tower mounting and mounting device of the unmanned aerial vehicle based mounting tower anti-falling system provided by the embodiment of the application in the first state;

[0022] Figure 4 is a local perspective structure schematic diagram of a tower climbing and hanging device of a tower climbing anti-falling system based on a UAV provided by an embodiment of the present application in a first state;

[0023] Figure 5 is a top view cross-sectional structure schematic diagram of a hanging bracket and a sliding frame installation of the tower climbing anti-falling system based on the UAV provided by the embodiment of the present application;

[0024] Figure 6 is a front view cross-sectional structure schematic diagram of the tower climbing and hanging device of the tower climbing anti-falling system based on the UAV provided by the embodiment of the present application in a second state;

[0025] Figure 7 is a perspective structure schematic diagram of a security rope fixing frame of the tower climbing anti-falling system based on the UAV provided by the embodiment of the present application;

[0026] Figure 8 is a perspective structure schematic diagram of a UAV mounting device of the tower climbing anti-falling system based on the UAV provided by the embodiment of the present application;

[0027] Figure 9 is a top view cross-sectional structure schematic diagram of a connecting structure of the tower climbing anti-falling system based on the UAV provided by the embodiment of the present application.

[0028] Legend of reference signs:

[0029] 1, tower climbing and hanging device; 11, hanging bracket; 111, limiting groove; 112, sliding block; 113, sliding groove; 12, locking structure; 121, first connecting rod; 122, second connecting rod; 123, movable rod; 124, spring; 125, guide inclined table; 13, locking frame; 131, sliding frame; 132, connecting column; 133, limiting disc; 14, security rope fixing frame; 141, fixed frame; 142, arc-shaped rod; 143, connecting buckle;

[0030] 2, UAV mounting device; 21, UAV body; 22, connecting structure; 221, installation box; 222, installation rod; 223, air cylinder; 224, driving rod; 225, linkage rod; 226, driving wheel; 227, sliding rack; 228, clamping plate;

[0031] 3, tower. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0033] In order to solve the technical problems of small mounting range of the mounting support and difficulty in finding a suitable fixing point, the application provides a mounting tower anti-falling system based on a UAV, the locking structure is in an unfolded state of downward rotation in the initial state, which can significantly expand the mounting range of the mounting support, so that the installation process can quickly locate the suitable fixing point, effectively reducing the installation difficulty, the locking frame can effectively prevent loosening or displacement caused by vibration or other external forces, and the stability and safety of the tower mounting and hanging device are improved.

[0034] Please refer to Figures 1 to 6 The mounting tower anti-falling system based on a UAV comprises a tower mounting and hanging device 1, which comprises a hanging frame 11, two locking structures 12 and a locking frame 13, the bottom of the hanging frame 11 forms an opening area for mounting on a tower 3; the two locking structures 12 are respectively arranged on the two sides of the opening area and are respectively rotationally connected with the two ends of the hanging frame 11, and have a first state of downward rotation and expansion or a second state of upward rotation and folding, when the locking structure 12 is in the first state, it can contact the tower 3 and rotate around the tower 3 to switch to the second state of being wrapped outside the tower 3 when the hanging frame 11 is hung on the tower 3; the locking frame 13 is slidingly arranged on the outside of the hanging frame 11 and can lock the position of the locking structure 12 in the second state when the hanging frame 11 is hung on the tower 3.

[0035] In the device, the bottom of the hanging frame 11 is designed with an opening area specially used for mounting on the tower 3. When in use, the hanging frame 11 is mounted on the tower 3 through the opening area, the two locking structures 12 are respectively located on the two sides of the opening area and are rotationally connected with the two ends of the hanging frame 11, in the initial state, they are downwardly rotated and expanded, can contact the tower 3 and rotate around it, automatically adjust the position during the hanging process, and after the hanging is completed, the hanging frame 11 will switch to the second state, at this time, the locking structure 12 is wrapped outside the tower 3, realizing the fixation of the tower 3; when the hanging frame 11 is on the tower 3, the locking frame 13 will automatically slide downward and lock the locking structure 12, ensuring the stable position of the locking structure 12 in the second state, thereby preventing loosening or displacement caused by vibration or other external forces during use.

[0036] Please refer to Figures 1 to 6In the embodiment, each of the two locking structures 12 comprises a first connecting rod 121 and a second connecting rod 122 arranged vertically, wherein one end of the first connecting rod 121 is fixedly connected with one end of the second connecting rod 122. One end of the first connecting rod 121 is rotatably connected with the hanging bracket 11, specifically, the first connecting rod 121 is rotatably connected with the slot wall of the first groove formed in the bottom of the hanging bracket 11, and a second groove is further formed in the inner side of the hanging bracket 11 corresponding to the first connecting rod 121, which can accommodate the first connecting rod 121 when the locking structure 12 is in the second state. When the locking structure 12 is in the first state, the area formed between the first connecting rod 121 and the second connecting rod 122 faces downward, at this time, the first connecting rod 121 and the second connecting rod 122 are inclined downward, forming an open structure, thereby expanding the hanging range of the hanging bracket 11, facilitating the hanging installation thereof; when the locking structure 12 is in the second state, the first connecting rod 121 and the second connecting rod 122 are respectively arranged at the side and the bottom of the tower 3, the first connecting rods 121 of the two locking structures 12 are respectively arranged at opposite sides of the tower 3, and the second connecting rods 122 are arranged at the bottom of the tower 3, and the top of the tower 3 is limited by the hanging bracket 11, which is beneficial to improve the stability and safety of the tower hanging device 1.

[0037] Further, in some embodiments, the two locking structures 12 are arranged at the two sides of the hanging bracket 11 and staggered with each other, the staggered arrangement of the locking structures 12 can reduce the interference during the hanging installation of the hanging bracket 11, so that the hanging bracket 11 can be adjusted and fixed more easily.

[0038] Due to the staggered arrangement of the locking structures 12, the length of the second connecting rod 122 can be increased during the design process. When the locking structure 12 is in the first state, the two second connecting rods 122 are expanded outward, which can expand the mounting area, when the tower 3 contacts the inner side of any second connecting rod 122, the descending of the hanging bracket 11 can make the tower 3 move along the inner side of the second connecting rod 122 to the inside of the hanging bracket 11 until it is hung on the tower 3, which can further expand the mounting area, and when the locking structure 12 is in the second state, the two locking structures 12 are staggered, which will not cause interference.

[0039] In order to improve the flexibility of the locking structure 12, please refer to Figure 3 and Figure 4In some embodiments, the locking structure 12 further comprises a movable rod 123 and a spring 124. The movable rod 123 is arranged on the inner side of the first connecting rod 121, one end of which is close to the second connecting rod 122 and is rotatably connected to the middle section of the first connecting rod 121, and the other end extends away from the second connecting rod 122. The spring 124 has two ends fixed to the first connecting rod 121 and the end of the movable rod 123 away from the second connecting rod 122. When the locking structure 12 is in the unlocked state, the movable rod 123 will contact the tower 3 on the inner side of the first connecting rod 121, causing the spring 124 to be compressed. By using the elastic restoring force generated by the spring 124, the two movable rods 123 can be tightly attached to the two sides of the tower 3, thereby improving the clamping stability of the locking structure 12. In addition, when connecting different sizes of towers 3, the restoring force of the spring 124 can ensure that the first connecting rod 121 is always close to the inner wall of the hitch bracket 11 in the second state, which helps the locking structure 12 to stably lock the tower 3.

[0040] Further, in order to avoid the situation of being stuck when the tower 3 is hitched, in some embodiments, please refer to Figure 3 and Figure 4 A guide inclined platform 125 is fixedly installed on the inner side of the first connecting rod 121. The guide inclined platform 125 is located at the end of the movable rod 123 away from the second connecting rod 122, and has a triangular cross section and is provided with an inclined surface. The function of the inclined surface is to guide the tower 3 to slide along the side of the first connecting rod 121 to the inner side of the inclined surface of the movable rod 123, thereby facilitating the introduction of the tower 3 between the two movable rods 123 from between the two sides of the first connecting rod 121.

[0041] Please refer to Figures 1 to 6 In this embodiment, the tower hitching device 1 further comprises a safety rope fixing bracket 14 designed to connect a flexible guide rail, so that the user can perform high-altitude operation with the help of a self-locking device and the flexible guide rail. The safety rope fixing bracket 14 comprises a fixed frame 141, an arc-shaped rod 142 and a connecting buckle 143. The fixed frame 141 is fixedly arranged on one side of the sliding frame 131 and has a C-shaped structure design. The two ends are fixedly connected to the fixed frame 141, and an installation cavity is formed in the inside. The arc-shaped rod 142 is arranged in the installation cavity, the middle part is rotatably connected to the fixed frame 141, the two ends form a clamping end and a pressing end respectively, the clamping end is provided with the connecting buckle 143, and the connecting buckle 143 can be clamped and connected with the locking bracket 13; the connecting buckle 143 is used to connect the anti-falling flexible guide rail.

[0042] Before installation, the clamping end needs to be connected to the sliding frame 131 of the locking frame 13. Once the locking structure 12 is switched to the second state, the anti-falling flexible guide rail can be enabled. By pulling the connecting buckle 143 through the guide rail, the clamping end of the arc-shaped rod 142 can be guided to disengage from the locking frame 13 and rotate downward, thereby causing the pressing end to rotate upward and tightly adhere to the bottom surface of the second connecting rod 122, further enhancing the fastening of the locking structure 12, thereby improving the stability of the tower climbing and hanging device 1.

[0043] Please refer to Figure 2 and Figure 3 In this embodiment, the locking frame 13 includes a sliding frame 131, which is arranged at the top of the hanging frame 11 and is slidably connected to both ends of the hanging frame 11. Specifically, the upper side and the side edges of the hanging frame 11 are provided with limiting grooves 111, and the limiting grooves 111 on both sides are provided with sliding blocks 112. The inner side of the sliding frame 131 is provided with a sliding groove 113 corresponding to the position of the sliding block 112, and the sliding frame 131 can slide along the limiting grooves 111 and the sliding blocks 112 on both sides. One end of the first connecting rod 121 near the middle is provided with a bent portion, which is rotatably connected to the hanging frame 11. When the locking structure 12 is in the first state, one end of the first connecting rod 121 will protrude from the side edge of the hanging frame 11. When the locking frame 13 slides downward, it can contact one end of the first connecting rod 121 protruding from the side edge of the hanging frame 11 to drive the first connecting rod 121 to rotate on the hanging frame 11 until the locking structure 12 reaches the second state. Therefore, by tightly adhering the locking frame 13 to the first connecting rod 121 on the outside, the position of the locking structure 12 is locked, ensuring its position stable in the second state.

[0044] Please refer to Figures 1 to 3 , Figure 8 , Figure 9 Preferably, in this embodiment, the unmanned aerial vehicle-based mounting tower anti-falling system further includes an unmanned aerial vehicle mounting device 2, which includes an unmanned aerial vehicle body 21 and a connecting structure 22 connected to the bottom of the unmanned aerial vehicle body 21, one side of which has two clamping portions arranged side by side and capable of relative movement.

[0045] In order to enable the clamping part of the connecting structure 22 to clamp, realize the hitching and dismounting, in some embodiments, the locking frame 13 further comprises a connecting column 132 and a limiting disc 133, one end of the connecting column 132 is connected with the sliding frame 131, the other end is connected with the limiting disc 133 in a sliding manner, the cross-sectional area of the limiting disc 133 is larger than that of the connecting column 132, and the connecting column 132 is a polygonal structure with an even number of edges. The clamping part is designed to firmly clamp the connecting column 132. Since the connecting column 132 has multiple edges, the clamping part can easily clamp the connecting column 132 at multiple positions, thereby improving the connection efficiency. After clamping the connecting column 132, the limiting disc 133 is limited at the top, at which time the UAV body 21 can lift the tower hitching device 1. During the lifting process, the locking frame 13 is pulled downward by the connecting column 132. When the bottom end of the locking frame 13 is separated from the locking structure 12, the locking structure 12 is usually in the second state in the un-hitched state. After hitching, the UAV body 21 is separated from the connecting column 132, allowing the sliding frame 131 to slide downward along the hitching frame 11. When the sliding frame 131 slides downward, it will contact one end of the first connecting rod 121 protruding from the side of the hitching frame 11, thereby driving the first connecting rod 121 to rotate on the hitching frame 11 until the locking structure 12 reaches the second state. In addition, the security rope fixing frame 14 can also be used to assist in pulling the locking frame 13 downward.

[0046] In one embodiment, the connecting structure 22 comprises a mounting box 221, a mounting rod 222, a gas cylinder 223, a driving rod 224, a linkage rod 225, a driving wheel 226, a sliding rack 227, and a clamping plate 228. The mounting box 221 is detachably connected with the UAV body 21 through the mounting rod 222. The gas cylinder 223 is installed on one side of the mounting box 221, and its driving end extends to the inside of the mounting box 221 through the mounting box 221 and is firmly connected with the driving rod 224. The two ends of the driving rod 224 are respectively rotatably connected with one end of two linkage rods 225, and the other end of the linkage rod 225 is connected with the inner wall of the mounting box 221 and the driving wheel 226. The side surface of the driving wheel 226 is provided with teeth, and one side is provided with a sliding rack 227 engaged with the teeth. The axes of the two sliding racks 227 are in a collinear state and are in sliding fit with the mounting box 221. The sliding rack 227 is provided with a clamping plate 228 on one side, and the two clamping plates 228 are arranged side by side, and one end extends to the outside of the mounting box 221.

[0047] In the operation, the extension of the cylinder 223 can push the driving rod 224 to move downwards, and then the end of the two linkage rods 225 connected therewith rotates downwards, and the two driving wheels 226 rotate outward, and the two sliding gears slide in the opposite direction, so that the two clamping plates 228 are away from each other, and the clamping area is expanded, so as to move to the outside of the connecting column 132; when the cylinder 223 contracts, it drives the driving rod 224 to move upwards, and then the end of the two linkage rods 225 connected therewith rotates upwards, and the two driving wheels 226 rotate inward, and the two sliding gears slide towards each other, so that the two clamping plates 228 are close to each other, and the clamping area is reduced, so as to clamp the connecting column 132. After clamping, the unmanned aerial vehicle body 21 can be used to mount and dismount the tower mounting device 1. The design of the clamping mechanism makes the unmanned aerial vehicle have higher flexibility and stability when performing the mounting task. Through the extension and contraction control of the cylinder 223, the opening and closing action of the clamping plate 228 can accurately adapt to connecting columns 132 of different sizes, and ensure that the mounting can be reliably completed in various complex environments.

[0048] The above embodiments are only a plurality of possible implementation manners of the embodiments of the application, and the embodiments of the application are not limited thereto.

[0049] The tower mounting device 1 is characterized in that the bottom of the mounting bracket 11 is designed with an opening area specially used for mounting on the tower 3. In use, the mounting bracket 11 is mounted on the tower 3 through the opening area, and the two locking structures 12 are located on the two sides of the opening area and are rotationally connected with the two ends of the mounting bracket 11. In the initial state, they are downwardly rotated and expanded, can contact and rotate around the tower 3, and automatically adjust the position during the mounting process. After the mounting is completed, the mounting bracket 11 is switched to the second state, and the locking structure 12 is wrapped outside the tower 3 to fix the tower 3. The locking structure 12 is in the expanded state of downward rotation in the initial state, so that the mounting bracket 11 can be easily guided and mounted on the tower 3. This design significantly expands the mounting range of the mounting bracket, so that the installation process can quickly locate the appropriate fixing point, and effectively reduces the installation difficulty.

[0050] The locking bracket 13 is configured to automatically slide down and lock the locking structure 12 when the mounting bracket 11 is installed on the tower 3, so as to ensure the position stability of the locking structure 12 in the second state. This effectively prevents loosening or displacement caused by vibration or other external forces, and further improves the stability and safety of the tower mounting device 1.

[0051] In the description of the present application, it should be noted that the terms "upper" and "lower" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "mounting", "connection" and "connection" should be broadly understood, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] It should be noted that in the present application, relational terms such as "first" and "second" and the like are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0053] The above specific embodiments of the present application do not constitute a limitation on the scope of protection of the present application. Any various other corresponding changes and modifications made in accordance with the technical concept of the present application shall be included in the scope of protection of the claims of the present application.

Claims

1. A UAV-based tower-mounted fall protection system, characterized in that, Includes a tower climbing and hoisting device, wherein the tower climbing and hoisting device includes: A mounting frame, the bottom of which forms an opening area for mounting on a tower; Two locking structures are respectively disposed on both sides of the opening area and rotatably connected to both ends of the scaffolding. Each locking structure has a first state of downward rotation and unfolding or a second state of upward rotation and retraction. In the first state, the locking structure can contact the tower and rotate around it, switching to the second state of being wrapped around the tower when the scaffolding is attached to it. A locking frame, which is slidably disposed on the outside of the scaffolding, is capable of locking the locking structure in the second state position when the scaffolding is attached to the tower. Both of the aforementioned locking structures include a first connecting rod and a second connecting rod arranged perpendicularly to each other; The tower climbing and hanging device also includes a safety rope fixing frame, which includes a fixing frame, an arc-shaped rod, and a connecting buckle. The fixing frame is located on one side of the locking frame. The middle part of the arc-shaped rod is rotatably connected to the fixing frame, and its two ends form a snap-fit ​​end and a pressing end, respectively. The snap-fit ​​end is provided with the connecting buckle, which can snap-fit ​​into the locking frame. The connecting buckle is used to connect to the fall-prevention flexible guide rail. When the locking structure is in the second state, pulling the connecting buckle through the fall-prevention flexible guide rail can cause the snap-fit ​​end of the arc-shaped rod to rotate downward, thereby causing the pressing end to rotate upward and press against the bottom surface of the second connecting rod. The first connecting rod has a bent portion near its center at one end, which is rotatably connected to the gantry frame. When the locking structure is in the first state, one end of the first connecting rod protrudes from the side of the gantry frame. The locking frame includes a sliding frame disposed at the top of the gantry frame, with its two ends slidably connected to the two ends of the gantry frame. When the sliding frame slides downward, it can contact the end of the first connecting rod protruding from the side of the gantry frame, thereby causing the first connecting rod to rotate on the gantry frame until the locking structure reaches the second state. The locking structure also includes a movable rod and a spring. The movable rod is disposed inside the first connecting rod, with one end near the second connecting rod rotatably connected to the center of the first connecting rod, and the other end extending away from the second connecting rod. The two ends of the spring are respectively connected to the first connecting rod and the end of the movable rod away from the second connecting rod. When the locking structure is in the second state, the movable rod will contact the tower on the inside of the first connecting rod, thereby compressing the spring.

2. The UAV-based tower-mounted fall protection system according to claim 1, characterized in that, One end of the first connecting rod is connected to one end of the second connecting rod. One end of the first connecting rod is rotatably connected to the scaffolding via a pivot. When the locking structure is in the first state, the area formed between the first connecting rod and the second connecting rod faces downward. When the locking structure is in the second state, the first connecting rod and the second connecting rod are located on the side and bottom of the tower, respectively.

3. The UAV-based tower-mounted fall protection system according to claim 2, characterized in that, The two locking structures are arranged staggered from each other on both sides of the bracket.

4. The UAV-based tower-mounted fall protection system according to claim 1, characterized in that, A guide ramp is provided on the inner side of the first connecting rod. The guide ramp is located at the end of the movable rod away from the second connecting rod and has an inclined surface for guiding the tower to slide along one side of the first connecting rod toward the inner inclined surface of the movable rod.

5. The UAV-based tower-mounted fall protection system according to claim 1, characterized in that, The locking frame also includes a connecting post and a limiting plate. One end of the connecting post is connected to the sliding frame, and the other end is slidably connected to the limiting plate. The cross-sectional area of ​​the limiting plate is larger than the cross-sectional area of ​​the connecting post. The connecting post has a polygonal structure with an even number of sides.

6. The UAV-based tower-mounted fall protection system according to claim 5, characterized in that, The UAV-based tower climbing fall protection system also includes a UAV mounting device, which includes a UAV body and a connecting structure. The connecting structure is connected to the bottom of the UAV body and has two parallel clamping parts on one side that can move relative to each other for clamping the connecting column.

7. The UAV-based tower-mounted fall protection system according to claim 6, characterized in that, The connection structure includes a mounting box, a mounting rod, a cylinder, a drive rod, a linkage rod, a drive wheel, a sliding rack, and a clamping plate. The mounting box is connected to the UAV body via the mounting rod. The cylinder is mounted on one side of the mounting box, with its drive end extending through the mounting box into its interior and connected to the drive rod. The two ends of the drive rod are respectively connected to one end of two linkage rods, and the other end of the linkage rod is connected to the inner wall of the mounting box and the drive wheel. The drive wheel has teeth on its side, and a sliding rack that meshes with the teeth is mounted on one side. The axes of the two sliding racks are collinear and slide in cooperation with the mounting box. A clamping plate is provided on one side of the sliding rack, and the two clamping plates are arranged side by side, with one end extending to the outside of the mounting box.

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