Unmanned aerial vehicle ground wire hanging and dismounting robot for ultra-high voltage power transmission line

Abstract

The invention provides an ultra-high voltage power transmission line unmanned aerial vehicle ground wire hanging and dismounting robot, and relates to the technical field of power transmission line maintenance equipment. The wire hanging mechanism comprises a first self-locking rod, a first driving mechanism and a wire clamp; the clamping mechanism comprises a second self-locking rod, a second driving mechanism and a clamping jaw; the two self-locking separation mechanisms are installed at the bottom of the unmanned aerial vehicle, and each self-locking separation mechanism comprises a fixed seat, a sliding block, a movable rod, an elastic piece and two holding claws; the first self-locking rod and the second self-locking rod can be inserted into the two self-locking separation mechanisms respectively and continuously push the sliding block twice so that the lower end of the movable rod can reciprocate between the unlocking position and the self-locking position, the lower end of the sliding block can stretch out of and enter the sliding groove, and therefore the two holding claws can be opened and closed. The method has the beneficial effects that the length of the grounding wire can be reduced, and the problem that the load of the unmanned aerial vehicle cannot meet the requirement due to the overlong grounding wire caused by overhigh ultra-high-voltage and extra-high-voltage lines is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line maintenance equipment, and in particular to an unmanned aerial vehicle (UAV) robot for hanging and removing ground wires of an ultra-high voltage transmission line. Background Art

[0002] The grounding wire is an important technical measure to ensure the safety of workers during power outage maintenance of transmission lines. Workers must work within the protection range of the grounding wire. Usually, the grounding wire of ultra-high voltage transmission lines is installed by manually carrying a grounding clamp and climbing to the cross arm. However, this operation has relatively large safety hazards. In addition, manual tower climbing takes a long time and is inefficient. Special tower operations are difficult, which also increases maintenance time and reduces the risk index of operation work.

[0003] At present, there are also attempts to use drones to hang and remove ground wires for power transmission line maintenance. The drone is used to hang the ground wire hanging and removing device (conductor clamp) at the end of the conductor on one of the sub-conductors of the power transmission line to be hung. This method is similar to manual operation. The conductor clamp is suspended by a traction rope carried by the drone. When hanging the conductor clamp, one end of the conductor clamp swings and is not easy to align, making the drone operation more difficult. In addition, the height of the cross arm of the ultra-ultra-high voltage transmission line is often more than 50 meters. If it is connected to the ground, the ground wire is too long, resulting in excessive load on the drone, making it impossible to complete the hanging and removal of the ground wire of the ultra-ultra-high voltage transmission line. Summary of the invention

[0004] In view of this, in order to solve the problem of difficulty in alignment due to the swing of the traction rope when hanging the conductor clamp, an embodiment of the present invention provides an ultra-high voltage transmission line unmanned aerial vehicle hanging and removing grounding wire robot.

[0005] An embodiment of the present invention provides an ultra-high voltage transmission line unmanned aerial vehicle (UAV) ground wire hanging and removing robot, comprising:

[0006] Drones;

[0007] A wire hanging mechanism, comprising a first self-locking rod, a first driving mechanism and a wire clamp, wherein the lower end of the first self-locking rod is connected to the first driving mechanism, and the first driving mechanism is connected to the wire clamp to drive the wire clamp to open and close;

[0008] A clamping mechanism, comprising a second self-locking rod, a second driving mechanism and a clamping claw, wherein the lower end of the second self-locking rod is connected to the second driving mechanism, and the second driving mechanism is connected to the clamping claw to drive the clamping claw to open and close;

[0009] And two self-locking separation mechanisms are respectively installed on the bottom of the drone, each of the self-locking separation mechanisms includes a fixed seat, a sliding block, a movable rod, an elastic member and two claws, the fixed seat is provided with a vertically arranged slide groove, the sliding block is slidably arranged in the slide groove, the upper part of the sliding block is connected to the fixed seat through the elastic member, the two claws are rotatably installed on the lower end of the sliding block, one side of the sliding block is provided with a self-locking groove, the upper end of the movable rod is rotatably connected to the fixed seat, the lower end is inserted into the self-locking groove and can move along the self-locking groove, the self-locking groove is dovetail-shaped, and has an unlocking position and a self-locking position that can lock the lower end of the movable rod;

[0010] Among them, the first self-locking rod and the second self-locking rod can be respectively inserted into the two self-locking separation mechanisms and continuously pushing the sliding block twice can make the lower end of the movable rod reciprocate between the unlocking position and the self-locking position, and make the lower end of the sliding block extend out and enter the sliding groove, so that the two claws open and close.

[0011] Furthermore, the unlocking position and the self-locking position are respectively located at the upper end and the lower end of the vertical center line of the self-locking groove.

[0012] Furthermore, a limiting step is provided in the self-locking groove at the self-locking position, so that when the self-locking groove moves upward, the lower end of the movable rod moves along a predetermined direction.

[0013] Furthermore, a contact block is provided on the fixing seat between the two claws, and the contact block is provided with an arc-shaped contact surface for contacting the first self-locking rod or the second self-locking rod.

[0014] Furthermore, the self-locking separation mechanism also includes a shell, a funnel-shaped guide opening is provided at the bottom of the shell, the fixing seat is installed in the shell, and the lower end of the slide groove is aligned with the upper end of the guide opening.

[0015] Furthermore, the claw is L-shaped and has a semicircular socket at the bottom. The upper end of the first self-locking rod and the upper end of the second self-locking rod are both provided with ball heads. Closing the two claws can close the two sockets, allowing the upper end of the first self-locking rod and the second self-locking rod to be inserted into the two sockets and clamp the ball heads to the lower ends of the two claws.

[0016] Furthermore, the first driving mechanism includes a first box, a first motor, a reel, a driving rope and two clamps, the first motor is installed in the first box, the upper end of the reel is connected to the first motor, and the lower end passes through the bottom surface of the first box, the two clamps are slidably installed on the bottom surface of the first box, the middle part of the driving rope passes around the reel, and the two ends are respectively connected to the two clamps, the first motor can drive the reel to rotate, so that the driving rope pulls the two clamps to close, or releases the two clamps to open.

[0017] Furthermore, the splint is a bent plate, the upper end of the splint is provided with a rotatable sliding shaft, the bottom surface of the first box body is provided with two parallel sliding rails, the two ends of the sliding shaft are slidably arranged on the two sliding rails, and the middle part of the upper end of the splint is provided with a rope hole connected to the driving rope.

[0018] Furthermore, the wire clamp is provided with a first wire installation hole, and the clamping jaw is provided with a second wire installation hole.

[0019] Furthermore, the second driving mechanism includes a second housing, a second motor, a screw rod and a fixed frame, the clamp includes a movable clamp block and a fixed clamp block, the second motor is installed in the second housing, the upper end of the screw rod is connected to the second motor, and the lower end is threadedly connected to the movable clamp block, the fixed clamp block is L-shaped, the fixed frame is installed on the bottom surface of the second housing and connected to the upper end of the fixed clamp block, one side of the movable clamp block is slidably connected to the side surface of the fixed clamp block, and the movable clamp block is opposite to the fixed clamp block in upper and lower directions.

[0020] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention are:

[0021] 1. An ultra-high voltage transmission line drone grounding wire hanging and removing robot of the present invention respectively carries a hanging wire mechanism and a clamping mechanism through two self-locking separation mechanisms carried by the drone. The hanging wire mechanism is used to clamp the transmission line so that the conductor and the transmission line are hung together. The clamping mechanism is used to clamp the cross arm of the transmission line tower. The transmission line tower is used for grounding. Compared with the solution of directly using the grounding wire for grounding, the length of the grounding wire can be reduced, thereby solving the problem that the grounding wire is too long due to the excessive height of the ultra-high and ultra-high voltage lines and the drone load cannot meet the requirements.

[0022] 2. The present invention relates to an ultra-high voltage transmission line unmanned aerial vehicle grounding wire hanging and removing robot, a self-locking separation mechanism carried by the unmanned aerial vehicle cooperates with the first self-locking rod of the hanging wire mechanism, the hanging wire mechanism and the self-locking separation mechanism are locked when the hanging wire mechanism is transported, and the hanging wire mechanism is separated from the self-locking separation mechanism after the hanging wire mechanism clamps the transmission line; another self-locking separation mechanism carried by the unmanned aerial vehicle cooperates with the second self-locking rod of the clamping mechanism, the clamping mechanism and the self-locking separation mechanism are locked when the clamping mechanism is transported, and the clamping mechanism is separated from the self-locking separation mechanism after the clamping mechanism clamps the cross arm of the transmission line tower, thereby realizing fast and accurate hanging and removing of the grounding wire, solving the problems of difficulty, time and labor consumption in hanging the grounding wire of ultra- and ultra-high voltage transmission lines, and reducing the danger of high-altitude operations.

[0023] 3. The UAV hanging and removing grounding wire robot of the ultra-ultra-high voltage transmission line of the present invention and the clamping mechanism can replace manual operation, and can also ensure long-term use without supervision and be stable and safe, thereby improving operation efficiency and reducing labor, and having extremely high economic benefits and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of a wire hanging mechanism of a robot for hanging and removing ground wires of an ultra-high voltage transmission line by an unmanned aerial vehicle according to the present invention;

[0025] Figure 2 It is a partial schematic diagram of the wire hanging mechanism;

[0026] Figure 3 It is a schematic diagram of a clamping mechanism of a robot for hanging and removing ground wires of an ultra-high voltage transmission line by an unmanned aerial vehicle according to the present invention;

[0027] Figure 4 It is a schematic diagram of a self-locking separation mechanism of a robot for hanging and removing ground wires of an ultra-high voltage transmission line unmanned aerial vehicle according to the present invention;

[0028] Figure 5 It is an exploded view of the self-locking separation mechanism;

[0029] Figure 6 It is the installation diagram of the fixed seat and the sliding block;

[0030] Figure 7 This is an exploded diagram of the slider.

[0031] In the figure: 1. hanging wire mechanism; 101. first self-locking rod; 102. reel; 103. clamping plate; 104. slide rail; 105. connecting ear; 106. sliding shaft; 107. rope hole; 108. extrusion surface; 109. first wire installation hole; 110. first box; 2. clamping mechanism; 201. second self-locking rod; 202. second box; 203. second motor; 204. screw rod; 205. fixing frame; 206. 6. movable clamping block; 207. fixed clamping block; 208. coupling; 209. second wire mounting hole; 3. self-locking separation mechanism; 301. right shell; 302. left shell; 303. guide port; 304. fixed seat; 305. cover plate; 306. claw; 307. sliding block; 308. slide groove; 309. movable rod; 310. self-locking groove; 311. elastic member; 312. contact block; 313. socket. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in conjunction with the accompanying drawings. The following is a preferred embodiment of the present invention, which is intended to provide a basic understanding of the present invention, but is not intended to confirm the key or decisive elements of the present invention or to limit the scope of protection.

[0033] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0034] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0035] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0036] In the description of the present invention, it should be noted that the circuits, electronic components and modules involved in the present invention are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to the internal structure and methods.

[0037] It should be further explained that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Please refer to Figure 1 , 3 4, an embodiment of the present invention provides an ultra-high voltage transmission line drone ground wire hanging and removing robot, which mainly includes a drone (not shown in the figure), a hanging wire mechanism 1, a clamping mechanism 2 and two self-locking separation mechanisms 3. The two self-locking separation mechanisms 3 are fixedly installed at the bottom of the drone, and the drone is detachably connected to the hanging wire mechanism 1 and the clamping mechanism 2 through the two self-locking separation mechanisms 3.

[0039] like Figure 1 and 2 As shown, the wire hanging mechanism 1 is used to hang one end of the grounding wire on the transmission line. The wire hanging mechanism 1 mainly includes a first self-locking rod 101, a first driving mechanism and a wire clamp, the lower end of the first self-locking rod 101 is connected to the first driving mechanism, and the first driving mechanism is connected to the wire clamp to drive the wire clamp to open and close.

[0040] Specifically, the first driving mechanism includes a first box 110, a first motor, a reel 102, a driving rope and two clamps 103. The first self-locking rod 101 is installed on the top of the first box 110 and extends vertically upward. The first motor is installed in the first box 110, and the output shaft is vertically arranged downward. The reel 102 is arranged vertically, and the upper end is connected to the output shaft of the first motor, and the lower end passes through the bottom surface of the first box 110.

[0041] The two clamping plates 103 are slidably mounted on the bottom surface of the first box body 110, the middle of the driving rope passes around the reel 102, and the two ends are respectively connected to the two clamping plates 103. Here, the clamping plate 103 is a bent plate, and a connecting ear 105 is provided on the inner side of the clamping plate 103, and the connecting ears 105 of the two clamping plates 103 are connected by a rotating shaft.

[0042] The upper end of the clamping plate 103 is provided with a rotatable sliding shaft 106, and the bottom surface of the first box body 110 is provided with two parallel sliding rails 104, and the two ends of the sliding shaft 106 are slidably arranged on the two sliding rails 104. The middle part of the upper end of the clamping plate 103 is provided with a rope hole 107 connected to the driving rope. The rope hole 107 is U-shaped, and the driving rope passes through and connects to the sliding shaft 106.

[0043] In this way, the first motor can drive the reel 102 to rotate, and the reel 102 rotates forward and reversely, respectively driving the reel 102 to wind or release the drive rope. When the drive rope is wound, its two ends respectively pull the sliding shaft 106 to slide on the two slide rails 104, so that the two sliding shafts 106 are relatively close and the two clamps 103 are closed. The closing of the two clamps 103 can clamp the power line, so that the wire hanging mechanism 1 is clamped and fixed on the power line. In order to enable the two clamps 103 to stably clamp the power line, an arc-shaped extrusion surface 108 is also provided in the middle of the clamp 103. When the two clamps 103 are closed, the extrusion surfaces 108 of the two clamps 103 can clamp power lines of different diameters.

[0044] When the driving rope is released, the two ends thereof loosen the two sliding shafts 106 respectively, the two sliding shafts 106 are relatively spread apart, and the two clamping plates 103 are opened, so that the power transmission line can be released, thereby separating the wire hanging mechanism 1 from the power transmission line.

[0045] like Figure 3 As shown, the clamping mechanism 2 is used to hang the other end of the grounding wire on the cross arm of the transmission line tower. The clamping mechanism 2 mainly includes a second self-locking rod 201, a second driving mechanism and a clamping claw. The lower end of the second self-locking rod 201 is connected to the second driving mechanism, and the second driving mechanism is connected to the clamping claw to drive the clamping claw to open and close.

[0046] Specifically, the second driving mechanism includes a second housing 202, a second motor 203, a screw rod 204 and a fixing frame 205, and the clamp includes a movable clamp block 206 and a fixed clamp block 207. The second self-locking rod 201 is fixedly installed on the top of the second housing 202 and extends vertically upward. The second motor 203 is installed in the second housing 202, and the output shaft of the second motor 203 is vertically arranged downward and passes through the bottom surface of the second housing 202. The upper end of the screw rod 204 is connected to the output shaft of the second motor 203 through a coupling 208, and the lower end is threadedly connected to the movable clamp block 206. The fixed clamp block 207 is L-shaped, and the fixing frame 205 is installed on the bottom surface of the second housing 202 and connected to the upper end of the fixed clamp block 207. One side of the movable clamp block 206 is slidably connected to the side of the fixed clamp block 207, and the movable clamp block 206 is opposite to the fixed clamp block 207 up and down.

[0047] The second motor 203 can drive the screw rod 204 to rotate, thereby driving the movable clamping block 206 to move vertically, so that the movable clamping block 206 approaches or moves away from the fixed clamping block 207, thereby opening and closing the clamping jaws.

[0048] In some embodiments, the wire clamp is provided with a first wire installation hole 109, the clamping jaw is provided with a second wire installation hole 209, the first wire installation hole 109 on the wire hanging mechanism 1 is provided at the lower end of the clamping plate 103, and the second wire installation hole 209 on the clamping mechanism 2 is provided on the side of the fixed clamping block 207. The wire hanging mechanism 1 and the clamping mechanism 2 can respectively install the grounding wire through the first wire installation hole 109 and the second guide installation hole. The two ends of the grounding wire are respectively installed on the wire hanging mechanism 1 and the clamping mechanism 2.

[0049] Combination Figure 4 , 5 As shown in , 6 and 7, the drone can carry the two self-locking separation mechanisms 3 for movement, and can respectively cooperate with the first self-locking rod 101 and the second self-locking rod 201 through the two self-locking separation mechanisms 3 to achieve docking or separation with the hanging mechanism 1 and the clamping mechanism 2.

[0050] Specifically, each of the self-locking separation mechanisms 3 includes a fixed seat 304, a sliding block 307, a movable rod 309, an elastic member 311 and two claws 306. The fixed seat 304 is provided with a vertically arranged slide groove 308, and the sliding block 307 is slidably arranged in the slide groove 308. The shape of the sliding block 307 is adapted to the shape of the slide groove 308, so that the sliding block 307 is embedded in the slide groove 308 and can slide vertically. In this embodiment, the slide groove 308 can be set as a rectangular groove, and the sliding block 307 is approximately a rectangular block.

[0051] The upper part of the sliding block 307 is connected to the fixed seat 304 through the elastic member 311. The elastic member 311 is generally a spring, which is vertically arranged, with the upper end fixedly connected to the top surface of the slide slot 308 and the lower end fixedly connected to the sliding block 307. The two claws 306 are rotatably mounted on the lower end of the sliding block 307, and a self-locking groove 310 is provided on one side of the sliding block 307. The upper end of the movable rod 309 is rotatably connected to the fixed seat 304, and the lower end is inserted into the self-locking groove 310 and can move along the self-locking groove 310.

[0052] The self-locking groove 310 is dovetail-shaped and has an unlocking position A and a self-locking position B for locking the lower end of the movable rod 309. The movable rod 309 is a U-shaped rod, the middle of which is vertically arranged and parallel to the sliding block 307. The upper end of the movable rod 309 is rotatably connected to the upper part of the sliding groove 308, and the lower end extends into the self-locking groove 310 and can move in the self-locking groove 310.

[0053] The unlocking position A and the self-locking position B are respectively located at the upper end and the lower end of the vertical center line of the self-locking groove 310. When the lower end of the movable rod 309 moves to the unlocking position A and the self-locking position B, it can hook the self-locking groove 310, thereby being in a locked state. The sliding block 307 moves upward once, so that the lower end of the movable rod 309 moves along the self-locking groove 310 from the unlocking position A to the self-locking position B, and at the same time, the two clamping jaws are relatively closed, and the upper part enters the lower end of the slide groove 308.

[0054] Alternatively, the self-locking position B is moved to the unlocking position A, and at the same time, the upper parts of the two claws 306 leave the lower end of the sliding groove 308 and the two claws 306 are relatively opened.

[0055] In order to make the lower end of the movable rod 309 move in the self-locking groove 310 along a predetermined direction, a limiting step is provided in the self-locking groove 310 at the self-locking position B, so that when the self-locking groove 310 moves upward, the lower end of the movable rod 309 moves in the predetermined direction. In this embodiment, the limiting step is higher on the left side and lower on the right side, so that the lower end of the movable rod 309 can move in the counterclockwise direction.

[0056] The self-locking separation mechanism 3 also includes a shell, the bottom of which is provided with a funnel-shaped guide opening 303, the fixed seat 304 is installed in the shell, and the lower end of the slide slot 308 is aligned with the upper end of the guide opening 303. As described in this embodiment, the shell includes a left shell 302 and a right shell 301, the left side of the right shell 301 is provided with a mounting groove, and one side of the fixed seat 304 is provided with an openable cover plate 305, and the cover plate 305 covers the slide slot 308. The fixed seat 304 is installed in the mounting groove, and the left shell 302 is fixedly connected to the right shell 301, so that the fixed seat 304 is installed in the shell, and the guide opening 303 is set at the bottom of the right shell 301. The upper end of the first self-locking rod 101 or the upper end of the second self-locking rod 201 is first inserted into the guide opening 303, and under the guiding effect of the guide opening 303, it can be accurately inserted into the fixed seat 304 and abut against the sliding block 307.

[0057] In some embodiments, a contact block 312 is provided on the fixing seat 304 between the two claws 306 , and the contact block 312 is provided with an arc-shaped contact surface to contact the first self-locking rod 101 or the second self-locking rod 201 .

[0058] In some other embodiments, the claw 306 is L-shaped and has a semicircular socket 313 at the bottom. The upper end of the first self-locking rod 101 and the upper end of the second self-locking rod 201 are both provided with a ball head. Closing the two claws 306 can close the two sockets 313, allowing the upper end of the first self-locking rod 101 and the second self-locking rod 201 to be inserted into the two sockets 313 and clamp the ball head to the lower ends of the two claws 306.

[0059] The first self-locking rod 101 and the second self-locking rod 201 can be respectively inserted into the two self-locking separation mechanisms 3 and continuously push the sliding block 307 twice to make the lower end of the movable rod 309 reciprocate between the unlocking position A and the self-locking position B, and make the lower end of the sliding block 307 extend out and enter the sliding groove 308, so that the two claws 306 are opened and closed. The opening and closing of the two claws 306 can lock or release the first self-locking rod 101 and the second self-locking rod 201, thereby realizing the docking or separation of the two self-locking separation mechanisms 3 with the hanging mechanism 1 and the clamping mechanism 2.

[0060] The working process of the UAV hanging and removing grounding wire robot for an ultra-high voltage transmission line of the present invention for hanging and removing the grounding wire of the transmission line is as follows:

[0061] Hanging wire of ground conductor:

[0062] First, the first self-locking rod 101 of the hanging wire mechanism 1 and the second self-locking rod 201 of the clamping mechanism 2 are respectively inserted into the two self-locking separation mechanisms 3 at the bottom of the drone, so that the first self-locking rod 101 and the second self-locking rod 201 are pressed against the sliding block 307, and the sliding block 307 is pushed to move upward, driving the lower end of the movable rod 309 to move from the unlocking position A to the self-locking position B along the self-locking groove 310, and at the same time, the two claws 306 are relatively closed, the first self-locking rod 101 and the second self-locking rod 201 are locked, the hanging wire mechanism 1 and the clamping mechanism 2 are respectively connected to the two self-locking separation mechanisms 3, and the two ends of the grounding wire are respectively installed on the hanging wire mechanism 1 and the clamping mechanism 2;

[0063] Then, the drone is controlled to fly above the power transmission line to be repaired, so that the power transmission line enters the wire clamp, the first motor is controlled to rotate, and the driving rope is driven to pull the wire clamp to close and clamp the power transmission line, so that the wire hanging mechanism 1 is fixed to the power transmission line; then the drone moves downward to press the self-locking separation mechanism 3 relative to the wire hanging mechanism 1 once, and the first self-locking rod 101 pushes the sliding block 307 to move so that the lower end of the movable rod 309 moves from the self-locking position B to the unlocking position A along the self-locking groove 310, and the two claws 306 open to release the first self-locking rod 101, and the wire hanging mechanism 1 is separated;

[0064] Finally, the drone is controlled to fly above the crossarm of the transmission line tower to be used, so that the crossarm enters the clamp, and the second motor 203 is controlled to rotate, driving the screw 204 to rotate, driving the clamp to close and clamp the crossarm, so that the clamping mechanism 2 is fixed to the crossarm; then, the drone moves downward to press the self-locking separation mechanism 3 relative to the clamping mechanism 2 once, and the second self-locking rod 201 pushes the sliding block 307 to move so that the lower end of the movable rod 309 moves along the self-locking groove 310 from the self-locking position B to the unlocking position A, and the two claws 306 open to release the second self-locking rod 201, and the clamping mechanism 2 is separated.

[0065] In this way, the grounding wire is hung between the transmission line and the cross arm, and is grounded by the transmission line tower, so that it can be used for a long time without supervision during the maintenance of the transmission line.

[0066] The process of removing the grounding wire is opposite to the process of hanging the grounding wire, as follows:

[0067] First, the drone is controlled to fly above the power transmission line to be repaired, so that the upper end of the first self-locking rod 101 of the wire hanging mechanism 1 is inserted into the self-locking separation mechanism 3, so that the wire hanging mechanism 1 is docked with the self-locking separation mechanism 3, and then the first motor is controlled to rotate, and the wire clamp opens to release the power transmission line;

[0068] Then, the drone is controlled to fly above the cross arm of the transmission line tower to be held, so that the upper end of the second self-locking rod 201 of the clamping mechanism 2 is inserted into the other self-locking separation mechanism 3, so that the clamping mechanism 2 is docked with the other self-locking separation mechanism 3; then, the second motor 203 is controlled to rotate, and the clamping claw opens to release the cross arm;

[0069] Finally, the drone flies back and brings back the used grounding wire through the wire hanging mechanism 1 and the clamping mechanism 2.

[0070] In this article, the directional words such as front, back, top, and bottom involved are defined by the positions of the parts in the drawings and the positions of the parts relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly according to different ways of use and placement, and the use of the directional words should not limit the scope of protection claimed in this application.

[0071] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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.

Claims

1. A UAV ground wire hanging and removing robot for ultra-high voltage transmission lines, characterized in that: include: Drones; A wire hanging mechanism, comprising a first self-locking rod, a first driving mechanism and a wire clamp, wherein the lower end of the first self-locking rod is connected to the first driving mechanism, and the first driving mechanism is connected to the wire clamp to drive the wire clamp to open and close; A clamping mechanism, comprising a second self-locking rod, a second driving mechanism and a clamping claw, wherein the lower end of the second self-locking rod is connected to the second driving mechanism, and the second driving mechanism is connected to the clamping claw to drive the clamping claw to open and close; And two self-locking separation mechanisms are respectively installed on the bottom of the drone, each of the self-locking separation mechanisms includes a fixed seat, a sliding block, a movable rod, an elastic member and two claws, the fixed seat is provided with a vertically arranged slide groove, the sliding block is slidably arranged in the slide groove, the upper part of the sliding block is connected to the fixed seat through the elastic member, the two claws are rotatably installed on the lower end of the sliding block, one side of the sliding block is provided with a self-locking groove, the upper end of the movable rod is rotatably connected to the fixed seat, the lower end is inserted into the self-locking groove and can move along the self-locking groove, the self-locking groove is dovetail-shaped, and has an unlocking position and a self-locking position that can lock the lower end of the movable rod; Among them, the first self-locking rod and the second self-locking rod can be respectively inserted into the two self-locking separation mechanisms and continuously pushing the sliding block twice can make the lower end of the movable rod reciprocate between the unlocking position and the self-locking position, and make the lower end of the sliding block extend out and enter the sliding groove, so that the two claws open and close.

2. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 1, characterized in that: The unlocking position and the self-locking position are respectively located at the upper end and the lower end of the vertical center line of the self-locking groove.

3. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 2, characterized in that: A limiting step is provided in the self-locking groove at the self-locking position, so that the lower end of the movable rod moves along a predetermined direction when the self-locking groove moves upward.

4. A UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to any one of claims 1 to 3, characterized in that: A contact block is provided on the fixing seat between the two claws, and the contact block is provided with an arc-shaped contact surface for contacting the first self-locking rod or the second self-locking rod.

5. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to any one of claims 1 to 3, characterized in that: The self-locking separation mechanism also includes a shell, a funnel-shaped guide opening is provided at the bottom of the shell, the fixing seat is installed in the shell, and the lower end of the slide groove is aligned with the upper end of the guide opening.

6. An UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to any one of claims 1 to 3, characterized in that: The claw is L-shaped and has a semicircular socket at the bottom. The upper end of the first self-locking rod and the upper end of the second self-locking rod are both provided with ball heads. Closing the two claws can close the two sockets, allowing the upper end of the first self-locking rod and the second self-locking rod to be inserted into the two sockets and clamp the ball heads to the lower ends of the two claws.

7. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 1, characterized in that: The first driving mechanism includes a first box, a first motor, a reel, a driving rope and two clamps. The first motor is installed in the first box. The upper end of the reel is connected to the first motor, and the lower end passes through the bottom surface of the first box. The two clamps are slidably installed on the bottom surface of the first box. The middle part of the driving rope passes around the reel, and the two ends are respectively connected to the two clamps. The first motor can drive the reel to rotate, so that the driving rope pulls the two clamps to close, or releases the two clamps to open.

8. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 7, characterized in that: The splint is a bent plate, the upper end of the splint is provided with a rotatable sliding shaft, the bottom surface of the first box body is provided with two parallel sliding rails, the two ends of the sliding shaft are slidably arranged on the two sliding rails, and the middle part of the upper end of the splint is provided with a rope hole connected with the driving rope.

9. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 1, characterized in that: The wire clamp is provided with a first wire installation hole, and the clamping jaw is provided with a second wire installation hole.

10. The UAV ground wire hanging and removing robot for ultra-high voltage transmission line according to claim 1, characterized in that: The second driving mechanism includes a second box, a second motor, a screw rod and a fixed frame, the clamp includes a movable clamp block and a fixed clamp block, the second motor is installed in the second box, the upper end of the screw rod is connected to the second motor, and the lower end is threadedly connected to the movable clamp block, the fixed clamp block is L-shaped, the fixed frame is installed on the bottom surface of the second box and connected to the upper end of the fixed clamp block, one side of the movable clamp block is slidably connected to the side surface of the fixed clamp block, and the movable clamp block is opposite to the fixed clamp block in upper and lower directions.

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