Unmanned aerial vehicle hanging and dismounting device for transformer substation grounding wire

Abstract

The invention provides an unmanned aerial vehicle hanging and detaching device for a transformer substation grounding wire. The unmanned aerial vehicle hanging and detaching device comprises a mechanical claw and an unmanned aerial vehicle connecting carrier for connecting the mechanical claw and an unmanned aerial vehicle. The mechanical claw comprises a first clamping arm and a second clamping arm, and a wire hanging groove is formed between the first clamping arm and the second clamping arm; the front outer side and the rear outer side of the top end of the wire hanging groove are each provided with a lock catch, and an opening and closing control unit used for controlling the two lock catches to be opened and closed synchronously is arranged in the mechanical claw. A guide arm is hinged to the bottom end of the first clamping arm, a ground wire connector is fixedly arranged at the bottom end of the second clamping arm, and a carrier hanging connector is fixedly arranged at the top end of the second clamping arm. The mechanical claw, the ground wire connector and the carrier hanging head are located on the same plane, and the ground wire connector and the carrier hanging head are located on the same side of the second clamping arm. The bottom end, connected with the carrier, of the unmanned aerial vehicle is detachably connected with the carrier hanging connector. The mechanical claw with a single guide structure is connected with the grounding wire, so that the grounding wire can be conveniently hung and fixed on a line.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage power transmission line maintenance, and in particular to a substation grounding wire unmanned aerial vehicle mounting and dismantling device. Background Art

[0002] When the 500kV transmission line is shut down for maintenance, when the line switch or grounding switch is overhauled, or when the line lightning arrester is replaced, grounding wires should be installed on all three phases on both sides of the line to prevent electric shock accidents caused by induced voltage; before power is supplied, the grounding wires should be removed. In recent years, with economic development, the number of substations has increased rapidly, and the workload of equipment maintenance has increased dramatically. The number of times the 500kV grounding wires are hung and removed is high and time-consuming, which seriously affects the progress of the switching operation. At present, the substation uses an aerial work vehicle to hang and remove the 500kV grounding wire, and the substation operation and maintenance personnel perform the hanging and removal by aerial work. The average operation time for hanging and removing the three-phase grounding wire is 64.4 minutes and 63.9 minutes respectively, and the shortest time for hanging and removing the three-phase grounding wire is 56 minutes and 58 minutes respectively.

[0003] like Figure 1 The figure shows a schematic diagram of the structure of the existing UAV grounding wire hanging and removing device in the field of power transmission. The device mainly includes three parts: A: the first part, the UAV; B: the second part, the UAV connection vehicle; C: the third part, the mechanical claw auxiliary hanging structure. The UAV connection vehicle includes a connecting soft rope and a decoupling device. The decoupling device uses a self-locking tongue-like mechanical structure to ensure that the decoupling device can achieve self-locking on the mechanical structure after connecting the mechanical claw, so that the mechanical claw will not be separated from the decoupling device. The mechanical claw is a double guide claw with a symmetrical structure. The locking buckle is closed to hold the line to prevent it from falling off. The grounding wire connection end and the UAV hanging end are both set at the top of the double guide claw, that is, the grounding wire is connected to the top of the mechanical claw, and the UAV hanging end at the top of the mechanical claw is lifted with a connecting soft rope. When the UAV is hanging the grounding wire, it is connected to the mechanical claw through the connecting soft rope; when removing the grounding wire, the UAV is connected to the decoupling device through the connecting soft rope, and the UAV removes the mechanical claw with the decoupling device.

[0004] However, in the field of power transmission, the grounding wire is connected to the top of the tower and the other end is connected to the line. The average length of the grounding wire is 10m; while in the field of 500kV substation, the grounding wire is connected to the substation grounding pile and the other end is connected to the line. The average length of the grounding wire is 30m. There is a huge difference in the length of the grounding wire in the two fields, and the substation grounding wire is heavier. Therefore, the existing transmission field drone grounding wire hanging and removing device is used to hang the substation grounding wire. In the specific operation, many problems are found: (a) The mechanical claw of this double-guide claw structure is easy to tilt, and the tilt angle is large, up to about 90 degrees, so it is difficult for the line to enter the mechanical claw; (b) When hanging the ground wire, the connecting soft rope is connected to the mechanical claw. Affected by environmental factors such as wind speed, the mechanical claw is prone to large rotation, and the maximum rotation angle reaches 360 degrees; (c) When removing the ground wire, the unhooker is easy to hang by mistake, and the probability of mistakenly hanging the line is relatively high (25%).

[0005] In short, using the existing transmission field drone hanging and removing grounding wire device to hang and remove the grounding wire of 500kV substation takes a long time and there is a risk of misoperation, which is difficult to meet the work requirements of improving quality and efficiency. Therefore, it is urgent to develop a drone hanging and removing device suitable for substation grounding wires to achieve rapid hanging and removing of three-phase grounding wires. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a substation grounding wire drone hanging and removing device in view of the deficiencies in the prior art.

[0007] To solve the above technical problems, the present invention includes:

[0008] A substation grounding wire drone hanging and disassembly device, comprising a drone connection vehicle and a mechanical claw; the mechanical claw comprises a first clamp arm and a second clamp arm distributed on the left and right, and a wire hanging groove is formed between the first clamp arm and the second clamp arm; a lock is respectively arranged on the front and rear outer sides of the top of the wire hanging groove, and an opening and closing control unit for controlling the synchronous opening and closing of the two locks is arranged inside the mechanical claw; a guide arm is hinged at the bottom end of the first clamp arm, a grounding wire connector for connecting the grounding wire is fixedly arranged at the bottom end of the second clamp arm, and a vehicle hanging joint is fixedly arranged at the top end of the second clamp arm; the mechanical claw, the grounding wire connector and the vehicle hanging joint are located on the same plane, and the grounding wire connector and the vehicle hanging joint are both located on the same side of the second clamp arm; the top end of the drone connection vehicle is used to connect the drone, and the bottom end of the drone connection vehicle is connected to the vehicle hanging joint in a detachable manner to release and grasp the mechanical claw.

[0009] Furthermore, the mechanical claw also includes a cross arm fixedly arranged at the top of the first clamp arm and the second clamp arm; the mechanical claw is a hollow structure, and the opening and closing control unit includes an opening and closing motor fixedly arranged in the first clamp arm and a first wireless communication module and an opening and closing control module fixedly arranged in the cross arm, and the output shaft of the opening and closing motor is connected to one end of the two locks through a transmission mechanism, and the other end of the two locks is a free end; the opening and closing control module is respectively connected to the first wireless communication module and the opening and closing motor.

[0010] Furthermore, a guide rod extending upward is fixedly provided on the top of the vehicle hanging joint, and a clamping joint is fixedly provided on the top of the guide rod for connecting with the drone connecting vehicle in a clamping manner; a plug joint is fixedly provided on the bottom end of the guide rod; the lower end of the plug joint is square inside and outside, and the two relative outer walls of the lower end are fixedly connected to the two relative outer walls of the vehicle hanging joint by a buckle respectively.

[0011] Furthermore, a docking post is fixedly provided inside the lower end of the plug connector, and an inwardly retracted square platform is fixedly provided on the top of the carrier hanging connector. The shape of the square platform is adapted to the internal shape of the lower end of the plug connector, and a docking hole is provided on the top of the square platform for the docking post to be inserted into.

[0012] Furthermore, the drone connection vehicle includes a connecting rod, a vehicle support frame and an umbrella-shaped grasping mechanism that are fixedly connected in sequence from top to bottom; the umbrella-shaped grasping mechanism includes a supporting sleeve and an umbrella-shaped body that are coaxial and connected up and down, and the top of the supporting sleeve is fixed to the bottom of the vehicle support frame; the clamping joint of the guide rod is inserted into the supporting sleeve through the umbrella-shaped body, and a clamping mechanism for retracting and extending the clamping joint is provided in the supporting sleeve; a retracting and extending control unit for controlling the action of the clamping mechanism is provided inside the vehicle support frame.

[0013] Furthermore, a gap is left between the bottom of the support sleeve and the top of the umbrella-shaped body; the umbrella-shaped body is a truncated cone structure, and a plurality of ribs are fixedly arranged on the outer surface of the umbrella-shaped body and along its generatrix; a plurality of support seats are fixedly arranged on the outer wall of the bottom end of the support sleeve, and the support seats include a first plate and a second plate both in contact with the outer wall of the support sleeve, and the first plate is arranged along the axial direction of the support sleeve, and the second plate is perpendicular to the axial direction of the support sleeve; the bottom end of the first plate has a first convex plate extending outward, the top end of the first plate is fixedly connected to one end of the second plate, and the other end of the second plate has a second convex plate extending outward; the top end of the rib is an L-shaped structure in which the umbrella-shaped body is first bent upward and then inward, and the bottom end of the L-shaped structure also has a third convex plate extending outward, the L-shaped structure is located between the first convex plate and the second convex plate of the corresponding support seat, and the middle part of the L-shaped structure is hinged on the first convex plate by a second pin shaft, and the third convex plate is connected to the second convex plate by a spring.

[0014] Furthermore, the outer dimensions of the clamping joint are larger than those of the guide rod, and the bottom of the support sleeve has a circular support plate, and the clamping mechanism includes a locking block uniformly arranged on the support plate along the circumference thereof and a toggle block rotatably arranged in the support sleeve and in the shape of a circular ring, one end of the locking block is hinged to the support plate through a first pin shaft, and an arc-shaped slide groove is provided on the locking block, and a plurality of toggle rods are uniformly fixedly arranged along the circumference of the bottom of the toggle block, the number of the toggle rods is consistent with the number of the locking blocks, and each toggle rod is slidably inserted in the corresponding slide groove; an inverted U-shaped toggle frame is fixedly arranged on the top of the toggle block; the retractable and retractable control unit includes a retractable and retractable motor fixedly arranged in the carrier support frame, and the output shaft of the retractable and retractable motor is connected to the top of the toggle frame through a transmission mechanism.

[0015] Furthermore, the retractable control unit also includes a battery module, a second wireless communication module and a retractable control module arranged inside the carrier support frame, and the retractable control module is respectively connected to the second wireless communication module and the retractable motor, and the battery module is used to power the retractable control unit and the opening and closing control unit.

[0016] Furthermore, a pair of support columns are fixedly provided at the bottom of the carrier support frame, and the toggle frame is located between the left and right support columns; a power connector is fixedly provided in the middle of the top of the card connector, and a docking groove is provided in the middle of the top of the power connector; a support beam is fixedly provided between the left and right support columns, and a docking block matching the docking groove is provided in the middle of the support beam; a power connection contact is provided on the docking block, and the power connection contact is connected to the battery module through a first wire, and a power receiving contact is provided on the power connector, and the power receiving contact is connected to the opening and closing motor and the opening and closing control unit through a second wire; when the docking block is inserted into the docking groove, the power connection contact contacts with the power receiving contact.

[0017] Furthermore, the connecting rod includes an upper rod and a lower rod; a first connecting head is fixedly provided on the top of the carrier support frame, the bottom end of the lower rod is sleeved on the first connecting head, and the two are fixedly connected by a first spring-type locking pin; a U-shaped first hinge seat is fixedly provided on the top of the lower rod, and a second connecting head is hinged on the first hinge seat through a third pin shaft; the bottom end of the upper rod is sleeved on the second connecting head, and the two are fixedly connected by a second spring-type locking pin; a U-shaped second hinge seat is fixedly provided on the top of the upper rod, and a third connecting head is hinged on the second hinge seat through a fourth pin shaft; an I-shaped plug-in block is fixedly provided on the top of the third connecting head.

[0018] The beneficial effects of the present invention are:

[0019] The present invention adopts a mechanical claw with a single guide structure to connect the ground wire, which is convenient for hanging and fixing the ground wire to the line, solving the problem of the device tilting due to uneven force. After the mechanical claw is carried to the line location by the drone, the lock on the mechanical claw is opened and closed by the ground controller to ensure that the connection between the line and the terminal is tight; the drone connection vehicle can release and capture the connection mechanical claw, hang and remove the mechanical claw, and completely eliminate the risk of accidentally hanging the wire. The hard connection between the mechanical claw and the drone connection vehicle solves the problem of the device being affected by environmental factors such as wind speed. The connection and separation of the drone connection vehicle and the mechanical claw are controlled by the ground controller.

[0020] The substation grounding wire drone hanging and removing device of the present invention is suitable for the grounding wire hanging and removing work of the substation. Compared with the traditional grounding wire hanging and removing method, the operation time is greatly shortened, and the time is reduced to 16 minutes, thereby improving the reliability of social electricity use, avoiding the safety risks brought by the use of aerial work vehicles, and solving the problems of few people with aerial work certificates and high difficulty in work allocation, saving personnel and reducing the physical labor of operation and maintenance personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a device for hanging and removing ground wires by a drone in the field of power transmission in the prior art;

[0022] Figure 2 It is a schematic diagram of the substation grounding wire drone mounting and dismantling device of the present invention;

[0023] Figure 3 It is a schematic diagram of the overall structure of the substation grounding wire drone mounting and dismantling device of the present invention;

[0024] Figure 4 It is a schematic diagram of the overall structure of the mechanical claw of the present invention;

[0025] Figure 5 is a schematic diagram of the three-dimensional structure of the mechanical claw of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the guide rod of the present invention;

[0027] Figure 7 It is a structural schematic diagram of the carrier hook joint of the present invention;

[0028] Figure 8 It is a schematic diagram of the overall structure of the drone connected to the vehicle of the present invention;

[0029] Fig. 9 This is a schematic diagram of the connection between the guide rod and the UAV connection vehicle of the present invention;

[0030] Fig.10 This is a bottom view of the connection between the guide rod and the UAV connection carrier of the present invention;

[0031] Fig.11 It is a structural schematic diagram of the umbrella-shaped grasping mechanism of the present invention;

[0032] Fig.12 This is a partial enlarged view of the upper connection of the umbrella rib of the present invention;

[0033] Fig.13 It is a schematic diagram of the internal structure of the support sleeve of the present invention;

[0034] Fig.14 It is a schematic diagram of the clamping state of the guide rod and the clamping mechanism of the present invention;

[0035] Fig.15 It is a schematic diagram of the connection state of the clamping mechanism of the present invention;

[0036] Fig.16 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0037] Fig.17 It is a schematic diagram of the lower rod structure of the connecting rod of the present invention;

[0038] Fig.18 It is a schematic diagram of the upper rod structure of the connecting rod of the present invention;

[0039] Fig.19 It is a structural schematic diagram of the drone mounting plate of the present invention.

[0040] In the figure: 1. UAV connected to carrier, 1-1. Connecting rod, 1-1-1. Lower rod, 1-1-2. Upper rod, 1-2. Umbrella-shaped grabbing mechanism, 1-2-1. Umbrella-shaped body, 1-2-2. Umbrella ribs, 1-2-3. Support seat, 1-2-4. Third convex plate, 1-2-5. Spring, 1-2-6. Support sleeve, 1-2-7. Locking block, 1-2-8. Toggle block, 1-2-9. Toggle rod, 1-2-10. Support plate, 1-2-11. Toggle frame, 1-2-12. Support column, 1-2-13. Column head, 1-2-14. Support frame, 1-2-15. Connecting block; 1-3. Carrier support frame, 1-4. Power switch, 1-5-1. First spring-type locking pin, 1-5-2. Second spring-type locking pin, 1-6-1. First Articulated seat, 1-6-2, second articulated seat, 1-7-1, second connector, 1-7-2, third connector, 1-8, first connector, 1-9, hanging block, 1-10, hanging plate, 1-11, plug-in block; 2, mechanical claw, 2-1, guide arm, 2-2, grounding wire connector, 2-3, guide rod, 2-4, carrier hanging joint, 2-5, lock, 2-6, cross arm, 2-7, first clamping arm, 2-8, second clamping arm, 2-9, hanging wire groove, 2-10, opening and closing motor, 2-11, skeleton, 2-12, card joint, 2-13, plug joint, 2-14, spring limiter, 2-15, square table, 2-16, buckle, 2-17, support frame, 2-18, docking column, 2-19, power connector, 2-20, docking groove. DETAILED DESCRIPTION

[0041] To facilitate understanding of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that the embodiments are only intended to help understand the present invention and should not be regarded as specific limitations of the present invention.

[0042] Example 1: Figure 2-Figure 5 As shown, the present invention provides a substation grounding wire drone hanging and disassembly device, including a drone connection vehicle 1 and a mechanical claw 2; the mechanical claw 2 includes a first clamp arm 2-7 and a second clamp arm 2-8 distributed on the left and right, and a wire hanging groove 2-9 is formed between the first clamp arm 2-7 and the second clamp arm 2-8; a lock buckle 2-5 is respectively arranged on the front and rear outer sides of the top of the wire hanging groove 2-9, and an opening and closing control unit for controlling the synchronous opening and closing of the two lock buckles 2-5 is arranged inside the mechanical claw 2; the bottom end of the first clamp arm 2-7 is hinged with a guide arm 2-1, the bottom end of the second clamp arm 2-8 is fixedly provided with a grounding wire connector 2-2 for connecting the grounding wire, and the top end of the second clamp arm 2-8 is fixedly provided with a vehicle hanging joint 2-4; the top end of the drone connection vehicle 1 is used to connect the drone, and the bottom end of the drone connection vehicle 1 is connected to the vehicle hanging joint 2-4 in a detachable manner to release and grasp the mechanical claw 2.

[0043] The mechanical claw 2 of the present invention is a single-guide structure, the mechanical claw 2, the grounding wire connector 2-2 and the carrier hanging connector 2-4 are located on the same plane, and the grounding wire connector 2-2 and the carrier hanging connector 2-4 are both located on the same side of the second clamping arm 2-8.

[0044] The carrier hook joint 2-4 is arranged at the top of the mechanical claw 2 and directly above the grounding wire connector 2-2. The mechanical claw 2 of the single guide structure is not easy to tilt, and the line is easy to enter, ensuring that the grounding wire can be normally and reliably held or released at any time when it is hung for a long time.

[0045] The mechanical claw 2 is an inverted U-shaped structure as a whole, including a first clamp arm 2-7, a second clamp arm 2-8, and a cross arm 2-6 fixedly arranged on the top of the first clamp arm 2-7 and the second clamp arm 2-8. The second clamp arm 2-8 is along the vertical direction, and the first clamp arm 2-7 is at an angle of 10° with the vertical direction, which is convenient for the wire to slide into the hanging groove 2-9. The guide arm 2-1 is rotatably connected to the bottom end of the first clamp arm 2-7 through a spring limiter 2-14. The guide arm 2-1 is at an angle of 45° with the vertical direction. When hanging the ground wire, the guide arm 2-1 is stressed, and the maximum angle with the vertical direction can be increased to 80°. The large opening facilitates the line to enter the hanging groove 2-9.

[0046] When hanging the ground wire, the mechanical claw 2 is controlled to make the line slide into the wire hanging groove 2-9 along the guide arm 2-1 and the first clamping arm 2-7, thereby reducing the control requirements of the drone.

[0047] The mechanical claw 2 is a hollow structure, and the opening and closing control unit includes an opening and closing motor 2-10 fixedly arranged in the first clamping arm 2-7, a first wireless communication module and an opening and closing control module fixedly arranged in the cross arm 2-6, and the output shaft of the opening and closing motor 2-10 is connected to one end of two lock buckles 2-5 through a transmission mechanism, the lock buckle 2-5 is an arc-shaped structure with an arc-shaped opening facing upward, and the other end of the two lock buckles 2-5 is a free end; the opening and closing control module is connected to the first wireless communication module and the opening and closing motor 2-10 respectively. A clamping plate with an arc-shaped opening facing downward is fixedly arranged on the top of the hanging groove 2-9, and the clamping plate is used together with the lock buckle 2-5 to clamp the line.

[0048] The opening and closing control unit establishes a connection with the ground controller through the first wireless communication module, receives the operation command of the ground controller, and opens or closes the lock 2-5. The opening and closing motor 2-10 adopts a servo motor to control the opening and closing of the lock 2-5. When the lock 2-5 is opened, the mechanical claw 1 can be removed from the line, and when the lock 2-5 is closed, the mechanical claw 1 can hold the line tightly.

[0049] A metal frame 2-11 is fixedly arranged inside the second clamp arm 2-8, and one end of the carrier hook joint 2-4 extends into the second clamp arm 2-8 from the side opening and is fixedly connected to the top of the frame 2-11. The bottom end of the frame 2-11 extends downward from the bottom of the second clamp arm 2-8 and forms a grounding wire connector 2-2. One end of the clamping plate is also fixedly connected to the top of the frame 2-11. To ensure the lightness of the device, the frame 2-11 and the clamping plate are made of space aluminum.

[0050] A support frame 2-17 is fixedly installed inside the first clamping arm 2-7 and below the opening and closing motor 2-10. The top end of the guide arm 2-1 is hinged to the bottom end of the first clamping arm 2-7 through the fifth pin. The fifth pin is located below the support frame 2-17 and is arranged in the front-to-back direction, that is, the fifth pin is perpendicular to the plane where the mechanical claw 2 is located. A spring limiter 2-14 is also fixedly installed at the top end of the guide arm 2-1, and one spring limiter 2-14 is arranged on each of the front and back sides of the guide arm 2-1. A stopper is fixedly installed on the outer peripheral wall of the spring limiter 2-14 and at a position close to the support frame 2-17. The spring limiter 2-14 can rotate around the fifth pin together with the guide arm 2-1, and stops rotating when the stopper touches the support frame 2-17.

[0051] Example 2: Figure 6 As shown, the top of the vehicle hanging joint 2-4 is fixedly provided with a guide rod 2-3 extending upward, and the top of the guide rod 2-3 is fixedly provided with a clamping joint 2-12, which is used to connect with the drone connecting vehicle 1 in a clamping manner; the bottom of the guide rod 2-3 is fixedly provided with a plug joint 2-13; the plug joint 2-13 is a tubular structure and is divided into upper and lower ends of different shapes and sizes, and the upper end is cylindrical inside and outside, and the bottom end of the guide rod 2-3 is inserted into the upper end of the plug joint 2-13 and fixedly connected by multiple rivets, and the lower end of the plug joint 2-13 is square inside and outside, and the two relative outer walls of the lower end are fixedly connected with the two relative outer walls of the vehicle hanging joint 2-4 by a buckle 2-16. The two relative outer walls here are both front and rear outer walls.

[0052] like Figure 7 As shown, a docking post 2-18 is fixedly provided inside the lower end of the plug connector 2-13, and an inwardly retracted square platform 2-15 is fixedly provided on the top of the carrier hanging connector 2-4. The shape of the square platform 2-15 is adapted to the internal shape of the lower end of the plug connector 2-13, and a docking hole is provided on the top of the square platform 2-15 for the docking post 2-18 to be inserted into.

[0053] The docking plug 2-18 is a three-layer structure with sizes decreasing from top to bottom, wherein the lower layer is adapted to the docking hole, the middle layer is larger than the docking hole, and the upper layer is a U-shaped structure with an ear plate provided on the top outward, which is used to be fixed inside the lower end of the plug connector 2-13; the lower end of the plug connector 2-13 is provided with a mounting groove 2-19 for the U-shaped structure to fit into, and the two ear plates are fixed in the mounting groove 2-19 by screws respectively.

[0054] Example 3: Figure 8 As shown, the drone connection carrier 1 includes a connecting rod 1-1, a carrier support frame 1-3 and an umbrella-shaped grabbing mechanism 1-2 which are fixedly connected in sequence from top to bottom. The connecting rod 1-1 is a hard rod, which can greatly reduce the difficulty of the drone mounting operation. In order to ensure the light weight of the device, the connecting rod 1-1 is made of MJF nylon laser sintering material, and the umbrella-shaped body 1-2-1 of the umbrella-shaped grabbing mechanism 1-2 is made of PP filter material.

[0055] In order to prevent the drone from being hooked to live equipment or lines, the drone is connected to the mechanical claw 2 through the drone connection carrier 1. However, there are many live equipment in the substation, and the structural form of the connection soft rope with the unhooker in the prior art has a high probability of mis-hanging and a long time. Therefore, the present invention designs a new type of connection carrier that is not easy to be mis-hanged in combination with the substation situation to adapt to the substation field to hang the ground wire. A hard connecting rod 1-1 is used instead of the connecting soft rope to solve the problem of large rotation amplitude of the mechanical claw 2 using a soft rope connection; an umbrella-shaped grasping mechanism 1-2 is used instead of the unhooker to solve the problem of mis-hanging of the unhooker, and a vertical guide rod 2-3 is added to the carrier hanging joint 2-4 of the mechanical claw 2 to facilitate the umbrella-shaped grasping mechanism 1-2 to grasp the mechanical claw 2. With the drone connection carrier 1 of this structure, the conductor end hanging and removal time is short (5min), the mechanical claw 2 is not easy to rotate, and the probability of mis-hanging the line is also extremely small.

[0056] like Fig. 9 As shown, the umbrella-shaped grasping mechanism 1-2 includes a supporting sleeve 1-2-6 and an umbrella-shaped body 1-2-1 which are coaxial and connected up and down, and the top of the supporting sleeve 1-2-6 is fixed to the bottom of the carrier support frame 1-3; the clamping joint 2-12 of the guide rod 2-3 is inserted into the supporting sleeve 1-2-6 through the umbrella-shaped body 1-2-1, and a clamping mechanism for retracting and extending the clamping joint 2-12 is provided in the supporting sleeve 1-2-6; a retracting and extending control unit for controlling the action of the clamping mechanism is provided inside the carrier support frame 1-3.

[0057] like Fig.11 and Fig.12As shown, there is a gap between the bottom of the support sleeve 1-2-6 and the top of the umbrella-shaped body 1-2-1; the top diameter of the umbrella-shaped body 1-2-1 is slightly larger than the outer diameter of the support sleeve 1-2-6. The umbrella-shaped body 1-2-1 is a truncated cone structure, and a plurality of ribs 1-2-2 are fixedly arranged on the outer surface of the umbrella-shaped body 1-2-1 and along its generatrix; a plurality of support seats 1-2-3 are fixedly arranged on the outer wall of the bottom end of the support sleeve 1-2-6, and the number of the support seats 1-2-3 is consistent with the number of the ribs 1-2-1, and the support seat 1-2-3 includes a first flat plate and a second flat plate both in contact with the outer wall of the support sleeve 1-2-6, and the first flat plate is arranged along the axial direction of the support sleeve 1-2-6, and the second flat plate is perpendicular to the axial direction of the support sleeve 1-2-6; the bottom end of the first flat plate has a first convex plate extending outward, and the first The top of the flat plate is fixedly connected to one end of the second flat plate, and the other end of the second flat plate has a second convex plate extending outward; the top of the rib 1-2-1 is an L-shaped structure in which the umbrella-shaped body 1-2-1 is first bent upward and then inward, and the bottom end of the L-shaped structure also has a third convex plate 1-2-4 extending outward, the L-shaped structure is located between the first convex plate and the second convex plate of the corresponding support seat 1-2-3, and the middle part of the L-shaped structure is hinged to the first convex plate through a second pin shaft, the inner side surface of the top of the L-shaped structure can be in contact with the outer side surface of the second flat plate, and the third convex plate 1-2-4 is connected to the second convex plate through a spring 1-2-5.

[0058] like Figure 6 and Figure 13-Figure 16As shown, the outer dimensions of the clamping joint 2-12 are larger than the outer dimensions of the guide rod 2-3 so that it can be clamped by the clamping mechanism; for example, the outer shape of the clamping joint 2-12 is cylindrical, and the outer diameter of the clamping joint 2-12 is larger than the outer diameter of the guide rod 2-3; the bottom of the supporting sleeve 1-2-6 has a circular support plate 1-2-10, and the inner ring diameter of the support plate 1-2-10 is larger than the outer diameter of the clamping joint 2-12; the clamping mechanism includes a locking block 1-2-7 uniformly arranged on the support plate 1-2-10 along the circumference thereof and a toggle block 1-2-8 rotatably arranged in the supporting sleeve 1-2-6 and in the shape of an annular ring, the inner ring diameter of the toggle block 1-2-8 is larger than the outer diameter of the clamping joint 2-12, and the locking block 1-2 -7 is hinged on the support plate 1-2-10 at one end by a first pin shaft, and the first pin shaft is parallel to the axial direction of the supporting sleeve 1-2-6; an arc-shaped sliding groove is provided on the locking block 1-2-7, and a plurality of levers 1-2-9 are evenly and fixedly arranged on the bottom of the toggle block 1-2-8 along its circumference, and the number of the levers 1-2-9 is consistent with the number of the locking block 1-2-7, and each lever 1-2-9 is slidably inserted in the corresponding sliding groove; an inverted U-shaped toggle frame 1-2-11 is fixedly arranged on the top of the toggle block 1-2-8; the retractable and retractable control unit includes a retractable and retractable motor fixedly arranged in the carrier support frame 1-3, and the output shaft of the retractable and retractable motor is connected to the top of the toggle frame 1-2-11 through a transmission mechanism.

[0059] The reciprocating motor is used to drive the toggle block 1-2-8 to reciprocate a certain angle. For example, when the output end of the reciprocating motor rotates in the forward direction, the toggle block 1-2-8 pushes the locking block 1-2-7 through the toggle rod 1-2-9 to close toward the center of the supporting sleeve 1-2-6, blocking the card joint 2-12 of the guide rod 2-3 from below, thereby realizing the connection between the UAV connection vehicle 1 and the guide rod 2-3; when the output end of the reciprocating motor rotates in the reverse direction, the toggle block 1-2-8 pushes the locking block 1-2-7 through the toggle rod 1-2-9 to move in the reverse direction and reset, releasing the card joint 2-12 of the guide rod 2-3, and then the UAV connection vehicle 1 can be separated from the guide rod 2-3.

[0060] Embodiment 4: The retractable control unit also includes a battery module, a second wireless communication module and a retractable control module arranged inside the carrier support frame 1-3, and the retractable control module is respectively connected to the second wireless communication module and the retractable motor, and the battery module is used to power the retractable control unit and the opening and closing control unit. The battery module adopts ICR18650 lithium-ion rechargeable battery. A power switch 1-4 for turning on and off the retractable control unit and the opening and closing control unit is arranged on the outer wall of the carrier support frame 1-3.

[0061] The retracting and releasing control module establishes a connection with the ground controller through the second wireless communication module, receives the operation command of the ground controller, and opens or closes the lock block 1-2-7. The retracting and releasing motor adopts a servo motor. The battery module can power the opening and closing motor 2-10 and the retracting and releasing motor at the same time. The retracting and releasing motor and the battery module are both in the vehicle support frame 1-3, which is convenient for energy collection; the opening and closing motor 2-10 is powered by the power connection contact of the drone connected to the vehicle 1 and the second wire built into the guide rod 2-3, which effectively solves the power endurance problem of the opening and closing motor 2-10 when the ground wire is hung for a long time.

[0062] like Figure 6 and Fig.16 As shown, a pair of support columns 1-2-12 are fixedly arranged at the bottom of the carrier support frame 1-3, and the toggle frame 1-2-11 is located between the left and right support columns 1-2-12; an elastic column head 1-2-13 is arranged at the bottom of the support column 1-2-12, which can contact the bottom edge of the card joint 2-12. A power connector 2-19 is also fixedly arranged in the middle of the top of the card connector 2-12, and a docking slot 2-20 is provided in the middle of the top of the power connector 2-19; ​​a support beam 1-2-14 is also fixedly arranged between the left and right support columns 1-2-12, and a docking block 1-2-15 adapted to the docking slot 2-20 is provided in the middle of the support beam 1-2-14; a power connection contact is provided on the docking block 1-2-15, and the power connection contact is connected to the battery module through a first wire, and a power receiving contact is provided on the power connector 2-19, and the power receiving contact is connected to the opening and closing motor 2-10 and the opening and closing control unit through a second wire, and the second wire passes through the guide rod 2-3, the plug connector 2-13 and the carrier hanging connector 2-4; when the docking block 1-2-15 is inserted into the docking slot 2-20, the power connection contact contacts and the power receiving contact come into contact, that is, the battery module starts to supply power to the opening and closing motor 2-10 and the opening and closing control unit.

[0063] The function of the umbrella-shaped body 1-2-1 is to facilitate the card connector 2-12 of the guide rod 2-3 to enter the drone connection carrier 1, realize the connection between the docking block 1-2-15 and the power connector 2-19, and realize the connection between the power connection contact and the power receiving contact. This power supply method solves the energy supply problem of 2-10 and the opening and closing control unit under different maintenance cycles. The structure of the umbrella-shaped body 1-2-1 fundamentally eliminates the risk of mistaken hanging of the line when hanging and removing the grounding wire of the drone in the past.

[0064] Example 5: Figure 17-Figure 19As shown, the connecting rod 1-1 is composed of two sections, the upper and lower sections, so as to store and connect the drone. Specifically, the connecting rod 1-1 includes an upper rod 1-1-2 and a lower rod 1-1-1; a first connecting head 1-8 is fixedly provided on the top of the carrier support frame 1-3, and the bottom end of the lower rod 1-1-1 is sleeved on the first connecting head 1-8, and the two are fixedly connected by a first spring-type locking pin 1-5-1; a U-shaped first hinge seat 1-6-1 is fixedly provided on the top of the lower rod 1-1-1, and a third pin is hinged on the first hinge seat 1-6-1. The second connecting head 1-7-1; the bottom end of the upper rod 1-1-2 is sleeved on the second connecting head 1-7-1, and the two are fixedly connected by a second spring-type locking pin 1-5-2; a U-shaped second hinge seat 1-6-2 is fixedly provided on the top of the upper rod 1-1-2, and a third connecting head 1-7-2 is hinged on the second hinge seat 1-6-2 through a fourth pin shaft; an I-shaped plug-in block 1-11 is fixedly provided on the top of the third connecting head 1-7-2.

[0065] The first hinge seat 1-6-1 is perpendicular to the second hinge seat 1-6-2, that is, the third pin is also perpendicular to the fourth pin, and the middle block of the I-shaped plug-in block 1-11 is parallel to the fourth pin. The first spring-type locking pin 1-5-1 is parallel to the second spring-type locking pin 1-5-2, and both are perpendicular to the third pin. The bottom of the drone is fixedly provided with a mounting plate 1-10, such as Fig.19 As shown, a hanging block 1-9 is fixedly provided at the bottom of the hanging plate 1-10, and a slot is provided at one end of the bottom of the hanging block 1-9 for fitting and inserting the I-shaped plug-in block 1-11, and the two are locked with a latch.

[0066] Example 6: Selection of drones: The ground wires in substations are hung with an average length of 30m. The ground wires are heavy. As the main tool for hanging the ground wires, drones should have the characteristics of large load capacity, long endurance and wide applicability. Therefore, drones are required to: 1) have a load capacity of ≥20kg to successfully pull the ground wires to the overhead lines; 2) have a flight time of ≥30min to meet the time requirements for hanging the ground wires; 3) have an electronic fence function; 4) have a flight altitude of ≥50m; 5) have strong wind resistance and anti-electromagnetic interference capabilities. Based on the above requirements, DJI FlyCart 30 large-scale load-carrying transport drone can be selected.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A substation grounding wire drone mounting and removal device, characterized in that: The invention comprises an unmanned aerial vehicle connection carrier (1) and a mechanical claw (2); the mechanical claw (2) comprises a first clamping arm (2-7) and a second clamping arm (2-8) which are distributed on the left and right, and a wire hanging groove (2-9) is formed between the first clamping arm (2-7) and the second clamping arm (2-8); a lock buckle (2-5) is respectively arranged on the front and rear outer sides of the top of the wire hanging groove (2-9), and an opening and closing control unit for controlling the synchronous opening and closing of the two lock buckles (2-5) is arranged inside the mechanical claw (2); the bottom end of the first clamping arm (2-7) is hinged with a guide arm (2-1), and the bottom end of the second clamping arm (2-8) is hinged with a guide arm (2-1). A grounding wire connector (2-2) for connecting a grounding wire is fixedly provided, and a carrier hanging connector (2-4) is fixedly provided at the top end of the second clamp arm (2-8); the mechanical claw (2), the grounding wire connector (2-2) and the carrier hanging connector (2-4) are located on the same plane, and the grounding wire connector (2-2) and the carrier hanging connector (2-4) are both located on the same side of the second clamp arm (2-8); the top end of the drone connection vehicle (1) is used to connect to the drone, and the bottom end of the drone connection vehicle (1) is connected to the carrier hanging connector (2-4) in a detachable manner to release and grasp the mechanical claw (2).

2. A substation grounding wire drone mounting and dismantling device according to claim 1, characterized in that: The mechanical claw (2) further comprises a cross arm (2-6) fixedly arranged at the top of the first clamp arm (2-7) and the second clamp arm (2-8); the mechanical claw (2) is a hollow structure, the opening and closing control unit comprises an opening and closing motor (2-10) fixedly arranged in the first clamp arm (2-7) and a first wireless communication module and an opening and closing control module fixedly arranged in the cross arm (2-6), and the output shaft of the opening and closing motor (2-10) is connected to one end of the two lock buckles (2-5) through a transmission mechanism, and the other ends of the two lock buckles (2-5) are free ends; the opening and closing control module is respectively connected to the first wireless communication module and the opening and closing motor (2-10).

3. A substation grounding wire drone mounting and dismantling device according to claim 1 or 2, characterized in that: A guide rod (2-3) extending upward is fixedly arranged on the top of the vehicle hanging joint (2-4), and a clamping joint (2-12) is fixedly arranged on the top of the guide rod (2-3) for connecting with the drone connecting vehicle (1) in a clamping manner; a plug joint (2-13) is fixedly arranged on the bottom end of the guide rod (2-3); the lower end of the plug joint (2-13) is square inside and outside, and two relative outer walls of the lower end are fixedly connected to two relative outer walls of the vehicle hanging joint (2-4) via a buckle (2-16) respectively.

4. A substation grounding wire drone mounting and dismantling device according to claim 3, characterized in that: A docking plug post (2-18) is fixedly arranged inside the lower end of the plug connector (2-13), and an inwardly contracted square platform (2-15) is fixedly arranged on the top end of the carrier hook connector (2-4), the shape of the square platform (2-15) is adapted to the internal shape of the lower end of the plug connector (2-13), and a docking hole is provided on the top of the square platform (2-15) for the docking plug post (2-18) to be inserted.

5. The substation grounding wire drone mounting and removal device according to claim 3 is characterized in that: The drone connection carrier (1) comprises a connection rod (1-1), a carrier support frame (1-3) and an umbrella-shaped grasping mechanism (1-2) which are fixedly connected in sequence from top to bottom; the umbrella-shaped grasping mechanism (1-2) comprises a support sleeve (1-2-6) and an umbrella-shaped body (1-2-1) which are coaxial and connected up and down, and the top end of the support sleeve (1-2-6) is fixed to the bottom of the carrier support frame (1-3); the clamping joint (2-12) of the guide rod (2-3) is inserted into the support sleeve (1-2-6) through the umbrella-shaped body (1-2-1), and the support sleeve (1-2-6) is provided with a clamping mechanism for retracting and releasing the clamping joint (2-12); and a retracting and releasing control unit for controlling the action of the clamping mechanism is provided inside the carrier support frame (1-3).

6. A substation grounding wire drone mounting and dismantling device according to claim 5, characterized in that: A gap is left between the bottom of the support sleeve (1-2-6) and the top of the umbrella-shaped body (1-2-1); the umbrella-shaped body (1-2-1) is a truncated cone structure, and a plurality of ribs (1-2-2) are fixedly arranged on the outer surface of the umbrella-shaped body (1-2-1) and along its generatrix; a plurality of support seats (1-2-3) are fixedly arranged on the outer wall of the bottom end of the support sleeve (1-2-6), and the support seat (1-2-3) comprises a first flat plate and a second flat plate both in contact with the outer wall of the support sleeve (1-2-6), and the first flat plate is arranged along the axial direction of the support sleeve (1-2-6), and the second flat plate is perpendicular to the axial direction of the support sleeve (1-2-6). The bottom end of the first flat plate has a first convex plate extending outward, the top end of the first flat plate is fixedly connected to one end of the second flat plate, and the other end of the second flat plate has a second convex plate extending outward; the top end of the umbrella rib (1-2-1) is an L-shaped structure formed by first bending the umbrella-shaped body (1-2-1) upward and then inward, and the bottom end of the L-shaped structure also has a third convex plate (1-2-4) extending outward, the L-shaped structure is located between the first convex plate and the second convex plate of the corresponding support seat (1-2-3), and the middle part of the L-shaped structure is hinged to the first convex plate through a second pin shaft, and the third convex plate (1-2-4) is connected to the second convex plate through a spring (1-2-5).

7. The substation grounding wire drone mounting and removal device according to claim 5 is characterized in that: The outer dimensions of the clamping joint (2-12) are larger than those of the guide rod (2-3); the bottom of the support sleeve (1-2-6) is provided with a circular support plate (1-2-10); the clamping mechanism comprises a locking block (1-2-7) evenly arranged on the support plate (1-2-10) along the circumference thereof and a circular toggle block (1-2-8) rotatably arranged in the support sleeve (1-2-6); one end of the locking block (1-2-7) is hinged on the support plate (1-2-10) through a first pin shaft; and an arc-shaped sliding groove is provided on the locking block (1-2-7). The bottom of the toggle block (1-2-8) is evenly and fixedly provided with a plurality of toggle rods (1-2-9) along its circumference, the number of the toggle rods (1-2-9) is consistent with the number of the locking block (1-2-7), and each toggle rod (1-2-9) is slidably inserted in a corresponding slide groove; the top of the toggle block (1-2-8) is fixedly provided with an inverted U-shaped toggle frame (1-2-11); the retractable control unit comprises a retractable motor fixedly provided in the carrier support frame (1-3), and the output shaft of the retractable motor is connected to the top of the toggle frame (1-2-11) through a transmission mechanism.

8. The substation grounding wire drone mounting and removal device according to claim 5 is characterized in that: The retractable control unit also includes a battery module, a second wireless communication module and a retractable control module arranged inside the carrier support frame (1-3), and the retractable control module is connected to the second wireless communication module and the retractable motor respectively, and the battery module is used to supply power to the retractable control unit and the opening and closing control unit.

9. The substation grounding wire drone mounting and dismantling device according to claim 8 is characterized in that: A pair of support columns (1-2-12) are fixedly arranged at the bottom of the carrier support frame (1-3), and the toggle frame (1-2-11) is located between the left and right support columns (1-2-12); a power connector (2-19) is fixedly arranged in the middle of the top of the card connector (2-12), and a docking groove (2-20) is provided in the middle of the top of the power connector (2-19); a support beam (1-2-14) is fixedly arranged between the left and right support columns (1-2-12), and the middle of the support beam (1-2-14) is provided with a connecting groove (2-20). A docking block (1-2-15) adapted to the docking slot (2-20) is provided; a power connection contact is provided on the docking block (1-2-15), and the power connection contact is connected to the battery module via a first wire; a power receiving contact is provided on the power connector (2-19), and the power receiving contact is connected to the opening and closing motor (2-10) and the opening and closing control unit via a second wire; when the docking block (1-2-15) is inserted into the docking slot (2-20), the power connection contact contacts the power receiving contact.

10. The substation grounding wire drone mounting and removal device according to claim 5, characterized in that: The connecting rod (1-1) comprises an upper rod (1-1-2) and a lower rod (1-1-1); a first connecting head (1-8) is fixedly provided at the top of the carrier support frame (1-3), the bottom end of the lower rod (1-1-1) is sleeved on the first connecting head (1-8), and the two are fixedly connected via a first spring-type locking pin (1-5-1); a U-shaped first hinge seat (1-6-1) is fixedly provided at the top of the lower rod (1-1-1), and a hinged member (1-6-1) is hingedly connected to the first hinge seat (1-6-1) via a third pin shaft. a second connecting head (1-7-1); the bottom end of the upper rod (1-1-2) is sleeved on the second connecting head (1-7-1), and the two are fixedly connected via a second spring-type locking pin (1-5-2); a U-shaped second hinge seat (1-6-2) is fixedly provided at the top end of the upper rod (1-1-2), and a third connecting head (1-7-2) is hingedly provided on the second hinge seat (1-6-2) via a fourth pin shaft; an I-shaped plug-in block (1-11) is fixedly provided at the top of the third connecting head (1-7-2).

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