Operation robot on-off line device and on-off line method based on unmanned aerial vehicle

Abstract

The invention discloses an operation robot online and offline device and method based on an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. The system mainly comprises an unmanned aerial vehicle; the connecting frame is mounted at the bottom of the unmanned aerial vehicle; the operation robot is arranged at the bottom of the connecting frame; each clamping part comprises a shell, a containing space is formed in the shell, a connecting plug is arranged on the shell in an extending mode, a socket is formed in the other side of the shell, and the size of the socket is matched with that of the connecting plug; the mounting cavity is formed in the connecting plug, one side of the mounting cavity is open, a semicircular clamping block is arranged in the mounting cavity, and an ejector rod is arranged on one side of the clamping block in an extending mode; the output end of the air cylinder is connected with the ejector rod. According to the operation robot on-line and off-line device based on the unmanned aerial vehicle and the on-line and off-line method, by arranging the connecting structure, connection between the unmanned aerial vehicle and the working robot is tighter, and the unmanned aerial vehicle and the working robot are not prone to being separated from each other.

Description

Technical Field

[0001] The present application relates to the technical field of drones, and specifically to an online and offline device and an online and offline method for an operating robot based on a drone. Background Art

[0002] Live working on transmission lines is a method of maintenance and testing on high-voltage overhead transmission lines without power outages. It is an important technical means to ensure the safe and stable operation of the power grid and the reliability of the power supply of the power grid. At the same time, when carrying out electrical maintenance work, live working personnel must be at the equipotential position, ground potential position and intermediate potential position, and can only be completed with the help of live working tools. Equipotential work has many advantages. It can perform maintenance work with zero-distance contact with live equipment, can complete many detailed and complex maintenance work, and can ensure ideal work results. At present, this kind of equipotential work and maintenance is mostly completed by drones.

[0003] For example, the patent with publication number CN111555185A specifically discloses a device and method for getting on and off the line of a live-working robot. The live-working robot is controlled to go online for operation through the cooperation of a drone and a line-hanging robot. When the operation is completed and the robot is offline, the drone and the line-hanging robot can cooperate to transport the live-working robot back to the ground, avoiding the need for personnel to pull the electric robot up and down the wire by pulling the lifting rope during routine operations, thereby reducing the physical exertion of maintenance personnel.

[0004] In the above patent, the device is provided with a drone and a working robot installed under the drone, so that during electrical work, the staff only needs to control the drone to move the electric robot up and down by pulling the lifting rope, thereby reducing the operation risk. However, since the drone and the electric robot are only connected by an electromagnet, this connection method is more dependent on electromagnetic suction. This connection may fail when subjected to external interference (such as strong magnetic fields, electromagnetic pulses, etc.), and the maintenance cost of electronic components such as electromagnets is relatively high, and they are easily affected by factors such as the environment and service life, and need to be replaced or repaired regularly, increasing the overall cost.

[0005] Therefore, it is necessary to provide an online and offline device and an online and offline method for an operating robot based on a drone to solve the above problems.

[0006] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0007] Based on the above-mentioned problems existing in the prior art, the problem to be solved by the present application is: to provide an on-line and off-line device and method for an operating robot based on a drone, so as to prevent the operating robot from being firmly connected to the drone and reduce costs.

[0008] The technical solution adopted by the present application to solve its technical problems is: an online and offline device and online and offline method for a working robot based on a drone, including a drone; a connecting frame, which is installed at the bottom of the drone; a working robot, which is arranged at the bottom of the connecting frame; at least two groups of clamping parts, which include a shell, a housing space is provided inside the shell, a plug connector is extended on the shell, and a socket is provided on the other side of the shell, and the socket is adapted to the size of the plug connector; an installation cavity, which is arranged in the plug connector, one side of the installation cavity is arranged to be open, a semicircular clamping block is provided in the installation cavity, and a push rod is extended on one side of the clamping block; a cylinder, which is installed in the housing space, and the output end of the cylinder is connected to the push rod.

[0009] Furthermore, a plurality of hooks are arranged on the bottom of the drone.

[0010] Furthermore, a mounting plate is provided on the top of the connecting frame, and hanging rings corresponding to the number of hooks are provided on the mounting plate, and the hanging rings are hooked with the hooks.

[0011] Furthermore, the working robot includes a saddle frame, a bottom of the saddle frame is provided with a receiving cavity, and a plurality of groups of rollers are installed in the receiving cavity.

[0012] Furthermore, multiple groups of cameras are installed on the inner side of the saddle frame.

[0013] Furthermore, clamping claws are fixedly installed on both sides of the saddle frame.

[0014] Furthermore, a first mounting tube is arranged on the top of the saddle frame, and a second mounting tube is arranged on the bottom of the connecting frame, and mounting grooves are arranged in the first mounting tube and the second mounting tube.

[0015] Furthermore, the two sets of clamping parts are respectively installed in the installation grooves of the first installation tube and the second installation tube.

[0016] Furthermore, the on-line and off-line method of the unmanned aerial vehicle-based working robot on-line and off-line device is as follows:

[0017] Step 1: According to the maintenance needs, select the working robot that needs to enter the equipotential, and install the connecting frame on the top of the working robot through the connecting assembly;

[0018] Step 2: Install the connecting frame on the bottom of the drone by using the hook and the hanging ring;

[0019] Step 3: Start the drone and drive the working robot to fly above the power line;

[0020] Step 4: Control the drone to adjust its position so that the working robot reaches the designated position of the wire;

[0021] Step 5: Control the drone to move toward the wire and make the rollers on the working robot contact the wire;

[0022] Step 6: Control the gripper on the working robot to clamp the wire, and then control the working robot to enter equipotential operation;

[0023] Step 7: Control the two sets of cylinders in the connection assembly to extend, so that the drone and the working robot are separated from each other, and control the drone to return;

[0024] Step 8: Control the drone to fly above the working robot again, and connect the working robot to the connecting frame through the connecting component;

[0025] Step 9: Control the gripper to release the wires, and at the same time control the drone to transport the working robot back to the ground.

[0026] The beneficial effect of the present application is that the unmanned aerial vehicle-based working robot on-line and off-line device and on-line and off-line method provided by the present application, by setting a connection structure, makes the connection between the unmanned aerial vehicle and the working robot tighter and not easy to separate from each other.

[0027] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0029] In the attached picture:

[0030] Figure 1 This is an overall schematic diagram of the unmanned aerial vehicle-based operating robot on-line and off-line device and method in this application;

[0031] Figure 2 for Figure 1 The installation diagram of the drone and the connecting frame;

[0032] Figure 3 for Figure 1 Schematic diagram of the structure of the working robot;

[0033] Figure 4 for Figure 3 Schematic diagram of the internal structure of the working robot;

[0034] Figure 5 for Figure 1 Schematic diagram of the structure of the connecting components;

[0035] Figure 6 for Figure 5 A schematic diagram of the internal structure of the middle clamping part;

[0036] Figure 7 It is a preliminary installation diagram of two sets of clamping parts;

[0037] Figure 8 This is a schematic diagram showing the completion of the installation of two sets of clamping parts;

[0038] Among them, the reference numerals in the figure are:

[0039] 1. Drone; 11. Hook;

[0040] 2. Connecting frame; 21. Mounting plate; 22. Hanging ring;

[0041] 3. Working robot; 31. Saddle rack; 32. Accommodating chamber; 33. Roller; 34. Camera; 35. Gripper;

[0042] 4. Connecting assembly; 41. First mounting tube; 42. Second mounting tube;

[0043] 5. Clamping part; 51. Shell; 52. Accommodating space; 53. Plug connector; 531. Mounting cavity; 54. Socket; 55. Clamping block; 56. Ejector rod;

[0044] 6. Cylinder. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0047] like Figure 1-Figure 2 As shown, the present application provides an unmanned aerial vehicle-based working robot on-line and off-line device, including an unmanned aerial vehicle 1, which is a traditional mounting working unmanned aerial vehicle, used to mount and perform various working tasks, and a connecting frame 2 is provided at the bottom of the unmanned aerial vehicle 1, and a working robot 3 is installed at the bottom of the connecting frame 2;

[0048] The UAV 1 has functions such as flight control, data transmission, and mounting equipment. It is responsible for transporting the working robot 3 to the designated location and performing related working tasks. At the same time, the connecting frame 2 is installed at the bottom of the UAV 1 to connect the UAV 1 and the working robot 3 to ensure that the working robot 3 can operate safely and stably during the mounting process. The working robot 3 is installed at the bottom of the connecting frame 2 to perform specific working tasks, such as inspection, maintenance, and detection.

[0049] A plurality of hooks 11 are fixedly mounted on the bottom of the drone 1, and a mounting plate 21 is arranged on the top of the connecting frame 2. The mounting plate 21 is provided with hanging rings 22 corresponding to the number of the hooks 11. The hanging rings 22 are used to connect with the hooks 11. When the plurality of hooks 11 are hooked with the hanging rings 22, the connecting frame 2 is connected to the drone 1 and is not easily separated.

[0050] like Figure 1-Figure 4 As shown, the working robot 3 is installed at the bottom of the connecting frame 2, and the working robot 3 includes a saddle frame 31, and clamping claws 35 are fixedly installed on both sides of the saddle frame 31, and the clamping space of the clamping claws 35 is larger than the size of the wire;

[0051] At the same time, a receiving cavity 32 is provided at the bottom of the saddle frame 31, and a plurality of rollers 33 are installed in the receiving cavity 32, and the rollers 33 are suitable for contacting the electric wires. At the same time, motors (not shown in the figure) are installed on the outer side of the saddle frame 31 corresponding to the number of rollers 33, and the plurality of rollers 33 are driven and rotated by the motor, so that the saddle frame 31 is suitable for moving on the electric wires driven by the rollers 33;

[0052] At the same time, multiple groups of cameras 34 are installed on the inner side of the saddle frame 31. The cameras 34 are used for the staff to inspect the wires. When the saddle frame 31 moves on the wires, the multiple groups of cameras 34 will take real-time photos of the wires, provide clear image data for the staff, and assist in the inspection work.

[0053] When maintenance begins, the drone 1 moves the working robot 3 to the electric wire with equal potential. At this time, the clamp 35 is in an open state. When the roller 33 contacts the electric wire, the clamp 35 clamps the electric wire to prevent the working robot 3 from falling. Then, the motor drives the working robot 3 to move on the electric wire, and the camera 34 feeds back the status of the electric wire to the staff in real time to assist the staff in maintenance work.

[0054] In order to ensure that the connection between the connecting frame 2 and the working robot 3 is firm and not easy to fall off when the upper and lower lines are working, improvements are made to the connecting frame 2, specifically:

[0055] like Figure 1 , Figure 5-Figure 8As shown, a connecting assembly 4 is provided between the connecting frame 2 and the saddle frame 31, and the connecting assembly 4 includes a first mounting tube 41 and a second mounting tube 42, wherein the first mounting tube 41 is fixedly mounted on the top of the saddle frame 31, and the second mounting tube 42 is fixedly mounted on the bottom of the connecting frame 2, and mounting grooves (not shown in the figure) are provided in the first mounting tube 41 and the second mounting tube 42;

[0056] At the same time, a clamping part 5 is detachably installed in the installation groove, and the clamping part 5 includes a shell 51, and a receiving space 52 is arranged inside the shell 51. At the same time, a plug connector 53 is extended on one side of the shell 51, and a socket 54 is opened on the side of the shell 51 close to the plug connector 53. The socket 54 is connected with the inside of the receiving space 52, and the sizes of the plug connector 53 and the socket 54 are adapted. The two sets of shells 51 are suitable for being plugged together through the cooperation of the plug connector 53 and the socket 54;

[0057] Meanwhile, a mounting cavity 531 is provided on the inner side of the plug connector 53. One side of the mounting cavity 531 is provided to be open. A semicircular clamping block 55 is rotatably connected in the mounting cavity 531. The clamping block 55 is located inside the mounting cavity 531 in an initial state. When the clamping block 55 rotates, a part of the clamping block 55 moves from the mounting cavity 531 to the outside of the housing 51.

[0058] A push rod 56 is extended from one side of the block 55, and the push rod 56 is used to drive the block 55 to rotate in the plug connector 53, and a notch is provided on the installation cavity 531 to facilitate the movement of the push rod 56. At the same time, a cylinder 6 is rotatably connected to the bottom of the accommodating space 52, and the output end of the cylinder 6 is rotatably connected to the push rod 56. The cylinder 6 is used to push the push rod 56 to move, thereby driving the block 55 to rotate.

[0059] like Figure 5-Figure 8 As shown, when it is necessary to connect the connecting frame 2 and the working robot 3, first, the two groups of cylinders 6 are in the extended state. At this time, the two groups of card blocks 55 will not protrude from the shell 51 under the drive of the push rod 56, and then the two groups of card connections 5 can be controlled to approach each other, so that the two groups of plug connectors 53 are respectively extended into the corresponding sockets 54. When the plug connectors 53 are fully extended, the two groups of card blocks 55 are spliced ​​into a complete circle, and then the cylinders 6 are controlled to retract and drive the two groups of card blocks 55 to rotate, so that the two groups of card blocks 55 both protrude from their own shells 51. At this time, the two groups of card blocks 55 will be blocked by the other group of shells 51, so that the card connection 5 is locked and not easy to separate.

[0060] In summary, the device makes the connection between the drone 1 and the working robot 3 easier by providing a connection component 4 that can be quickly locked and separated, and it is not easy to separate from each other during work, which can better meet the needs of tasks such as high-altitude power line inspection, maintenance and testing.

[0061] The present application also includes a method for getting the working robot of the drone online and offline, which specifically includes the following steps, specifically:

[0062] Step 1: According to the maintenance needs, select the working robot 3 that needs to enter the equipotential, and install the connecting frame 2 on the top of the working robot 3 through the connecting component 4;

[0063] Step 2: Install the connecting frame 2 on the bottom of the drone 1 by means of the hook 11 and the hanging ring 22;

[0064] Step 3: Start the drone 1 to drive the working robot 3 to fly above the wire;

[0065] Step 4: Control the drone 1 to adjust its position so that the working robot 3 reaches the designated position of the wire;

[0066] Step 5: Control the drone 1 to move toward the wire, and make the roller 33 on the working robot 3 contact the wire;

[0067] Step 6: Control the clamping claw 35 on the working robot 3 to clamp the wire, and then control the working robot 3 to enter the equipotential operation;

[0068] Step 7: Control the two groups of cylinders 6 in the connecting assembly 4 to extend, so that the UAV 1 and the working robot 3 are separated from each other, and the UAV 1 is controlled to return;

[0069] Step 8: Control the drone 1 to fly above the working robot 3 again, and connect the working robot 3 to the connecting frame 2 through the connecting component 4;

[0070] Step nine: Control the clamp 35 to release the wire, and at the same time control the drone 1 to transport the working robot 3 back to the ground.

[0071] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The unmanned aerial vehicle-based robot loading and unloading device is characterized by: include: Drones (1); A connecting frame (2), the connecting frame (2) being mounted on the bottom of the drone (1); An operating robot (3), the operating robot (3) being arranged at the bottom of the connecting frame (2); At least two groups of clamping parts (5), the clamping parts (5) comprising a shell (51), a receiving space (52) being arranged inside the shell (51), a plug connector (53) extending from the shell (51), a socket (54) being arranged on the other side of the shell (51), the socket (54) being adapted to the size of the plug connector (53); An installation cavity (531), the installation cavity (531) being arranged in the plug connector (53), one side of the installation cavity (531) being arranged to be open, a semicircular clamping block (55) being arranged in the installation cavity (531), and a push rod (56) extending from one side of the clamping block (55); A cylinder (6) is installed in the accommodating space (52), and an output end of the cylinder (6) is connected to the push rod (56).

2. The unmanned aerial vehicle-based working robot on-line device according to claim 1, characterized in that: The bottom of the drone (1) is provided with a plurality of groups of hooks (11).

3. The unmanned aerial vehicle-based working robot on-line device according to claim 2, characterized in that: A mounting plate (21) is arranged on the top of the connecting frame (2), and hanging rings (22) corresponding in number to the number of the hooks (11) are arranged on the mounting plate (21), and the hanging rings (22) are hooked with the hooks (11).

4. The unmanned aerial vehicle-based working robot on-line device according to claim 1, characterized in that: The working robot (3) comprises a saddle frame (31), the bottom of the saddle frame (31) is provided with a receiving cavity (32), and a plurality of groups of rollers (33) are installed in the receiving cavity (32).

5. The unmanned aerial vehicle-based working robot on-line device according to claim 4, characterized in that: A plurality of camera groups (34) are installed on the inner side of the saddle frame (31).

6. The unmanned aerial vehicle-based working robot on-line and off-line device according to claim 5, characterized in that: Clamping claws (35) are fixedly mounted on both sides of the saddle frame (31).

7. The unmanned aerial vehicle-based working robot on-line device according to claim 4, characterized in that: A first mounting tube (41) is arranged at the top of the saddle frame (31), a second mounting tube (42) is arranged at the bottom of the connecting frame (2), and mounting grooves are arranged in the first mounting tube (41) and the second mounting tube (42).

8. The unmanned aerial vehicle-based working robot on-line device according to claim 7, characterized in that: The two groups of the clamping parts (5) are respectively installed in the installation grooves of the first installation tube (41) and the second installation tube (42).

9. The method for loading and unloading an online device of an unmanned aerial vehicle-based working robot according to claim 7, characterized in that: Step 1: According to the maintenance needs, select the working robot (3) that needs to enter the equipotential, and install the connecting frame (2) on the top of the working robot (3) through the connecting component (4); Step 2: Install the connecting frame (2) on the bottom of the drone (1) by means of the hook (11) and the hanging ring (22); Step 3: Start the drone (1) to drive the operation robot (3) to fly above the power line; Step 4: Control the drone (1) to adjust its position so that the working robot (3) reaches the designated position of the wire; Step 5: Control the drone (1) to move toward the electric wire, and make the roller (33) on the working robot (3) contact the electric wire; Step 6: Control the clamping claw (35) on the working robot (3) to clamp the wire, and then control the working robot (3) to enter the equipotential operation; Step 7: Control the two groups of cylinders (6) in the connection assembly (4) to extend, so that the drone (1) and the working robot (3) are separated from each other, and the drone (1) is controlled to return; Step 8: Control the drone (1) to fly above the working robot (3) again, and connect the working robot (3) to the connecting frame (2) through the connecting component (4); Step 9: Control the gripper (35) to release the wire, and at the same time control the drone (1) to transport the working robot (3) back to the ground.

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