Device and method for hanging or taking high-voltage line grounding wire by unmanned aerial vehicle

Abstract

The invention discloses a device and a method for hanging or taking a ground wire of a high-voltage wire by an unmanned aerial vehicle, and belongs to the technical field of equipment maintenance in the power industry, and the device comprises the unmanned aerial vehicle, wire hanging equipment, tower hanging equipment, a soft copper wire and a hanging buckle fixing support. The unmanned aerial vehicle is movably connected with the line hanging equipment; the line hanging equipment is movably connected with the back of the tower hanging equipment; when a wire is hung on the wire hanging equipment, the rotary self-locking mechanism seals the opening along with extrusion of the wire to form self-locking; after the unmanned aerial vehicle is separated from the hanging frame, the clamping tongue on the plate frame rotates to clamp the wire; when the tower hanging equipment is clamped on the hanging buckle fixing support, the rocker arm extrudes the arc-shaped semi-hanger to complete self-locking, and when the force arm rod swings to a preset angle, the arc-shaped semi-hanger is driven to rotate, and the rocker arm is unlocked. Through the specific mechanical structure design, the unmanned aerial vehicle can stably mount the grounding wire device in the flight process, the situation that the grounding wire device inclines due to shaking of the unmanned aerial vehicle is avoided, and the efficiency and safety of wire hanging grounding operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment maintenance in the electric power industry, and in particular to a device and method for unmanned aerial vehicle hanging or taking a high-voltage line grounding wire. Background Art

[0002] At present, grounding wire hanging usually requires workers to climb the tower to complete. For ultra-high voltage lines, workers' high-altitude work is labor-intensive and there are safety risks of falling from heights and induced voltage injuring people. In addition, substation grounding wire hanging is usually completed by cranes to send workers to the designated location, which also poses safety risks.

[0003] It can be seen that the traditional power line and ground wire hanging operations have problems such as low efficiency, high cost, and high safety risks. With the rapid development of drone technology, drone power line technology has emerged and has become a revolutionary change in the field of power construction. The power safety work regulations stipulate that after the lines and equipment are clearly free of voltage, the ground wire should be installed immediately to ensure the safety of maintenance workers and prevent induced voltage from hurting people. Therefore, the development of a drone hanging or taking high-voltage line ground wire device and method is of great significance to improving work efficiency, reducing costs and ensuring work safety. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for hanging or removing high-voltage line grounding wires on an unmanned aerial vehicle. Through a specific mechanical structure design, the unmanned aerial vehicle can stably hang the grounding wire device during flight, avoiding the tilt of the grounding wire device due to the shaking of the unmanned aerial vehicle, thereby improving the efficiency and safety of the hanging line grounding operation.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A device for hanging or taking a high-voltage line grounding wire by a drone, characterized in that it comprises a drone, a line hanging device, a tower hanging device, a soft copper wire and a hanging buckle fixing bracket; the drone is movably connected to the line hanging device, and the line hanging device is movably connected to the back of the tower hanging device; two ends of the soft copper wire are respectively fixed to the line hanging device and the tower hanging device; the hanging buckle fixing bracket is fixedly connected to the tower position; The wire hanging device comprises a hanging frame, a plate frame and a rotating self-locking mechanism; when the wire hanging device hangs the wire, the rotating self-locking mechanism squeezes and seals the opening with the wire to form a self-locking mechanism; after the drone is separated from the hanging frame, the clamping tongue on the plate frame rotates to clamp the wire; The tower hanging device comprises a cavity, a lever arm, an arc-shaped semi-hanging and a rocker arm; when the tower hanging device is clamped on the hook fixing bracket, the rocker arm squeezes the arc-shaped semi-hanging to complete self-locking, and when the lever arm swings to a preset angle, it drives the arc-shaped semi-hanging to rotate and the rocker arm is unlocked.

[0006] A further improvement of the technical solution of the present invention is that: the hanging frame is a vertically arranged octagonal structure with a top edge arranged horizontally; the hanging frame is connected to the top of the plate frame through a spring mechanism.

[0007] A further improvement of the technical solution of the present invention lies in that: the plate frame comprises two plates of the same shape and arranged in parallel, and the plate bodies are connected by bolts; an arched opening is arranged on the front side of each plate body obliquely upward, and a baffle is arranged outward along the upper straight edge of the opening, and the baffle is fixedly connected to the plate frame; the tail ends of the two baffles are connected by bolts, and limit columns are symmetrically arranged on the inner side; a second latch is arranged on the outer side of the lower straight edge of the arched opening of the plate frame, and a third latch is arranged on the outer side of the upper straight edge of the arched opening of the plate frame; a guide rail is arranged on the inner side of the bottom of the plate frame, and a slider is slidably arranged on the guide rail, and the slider is connected to one end of the soft copper wire; a hanger is arranged on the rear side of the plate frame; the bottom end of the spring mechanism is rotatably connected to the first connecting rod, the first connecting rod is rotatably connected to the second connecting rod and the clamping tongue through the first latch, the second connecting rod is rotatably connected to the top of the slider, and the clamping tongue is rotatably connected to the plate frame through the second latch.

[0008] A further improvement of the technical solution of the present invention is that: the rotating self-locking mechanism is rotatably connected to the plate frame through a third latch; the rotating self-locking mechanism includes a first rotating arm and a second rotating arm, the first rotating arm and the second rotating arm are connected by an arc, and the third latch is arranged at the vertex of the arc; the first rotating arm is limited by a limiting column, the third rotating arm is vertically arranged on the second rotating arm, and the fourth rotating arm parallel to the second rotating arm is vertically arranged on the third rotating arm.

[0009] A further improvement of the technical solution of the present invention is that: the cavity comprises two "7"-shaped cavity walls of the same shape and arranged in parallel and a top surface connecting the cavity walls; a hook extending backward is arranged on the top surface; each cavity wall is provided with a first mounting hole and a second mounting hole in sequence from bottom to top; a travel cover plate is arranged outside the first mounting hole, and an arc-shaped stop block is arranged between the travel cover plate and the cavity, and the stop block moves in the cavity of the travel cover plate and the cavity travel.

[0010] A further improvement of the technical solution of the present invention lies in that: a mounting groove is provided at the top of the lever arm, a first gear is fixedly installed in the mounting groove, and the first gear is fixed to the mounting groove by a latch; a copper shaft is arranged through the mounting groove, the lever arm and the first gear rotate around the copper shaft, and the copper shaft is fixedly connected to the cavity through a first mounting hole; the first gear meshes with the second gear, an arc groove is arranged on the second gear, a trimming shaft is arranged at the center of the second gear, the trimming shaft and the second gear are clearance-matched, and the trimming shaft passes through the second mounting hole; coupling seats are symmetrically arranged on both sides of the second gear, the coupling seats are fixedly connected to the trimming shaft by a latch, and the two coupling seats are fixedly connected by a fourth latch passing through the arc groove; the tail end of the lever arm is connected to a soft copper wire.

[0011] A further improvement of the technical solution of the present invention lies in that: the rocker arm is arranged as a pair, one end of the rocker arm is provided with a mounting hole of the same shape as the trimming shaft, and is fixed to the two ends of the trimming shaft by screws respectively; the rocker arm fits the existing state of the two ends of the trimming shaft to form a whole; the other end of the rocker arm is installed with a sleeve through a double-headed pin, and the sleeve rotates with the double-headed pin; and the contact point of the sleeve is below the center point of the arc-shaped semi-hook; a tension spring is arranged near the end of the rocker arm near the trimming shaft, and the other end of the tension spring is connected to the travel cover plate.

[0012] A further improvement of the technical solution of the present invention is that: the arc-shaped semi-hanging is arranged inside the cavity and is rotatably connected to the front vertex of the cavity through a fifth latch; and a beryllium copper arc sheet is arranged at the arc of the arc-shaped semi-hanging.

[0013] A further improvement of the technical solution of the present invention is that the top surface of the hook fixing bracket is arc-shaped, and the other three surfaces are flat, and the arc surface of the hook fixing bracket is fitted with the beryllium copper arc sheet.

[0014] A method for hanging or removing a high-voltage ground wire from a drone, comprising the following steps: S1. Install the hook fixing bracket at the preset position of the transmission tower; S2, UAV hanging high voltage grounding wire; S21 controls the drone and hangs the tower device on the hook fixing bracket from top to bottom; After the S22 tower hanging device hooks the bracket, the drone continues to descend, so that the hook on the back of the tower hanging device is separated from the bracket on the back of the wire hanging device; S23 controls the drone to hang the wire-hanging device on the wire from top to bottom; After the S24 wire hanging device hooks the wire, the drone continues to descend, causing the drone hook frame to detach from the hanging frame; The S25 drone returned and the grounding wire hanging operation was completed; S3, UAV takes the high voltage ground wire; S31 controls the drone, and makes the drone hook the frame from bottom to top; S32 controls the drone to fly directly above the tower hanging device, so that when the angle between the soft copper wire pulling arm and the vertical is greater than the preset value, the tower hanging device is unlocked and detached from the hook fixing bracket; S33 controlled the drone and returned with all the equipment, completing the ground wire collection operation.

[0015] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is: 1. The wire hanging device in the present invention comprises a hanging frame, a plate frame and a rotating self-locking mechanism; when the wire hanging device is hung on the wire, the rotating self-locking mechanism squeezes and seals the opening with the wire to form a self-locking mechanism; after the UAV is separated from the hanging frame, the clamping tongue on the plate frame rotates to clamp the wire, thereby ensuring the stability of the wire hanging device; the tower hanging device in the present invention comprises a cavity, a lever arm, an arc-shaped semi-hanging and a rocker arm; when the tower hanging device is clamped on the hook fixing bracket, the rocker arm squeezes the arc-shaped semi-hanging to complete self-locking, and when the lever arm swings to a preset angle, it drives the arc-shaped semi-hanging to rotate, and the rocker arm is unlocked, thereby ensuring the reliability of the tower hanging device during the fixing and detaching processes.

[0016] 2. In the present invention, the tower hanging device and the line hanging device are designed to be "back to back" to reduce the use of drones.

[0017] 3. The present invention reduces the difficulty of UAV operation through the integrated design of tower hanging equipment, wire hanging equipment and soft copper wire.

[0018] 4. The tower hanging device in the present invention is designed with a standard hanging buckle fixing bracket, which is convenient for remote installation of the drone and ensures the contact reliability of the equipment.

[0019] 5. The tower hanging equipment in the present invention has a gap transmission mechanism to ensure the stability of the equipment.

[0020] 6. The tower hanging device and the line hanging device in the present invention both adopt a purely mechanical locking mechanism, which can achieve self-locking and unlocking without an external power supply, thus ensuring reliability in extreme environments.

[0021] 7. The wire hanging device of the present invention can adapt to transmission wires of different diameters, and the wires are clamped by the weight of the soft copper wire, thereby increasing the adaptability and stability of the device.

[0022] 8. The present invention significantly improves the efficiency of ground wire hanging operations, reduces the risk of manual operation, realizes remote operation, avoids the possibility of direct contact between personnel and high-voltage wires, and thus greatly improves safety; since both tower hanging equipment and wire hanging equipment can be remotely installed and removed by drones, this not only saves labor costs, but also improves the degree of automation of the entire ground wire hanging process; the device provides an efficient and safe new option for maintenance work in the power industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention at other angles; Figure 3 It is a schematic diagram of the structure of the wire hanging device of the present invention; Figure 4 This is a schematic diagram of the structure of the hanging wire device at other angles of the present invention; Figure 5 It is an enlarged view of the structure of the wire hanging device of the present invention; Figure 6 It is a schematic diagram of the structure of the tower hanging equipment of the present invention; Figure 7 It is a schematic diagram of the structure of the lever arm of the present invention; Figure 8 It is a cross-sectional view of the copper shaft and the trimming shaft of the present invention; Fig. 9 It is a schematic diagram of the arc groove of the present invention; Fig.10 This is a schematic diagram of the arc-shaped semi-hook structure of the present invention; Fig.11 This is a schematic diagram of a hook fixing bracket of the present invention; Fig.12 Schematic diagram of the bracket for fixing the hook at other angles of the present invention; Fig.13 It is a cross-sectional view of the wire hanging device of the present invention in an open state; Fig.14 It is a cross-sectional view of the wire hanging device of the present invention in the embracing state; Fig.15 It is a cross-sectional view of the initial state of the tower hanging device of the present invention; Fig.16 It is a cross-sectional view of the tower hanging device of the present invention in an unlocked state; Fig.17 It is a schematic diagram of a line hanging device and a tower hanging device carried by a drone in a line hanging operation of the present invention; Fig.18 This is a schematic diagram of the drone flying to the hook fixing bracket in the present invention; Fig.19 It is a schematic diagram of the tower equipment for hanging the drone from top to bottom in the present invention; Fig. 20 It is a schematic diagram of the tower hanging device in the present invention hanging the hanging buckle fixing bracket; Fig.21 is a schematic diagram of the drone in the present invention continuing to descend and approach the wire; Fig. 22 This is a schematic diagram of the wire hanging device in the present invention approaching the wire; Fig.23 This is a schematic diagram of the drone hook frame being separated from the hanging frame in the present invention; Fig.24 This is a schematic diagram of the completion of the ground wire hanging operation in the present invention; Fig.25 It is a schematic diagram of a drone approaching a wire hanging device in a wire taking operation of the present invention; Fig.26 This is a schematic diagram of a hook-and-hang line device for a drone in the present invention; Fig. 27 It is a schematic diagram of the UAV in the present invention flying directly above the tower hanging device and pulling up the lever arm; Fig.28 This is a schematic diagram of the drone carrying all the equipment returning to collect the ground wire in the present invention; Among them, 1. hanging wire device, 11. hanging frame, 12. plate frame, 1201. spring mechanism, 1202. baffle, 1203. limit column, 1204. first latch, 1205. second latch, 1206. third latch, 1207. guide rail, 1208. slider, 1209. hanging rack, 1210. first connecting rod, 1211. second connecting rod, 1212. clamping tongue, 13. rotating self-locking mechanism; 2. Tower hanging equipment, 21. Cavity, 2101. Hook, 2102. Travel cover, 2103. Stop block, 22. Lever, 2201. First gear, 2202. Second gear, 2203. Copper shaft, 2204. Trimming shaft, 2205. Coupling seat, 2206. Fourth latch, 2207. Arc groove, 23. Arc half hanging, 2301. Fifth latch, 2302. Beryllium copper arc sheet, 24. Rocker arm, 2401. Double-headed pin, 2402. Sleeve, 2403. Tension spring; 3. Soft copper wire, 4. Hanging buckle to fix the bracket. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below with reference to the accompanying drawings and embodiments: In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" ... etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "several" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] like Figure 1 , 2As shown, a device for hanging or taking a high-voltage line grounding wire by a drone comprises a drone, a wire hanging device 1, a tower hanging device 2, a soft copper wire 3 and a hook fixing bracket 4; the drone is movably connected to the wire hanging device 1, and the wire hanging device 1 and the tower hanging device 2 are movably connected to the hanging bracket 1209 through a hook 2101 on the back; two ends of the soft copper wire 3 are respectively fixed to the wire hanging device 1 and the tower hanging device 2; the hook fixing bracket 4 is fixedly connected to the tower position, and the interface of the tower hanging device 2 is adapted in shape to the hook fixing bracket 4; like Figure 3 , 4 As shown in , 5, the wire hanging device 1 includes a hanging frame 11, a plate frame 12 and a rotating self-locking mechanism 13; The hanging frame 11 is a vertically arranged octagonal structure, with the top edge arranged horizontally, and is hooked up by the hook frame of the drone; the hanging frame 11 is connected to the top of the plate frame 12 through a spring mechanism 1201; The plate frame 12 comprises two plates of the same shape and arranged in parallel, and the plates are connected by bolts; an arched opening is arranged on the front side of each plate body, and a baffle 1202 is arranged outward along the upper straight edge of the opening, and the baffle 1202 is fixedly connected to the plate frame 12; the tails of the two baffles 1202 are connected by bolts, and limit posts 1203 are symmetrically arranged on the inner sides; a second latch 1205 is arranged on the outer side of the lower straight edge of the arched opening of the plate frame 12, and a third latch 1206 is arranged on the outer side of the upper straight edge of the arched opening of the plate frame 12; the inner side of the bottom of the plate frame 12 is provided with a A guide rail 1207 is provided, a slider 1208 is slidably provided on the guide rail 1207, and the slider 1208 is connected to one end of the soft copper wire 3; a hanger 1209 is provided at the rear side of the plate frame 12; the bottom end of the spring mechanism 1201 is rotatably connected to the first connecting rod 1210, the first connecting rod 1210 is rotatably connected to the second connecting rod 1211 and the clamping tongue 1212 through the first latch 1204, the second connecting rod 1211 is rotatably connected to the top of the slider 1208, and the clamping tongue 1212 is rotatably connected to the plate frame 12 through the second latch 1205; The rotating self-locking mechanism 13 is rotatably connected to the plate frame 12 through the third latch 1206; the rotating self-locking mechanism 13 includes a first rotating arm and a second rotating arm, the first rotating arm and the second rotating arm are connected through an arc, and the third latch 1206 is arranged at the vertex of the arc; the first rotating arm is limited by the limiting column 1203, the third rotating arm is vertically arranged on the second rotating arm, and the fourth rotating arm is vertically arranged on the third rotating arm and parallel to the second rotating arm; like Figure 6 As shown, the tower hanging device 2 includes a cavity 21, a lever arm 22, an arc-shaped half hanging 23 and a rocker arm 24; The cavity 21 comprises two "7"-shaped cavity walls of the same shape and arranged in parallel and a top surface connecting the cavity walls; a hook 2101 extending backward is arranged on the top surface; a first mounting hole and a second mounting hole are sequentially provided on each cavity wall from bottom to top; a travel cover plate 2102 is arranged outside the first mounting hole, and an arc-shaped stop block 2103 is arranged between the travel cover plate 2102 and the cavity 21, and the stop block 2103 moves in the cavity of the travel cover plate 2102 and the cavity 21; like Figure 7 , 8 As shown, the top of the lever arm 22 is provided with an installation groove, in which a first gear 2201 is fixedly installed, and the first gear 2201 is fixed to the installation groove by a latch; a copper shaft 2203 is set through the installation groove, and the lever arm 22 and the first gear 2201 rotate around the copper shaft 2203, and the copper shaft 2203 is fixedly connected to the cavity 21 through the first installation hole; the first gear 2201 is meshed with the second gear 2202, as shown in FIG. Fig. 9 As shown, an arc groove 2207 is provided on the second gear 2202, a trimming shaft 2204 is provided at the center of the second gear 2202, the trimming shaft 2204 is clearance-matched with the second gear 2202, and the trimming shaft 2204 passes through the second mounting hole; coupling seats 2205 are symmetrically provided on both sides of the second gear 2202, the coupling seats 2205 are fixedly connected to the trimming shaft 2204 through a latch, and the two coupling seats 2205 are fixedly connected through a fourth latch 2206 passing through the arc groove 2207; the tail end of the lever arm 22 is connected to the soft copper wire 3; like Fig.10 As shown, the arc-shaped half-hanging 23 is arranged inside the cavity 21, and is rotatably connected to the front vertex of the cavity 21 through the fifth latch 2301; a beryllium copper arc-shaped sheet 2302 is arranged at the arc of the arc-shaped half-hanging 23, which is used to fit with the arc-shaped surface of the tower end mounting frame; when rotating to form a "U" shape, the tail end of the arc-shaped half-hanging 23 fits with the cavity 21 surface and limits the position; The rocker arm 24 is arranged as a pair, and one end of the rocker arm 24 is provided with a mounting hole of the same shape as the trimming shaft, and is fixed to the two ends of the trimming shaft by screws respectively; the rocker arm 24 fits the current state of the two ends of the trimming shaft to form a whole to prevent slipping; the other end of the rocker arm 24 is installed with a sleeve 2402 through a double-headed pin 2401, and the sleeve 2402 rotates with the double-headed pin 2401 to reduce friction; and the contact point of the sleeve 2402 is below the center point of the arc semi-hanging 23. When the arc semi-hanging 23 is subjected to force, the sleeve 2402 tends to move downward along the outer arc of the arc semi-hanging 23; a tension spring 2403 is arranged at the end of the rocker arm 24 close to the trimming shaft 2204, and the other end of the tension spring 2403 is connected to the travel cover plate 2102.

[0027] like Fig.11 , 12As shown, the hook fixing bracket 4 is fixedly connected to the tower position that needs to be grounded. The top surface of the hook fixing bracket 4 is arc-shaped, and the other three surfaces are flat. The arc surface of the hook fixing bracket 4 fits with the beryllium copper arc sheet 2302; the plane of the hook fixing bracket 4 is to prevent the tower hanging equipment 2 from rotating as a whole when the fixed force arm 22 is turned, causing the equipment to be unable to be opened.

[0028] Working principle: 1. Hanging equipment 1 1) When the drone hooks the spring mechanism 1201 of the hanging frame 11, the hanging wire device 1 is in the open state, such as Fig.13 As shown; 2) When the wire hanging device 1 is clamped on the wire, the wire squeezes the rotating self-locking mechanism 13, so that the rotating self-locking mechanism 13 rotates the first rotating arm to seal the arched opening to form self-locking; 3) After the drone is separated from the hanging frame 11, there is no external force acting on the hanging frame 11 and the spring mechanism 1201, and the hanging device 1 is in a state of clasping under the weight of the soft copper wire 3. The slider 1208 in the guide rail 1207 moves downward under the weight of the soft copper wire 3 to drive the second connecting rod 1211, and the second connecting rod 1211 drives the movement of the first connecting rod 1210 and the clamping tongue 1212 to rotate around the second pin 1205, thereby clamping the wire, as shown in FIG. Fig.14 shown.

[0029] 2. Tower equipment 2 1) When the tower hanging device 2 is hung on the wire hanging device 1 or the hook fixing bracket 4, the lever arm 22 is vertically downward, which is the initial state, such as Fig.15 As shown; When the tower hanging device 2 is clamped on the hook fixing bracket 4, when the arc surface of the stop block 2103 is squeezed, the stop block 2103 shrinks inward; when the arc surface of the stop block 2103 is not squeezed, the internal spring pops out the stop block 2103 to prevent the tower hanging device 2 from falling off the hook fixing bracket 4; When the tower hanging device 2 is clamped on the hook fixing bracket 4, the sleeve 2402 on the rocker arm 24 squeezes the outer surface of the arc-shaped semi-hanging 23, making the arc-shaped semi-hanging 23 unable to open. Because the tension spring 2403 continuously applies tension to the rocker arm 24, the state of the cylinder squeezing the outer surface of the arc-shaped semi-hanging 23 is more stable.

[0030] 2) When the drone drags the soft copper wire 3 and the angle between the lever arm 22 and the vertical line is greater than 45°, it is in the unlocked state, such as Fig.16 As shown; When the lever arm 22 initially rotates, the first gear 2201 drives the second gear 2202 to rotate, and the trimming shaft does not rotate; when the rotation angle of the lever arm 22 is increased, the trimming shaft rotates, driving the sleeve 2402 to rotate, and the arc-shaped semi-hanging 23 is forced to rotate and open.

[0031] A method for hanging or removing a high-voltage ground wire from a drone, comprising the following steps: S1, install the hook fixing bracket 4 at the preset position of the transmission tower; The transmission tower is preset to be located near the conductor and higher than the conductor; S2. The drone is hung with a high-voltage grounding wire, which specifically includes the following steps: S21 controls the drone and hangs the tower device 2 on the hook fixing bracket 4 from top to bottom. Fig.17 , 18 As shown; After the tower hanging device 2 hangs the bracket, the drone continues to descend, so that the hook 2101 on the back of the tower hanging device 2 is separated from the hanger 1209 on the back of the wire hanging device 1. Fig.19 , 20 As shown; S23 controls the drone to hang the wire hanging device 1 on the wire from top to bottom, such as Fig.21 , 22 As shown; After the wire hanging device 1 hooks the wire at S24, the drone continues to descend, so that the drone hook frame is separated from the hanging frame 11. Fig.23 As shown; The S25 drone returns and the grounding wire hanging operation is completed. Fig.24 As shown; S3, UAV takes the high voltage ground wire, specifically including the following steps: S31 controls the drone to hook the drone hook frame 11 from bottom to top, such as Fig.25 , 26 As shown; S32 controls the drone to fly directly above the tower device 2, so that when the angle between the soft copper wire 3 pulling the lever arm 22 and the vertical is greater than a preset value, the tower device 2 is unlocked and detached from the hook fixing bracket 4. Fig. 27 As shown; S33 controls the drone and returns with all the equipment to complete the grounding wire collection operation. Fig.28 shown.

[0032] In summary, the present invention, through a specific mechanical structure design, enables the UAV to stably mount the grounding wire device during flight, avoiding the grounding wire device from tilting due to the shaking of the UAV, thereby improving the efficiency and safety of the wire hanging grounding operation.

Claims

1. A device for hanging or taking a high-voltage line grounding wire from an unmanned aerial vehicle, characterized in that: The invention comprises an unmanned aerial vehicle, a wire hanging device (1), a tower hanging device (2), a soft copper wire (3) and a hook fixing bracket (4); the unmanned aerial vehicle is movably connected to the wire hanging device (1), and the wire hanging device (1) is movably connected to the back of the tower hanging device (2); two ends of the soft copper wire (3) are respectively fixed to the wire hanging device (1) and the tower hanging device (2); the hook fixing bracket (4) is fixedly connected to the tower position; The wire hanging device (1) comprises a hanging frame (11), a plate frame (12) and a rotating self-locking mechanism (13); when the wire hanging device (1) hangs a wire, the rotating self-locking mechanism (13) squeezes and seals the opening along with the wire to form a self-locking mechanism; after the drone is detached from the hanging frame (11), the clamping tongue (1212) on the plate frame (12) rotates to clamp the wire; The tower hanging device (2) comprises a cavity (21), a lever arm (22), an arc-shaped semi-hanging (23) and a rocker arm (24); when the tower hanging device (2) is clamped on the hook fixing bracket (4), the rocker arm (24) squeezes the arc-shaped semi-hanging (23) to complete self-locking, and when the lever arm (22) swings to a preset angle, it drives the arc-shaped semi-hanging (23) to rotate, and the rocker arm (24) is unlocked.

2. The device for hanging or taking high-voltage wire grounding wire of a drone according to claim 1, characterized in that: The hanging frame (11) is an octagonal structure arranged vertically, with the top edge arranged horizontally; the hanging frame (11) is connected to the top of the plate frame (12) via a spring mechanism (1201).

3. The device for hanging or taking high-voltage wire grounding wire of a drone according to claim 1, characterized in that: The plate frame (12) comprises two plates of the same shape and arranged in parallel, and the plates are connected by bolts; an arched opening is arranged on the front side of each plate body, tilted upward, and a baffle (1202) is arranged outward along the upper straight edge of the opening, and the baffle (1202) is fixedly connected to the plate frame (12); the tail ends of the two baffles (1202) are connected by bolts, and limit posts (1203) are symmetrically arranged on the inner sides; a second latch (1205) is arranged on the outer side of the lower straight edge of the arched opening of the plate frame (12), and a third latch (1206) is arranged on the outer side of the upper straight edge of the arched opening of the plate frame (12); a guide rail (1206) is arranged on the inner side of the bottom of the plate frame (12); 7), a slider (1208) is slidably arranged on the guide rail (1207), and the slider (1208) is connected to one end of the soft copper wire (3); a hanger (1209) is arranged on the rear side of the plate frame (12); the bottom end of the spring mechanism (1201) is rotatably connected to the first connecting rod (1210), the first connecting rod (1210) is rotatably connected to the second connecting rod (1211) and the clamping tongue (1212) through the first latch (1204), the second connecting rod (1211) is rotatably connected to the top of the slider (1208), and the clamping tongue (1212) is rotatably connected to the plate frame (12) through the second latch (1205).

4. The device for hanging or removing high-voltage wire grounding wire for unmanned aerial vehicles according to claim 3 is characterized in that: The rotating self-locking mechanism (13) is rotationally connected to the plate frame (12) via a third latch (1206); the rotating self-locking mechanism (13) comprises a first rotating arm and a second rotating arm, the first rotating arm and the second rotating arm are connected via an arc, and the third latch (1206) is arranged at the vertex of the arc; the first rotating arm is limited by a limiting column (1203), the third rotating arm is vertically arranged on the second rotating arm, and the fourth rotating arm is vertically arranged on the third rotating arm and is parallel to the second rotating arm.

5. The device for hanging or removing high-voltage wire grounding wire for unmanned aerial vehicles according to claim 1 is characterized in that: The cavity (21) comprises two "7"-shaped cavity walls of the same shape and arranged in parallel, and a top surface connecting the cavity walls; a hook (2101) extending backward is arranged on the top surface; each cavity wall is provided with a first mounting hole and a second mounting hole in sequence from bottom to top; a travel cover plate (2102) is arranged outside the first mounting hole, and an arc-shaped stop block (2103) is arranged between the travel cover plate (2102) and the cavity (21), and the stop block (2103) moves in the travel cavity of the travel cover plate (2102) and the cavity (21).

6. The device for hanging or removing high-voltage wire grounding wire for unmanned aerial vehicles according to claim 5 is characterized in that: The top of the lever arm (22) is provided with a mounting groove, in which a first gear (2201) is fixedly mounted, and the first gear (2201) is fixed to the mounting groove via a latch; a copper shaft (2203) is provided through the mounting groove, and the lever arm (22) and the first gear (2201) rotate around the copper shaft (2203), and the copper shaft (2203) is fixedly connected to the cavity (21) via a first mounting hole; the first gear (2201) is meshed with a second gear (2202), and an arc groove (2207) is provided on the second gear (2202); A trimming shaft (2204) is arranged at the center of the second gear (2202), the trimming shaft (2204) and the second gear (2202) are clearance-matched, and the trimming shaft (2204) passes through the second mounting hole; coupling seats (2205) are symmetrically arranged on both sides of the second gear (2202), the coupling seats (2205) are fixedly connected to the trimming shaft (2204) via a latch, and the two coupling seats (2205) are fixedly connected via a fourth latch (2206) passing through an arc groove (2207); and the tail end of the lever arm (22) is connected to the soft copper wire (3).

7. The device for hanging or removing high-voltage wire grounding wire for unmanned aerial vehicles according to claim 6 is characterized in that: The rocker arm (24) is arranged in a pair, and a mounting hole having the same shape as the trimming shaft is arranged at one end of the rocker arm (24), and the rocker arm (24) is fixed to the two ends of the trimming shaft by screws respectively; the rocker arm (24) fits the existing state of the two ends of the trimming shaft to form a whole; the other end of the rocker arm (24) is installed with a sleeve (2402) through a double-headed pin (2401), and the sleeve (2402) rotates with the double-headed pin (2401); and the contact point of the sleeve (2402) is below the center point of the arc-shaped semi-hanging (23); a tension spring (2403) is arranged at the end of the rocker arm (24) close to the trimming shaft (2204), and the other end of the tension spring (2403) is connected to the travel cover plate (2102).

8. The device for hanging or removing high-voltage wire grounding wire for unmanned aerial vehicles according to claim 5 is characterized in that: The arc-shaped half-hanging (23) is arranged inside the cavity (21) and is rotatably connected to the front vertex of the cavity (21) via a fifth latch (2301); a beryllium copper arc-shaped sheet (2302) is arranged at the arc of the arc-shaped half-hanging (23).

9. The device for hanging or removing high-voltage wire grounding wire from a drone according to claim 8, characterized in that: The top surface of the hook fixing bracket (4) is arc-shaped, and the other three surfaces are flat surfaces. The arc surface of the hook fixing bracket (4) fits the beryllium copper arc sheet (2302).

10. A method for hanging or taking a high-voltage ground wire from an unmanned aerial vehicle, characterized in that: Using the device for hanging or removing a high-voltage line grounding wire from a drone as described in any one of claims 1 to 9 comprises the following steps: S1. Install a hook fixing bracket (4) at a preset position of a transmission tower; S2, UAV hanging high voltage grounding wire; S21 controls the drone and hangs the tower device (2) on the hook fixing bracket (4) from top to bottom; S22 After the tower hanging device (2) hangs on the bracket, the drone continues to descend, so that the hook (2101) on the back of the tower hanging device (2) is separated from the hanger (1209) on the back of the wire hanging device (1); S23 controls the drone to hang the wire hanging device (1) on the wire from top to bottom; After the S24 wire hanging device (1) hooks the wire, the drone continues to descend, so that the drone hook frame is separated from the hanging frame (11); The S25 drone returned and the grounding wire hanging operation was completed; S3, UAV takes the high voltage ground wire; S31 controls the drone to hook the drone hook frame (11) from bottom to top; S32 controls the drone to fly directly above the tower hanging device (2), so that when the angle between the soft copper wire (3) pulling the lever arm (22) and the vertical is greater than a preset value, the tower hanging device (2) is unlocked and detached from the hook fixing bracket (4); S33 controlled the drone and returned with all the equipment, completing the ground wire collection operation.

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