Power transmission line grounding device hoisted by unmanned aerial vehicle and control method thereof

Abstract

The invention relates to a power transmission line grounding device hoisted by using an unmanned aerial vehicle and a control method thereof, the device is used for electrically connecting a power transmission conductor with a power transmission tower, and the device comprises a conductor connecting mechanism, a tower connecting mechanism and a connecting conductor, the tower connecting mechanism and the wire connecting mechanism are in automatic lock catch connection through the first lock catch mechanism and are electrically connected through the connecting wire. According to the device, collaborative hoisting, automatic butt joint and reliable fixing of components on the wire side and the tower side can be completed through the single unmanned aerial vehicle, a stable grounding circuit between the transmission wire and the transmission tower is finally formed, the limitation of traditional manual pole climbing and multi-machine cooperation is thoroughly eliminated, the power distribution network maintenance operation efficiency is greatly improved, and the maintenance cost is reduced. And the operation safety risk in a complex environment is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line maintenance operations, and in particular to a power transmission line grounding device hoisted by an unmanned aerial vehicle and a control method thereof. Background Art

[0002] During power distribution network line maintenance operations, installing a working grounding wire is one of the core technical measures to ensure operational safety. It is primarily used to prevent reverse power flow, eliminate induced voltage, and discharge residual charge on the line. Traditional grounding wire installation requires manual climbing of poles or close-range installation using an insulated boom truck. This is not only inefficient and labor-intensive, but also difficult to implement in complex terrain such as steep slopes and river crossings, posing risks such as falls from height and electric shock. With the rapid development of drone technology, the use of drones for grounding wire installation has become a new trend, but this equipment still has the following shortcomings: Existing devices require multiple drones to work together, which results in low implementation costs and efficiency; Manual assistance is still required to complete the assembly of corresponding components on the conductor side and the tower side, which is complicated and has limited reliability; Existing devices are not adaptable enough to conductors and towers, and are prone to loosening and falling off under working conditions such as strong winds, threatening operational safety.

[0003] In response to the above problems, there is an urgent need for a transmission line grounding device that can efficiently and cost-effectively complete the coordinated lifting and automatic docking of conductor-side and tower-side components, so as to completely get rid of the limitations of manual climbing and multi-machine collaboration. Summary of the Invention

[0004] To overcome the above-mentioned deficiencies of the prior art, the present application provides a transmission line grounding device hoisted by a drone and a control method thereof, which specifically adopts the following technical solutions: A transmission line grounding device hoisted by a drone is used to electrically connect a transmission conductor to a transmission tower. The device includes a conductor connection mechanism, a tower connection mechanism, and a connecting conductor. The tower connection mechanism is provided with a first nesting space with a lower opening, and the first nesting space is used to cooperate with the wire connection mechanism or the transmission tower for connection; the wire connection mechanism is provided with a second nesting space with a lower opening, and the second nesting space is used to cooperate with the transmission wire for connection; The upper end of the wire connecting mechanism is provided with a nesting connection portion, and the nesting connection portion is used to cooperate with the first nesting space to achieve a tight connection between the tower connecting mechanism and the wire connecting mechanism; The nested connection portion is provided with a first locking mechanism, and the pole tower connection mechanism is provided with a locking column adapted to the first locking mechanism, and the first locking mechanism cooperates with the locking column to enable the pole tower connection mechanism and the wire connection mechanism to be fixed and separated; The pole tower connection mechanism and the wire connection mechanism are electrically connected via the connecting wire.

[0005] Optionally: the pole tower connection mechanism includes two oppositely arranged first vertical plates and a first connecting pillar located between the two first vertical plates, and the two first vertical plates are fixed by multiple first connecting pillars to form a first fixed shell; the first nesting space is located in the middle position of the first fixed shell.

[0006] Furthermore: the tower connection mechanism also includes a first power supply component, a first control component, a connecting claw hook and a second locking mechanism, The connecting claw hook is connected to the upper end of the first fixed shell, and the connecting claw hook is used to provide a connection point for the drone; The second locking mechanism is fixed to a side position of the first nesting space, and the second locking mechanism is used to cooperate with the first nesting space to connect the tower connection mechanism with the angle steel of the transmission tower; The first power supply assembly and the first control assembly are respectively fixed to the outside of the first fixed shell, the first power supply assembly is used to supply power to the first control assembly and the second locking mechanism, and the first control mechanism is used to control the second locking mechanism to achieve unlocking or locking action.

[0007] Optionally: the first locking mechanism includes a gear, a rack, a fixed base and a drive assembly, The gear is located in the middle of the nested connection portion, and the output end of the drive assembly is connected to the gear; There are two racks, one of which is located on the upper side of the gear and the other is located on the lower side of the gear, and both racks are meshed with the gear; There are two fixed bases, which are respectively fixed on the left and right sides of the gear, and each fixed base is provided with a mounting hole, which is used to match the rack and keep the rack moving horizontally.

[0008] Optional: The wire connection mechanism includes two oppositely arranged second vertical plates and a second connecting pillar located between the two second vertical plates, and the two second vertical plates are fixed by multiple second connecting pillars to form a second fixed shell; the second nesting space is located in the middle position of the second fixed shell.

[0009] Furthermore: the wire connection mechanism also includes a second power supply component, a second control component, a wire inclination compensation mechanism and a third locking mechanism, The third locking mechanism is fixed to a side position of the second nesting space, and the third locking mechanism is used to cooperate with the second nesting space to connect the wire connecting mechanism with the power transmission wire; The conductor inclination compensation mechanism is located at the upper portion of the second nested space, and is used to adapt to transmission conductors with different installation angles to achieve a tight connection between the transmission conductors and the conductor connection mechanism; The second power supply assembly and the second control assembly are respectively fixed to the outside of the second fixed shell, the second power supply assembly is used to supply power to the second control assembly and the third locking mechanism, and the second control mechanism is used to control the third locking mechanism to achieve unlocking or locking action.

[0010] Optional: The second locking mechanism includes a first electric push rod and a first closing link, the first closing link is a right-angle structure, a first hinge portion is provided at the offset end of the first closing link, and the first closing link is connected to the first fixed shell through the first hinge portion; the first electric push rod is connected to one end of the first closing link close to the first hinge portion, and the first closing link is driven to unlock or lock relative to the first nesting space through the telescopic action of the first electric push rod.

[0011] Optional: The third locking mechanism includes a second electric push rod and a second closing link, a second hinge portion is provided in the middle of the second closing link, and the second closing link is connected to the second fixed shell through the second hinge portion; the second electric push rod is connected to one end of the second closing link close to the second hinge portion, and the second electric push rod is driven to unlock or lock relative to the second nesting space through the telescopic action of the second electric push rod.

[0012] Optional: The wire connection mechanism includes at least two guide plates, at least one of which is fixed to one side of the nested connection portion, and the remaining guide plates are fixed to the opposite side of the nested connection portion, and a guide space with an upper end opening is formed by the guide plates located on both sides of the nested connection portion, and the guide space is used to guide the wire connection mechanism to be sleeved into the first nested space of the pole tower connection mechanism.

[0013] In addition, the present application also discloses a control method for a power transmission line grounding device hoisted by a drone, which is applied to the above-mentioned power transmission line grounding device hoisted by a drone for grounding operations, and the method includes the following steps: The tower connecting mechanism and the wire connecting mechanism are held together to form a combined body by a first locking mechanism; Use a drone to carry the assembly to the top of the transmission line at the corresponding target location, and use the visual positioning system configured on the drone to align with the transmission wire; Controlling the drone to slowly descend so that the second nesting space of the wire connecting mechanism in the assembly is engaged with and locked to the power transmission wire; The pole tower connection mechanism is separated from the wire connection mechanism by a first locking mechanism, and the drone carries the pole tower connection mechanism up; The drone carries the pole tower connection mechanism to the corresponding transmission tower, and uses the visual positioning system configured on the drone to align with the preset position of the transmission tower; The visual positioning system is used to control the flight attitude of the UAV so that the first nesting space of the tower connection mechanism is guided to the angle steel slot of the transmission tower and locked, thereby completing the establishment of the grounding loop; After the grounding is completed, the drone is controlled to capture the tower connection mechanism and unlock it, and the drone carries the tower connection mechanism to the top of the wire connection mechanism; Controlling the flight posture of the UAV through a visual positioning system so that the first nesting space of the tower connection mechanism is guided to the nesting connection portion of the wire connection mechanism; The tower connection mechanism and the wire connection mechanism are reassembled into a combined body through a first locking mechanism; The wire connection mechanism is unlocked, and the drone carrying the assembly is separated from the power transmission line.

[0014] Beneficial effects The technical solution of this application has the following beneficial effects: The transmission line grounding device of the present application is installed between the transmission tower and the transmission conductor to prevent reverse power transmission, eliminate induced voltage, and discharge residual charge on the line. The device is divided into two parts: a tower connection mechanism and a conductor connection mechanism, and the two are automatically locked and connected by a first locking mechanism. In addition, the device can complete the coordinated lifting, automatic docking, and reliable fixation of the conductor-side and tower-side components using a single drone, ultimately forming a stable grounding path between the transmission conductor and the transmission tower. It completely breaks away from the limitations of traditional manual pole climbing and multi-machine collaboration, greatly improving the efficiency of distribution network maintenance operations and reducing the safety risks of operations in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall combined structure of the power transmission line grounding device in an embodiment of the present application.

[0016] Figure 2 Schematic diagram of the overall structure of the tower connection mechanism in the embodiment of the present application.

[0017] Figure 3 This is a front structural diagram of the pole tower connection mechanism in an embodiment of the present application.

[0018] Figure 4 This is a rear structural schematic diagram of the tower connection mechanism in an embodiment of the present application.

[0019] Figure 5Schematic diagram of the exploded structure of the tower connection mechanism in the embodiment of the present application.

[0020] Figure 6 Schematic diagram of the overall structure of the wire connection mechanism in the embodiment of the present application.

[0021] Figure 7 This is a front structural diagram of the wire connection mechanism in an embodiment of the present application.

[0022] Figure 8 This is a rear structural schematic diagram of the wire connection mechanism in an embodiment of the present application.

[0023] Figure 9 Schematic diagram of the exploded structure of the wire connection mechanism in the embodiment of the present application.

[0024] Figure 10 This is a structural diagram of the first locking mechanism in an embodiment of the present application.

[0025] Figure 11 Schematic diagram of the state of the assembly formed by the tower connection mechanism and the wire connection mechanism in the embodiment of the present application.

[0026] Figure 12 This is a schematic diagram of the state where the wire connecting mechanism is mounted on the power transmission wire in an embodiment of the present application.

[0027] Figure 13 This is a schematic diagram of the state in which the tower connection mechanism and the wire connection mechanism are separated when the rack of the first locking mechanism is retracted in an embodiment of the present application.

[0028] Figure 14 This is a schematic diagram of the state where the tower connection mechanism is mounted on the transmission tower in an embodiment of the present application.

[0029] Figure 15 for Figure 12 Enlarged view of position A in the middle.

[0030] Figure 16 for Figure 13 Enlarged view of position B in the middle.

[0031] The specific meanings of the reference numerals in the accompanying drawings are: 1-tower connecting mechanism; 101-first vertical plate; 102-first connecting pillar; 103-first control assembly; 104-first power supply assembly; 105-first guide rod; 106-second locking mechanism; 1061-first electric push rod; 1062-first closing link; 107-connecting claw hook; 108-locking column; 2-wire connecting mechanism; 201-second vertical plate; 202-second connecting pillar; 203-second control assembly; 204-second power supply assembly; 205-second guide rod; 206-third locking mechanism; 2061-second electric push rod; 2062-second closing link; 207-wire inclination compensation mechanism; 208-first locking mechanism; 2081-fixed base; 2082-gear; 2083-rack; 209-guide plate; 210 driving assembly; 3-connecting wire.

[0032] Ⅰ-first nested space; Ⅱ-second nested space; Ⅲ-nested connection part. DETAILED DESCRIPTION

[0033] The present application will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application and are not intended to limit the scope of protection of the present application. It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application.

[0034] To clearly illustrate the spatial layout of the technical solution of this application and the relative positional relationships of its components, a spatial rectangular coordinate system is established based on the viewing angles presented in the accompanying drawings, wherein the X-axis corresponds to the width of the viewing structure, i.e., the left-right direction; the Y-axis corresponds to the height of the viewing structure, i.e., the up-down direction; and the Z-axis corresponds to the length of the viewing structure, i.e., the front-back direction. The above directional descriptions are intended solely to facilitate the description of this application and to simplify the description. They do not indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Specifically, such as Figure 1As shown, an embodiment of the present application discloses a transmission line grounding device hoisted by a drone, which is used to electrically connect a transmission conductor to a transmission tower. The device includes a conductor connection mechanism 2, a tower connection mechanism 1, and a connecting conductor 3. The conductor connection mechanism 2 and the tower connection mechanism 1 adopt a nested structure design, and the tower connection mechanism 1 can be nested in the upper end position of the conductor connection mechanism 2, and the two are electrically connected through the connecting conductor 3. When grounding work is required for distribution network maintenance, the tower connection mechanism 1 needs to be connected to the angle steel of the transmission tower, and the conductor connection mechanism 2 is connected to the target position of the transmission conductor. Since the transmission tower is grounded, a grounding path can be constructed by using the conductor connection mechanism 2-connecting conductor 3-tower connection mechanism 1-transmission tower, so that the part of the transmission conductor located between the target position and the transmission tower is at the same potential, so as to ensure the safety of the maintenance personnel on the part of the transmission conductor.

[0036] With the rapid development of drone technology, the use of drones to install grounding wires has become a new trend. Some existing transmission line grounding devices use at least two drones to work together to mount the wire connection mechanism 2 and the tower connection mechanism 1 respectively to implement the installation of the wire side and tower side components. The operation is complicated, and the implementation cost and efficiency are low. After mounting the components on the wire side and tower side, it is necessary to manually connect and fix the corresponding components on the wire side and tower side, otherwise the reliability is insufficient. Therefore, this application realizes rapid installation and reliable grounding under single drone operation through innovative modular design and multiple locking mechanisms, significantly improving the safety and efficiency of distribution network maintenance operations.

[0037] Specifically, the structure of the transmission line grounding device of the present application is as follows: Combine Figure 3 and Figure 4 As shown, in this embodiment, the pole tower connection mechanism 1 is provided with a first nesting space I with a lower opening, and the first nesting space I is used to cooperate with the wire connection mechanism 2 or the transmission pole tower for connection; Figure 7 and Figure 8 As shown, the conductor connection mechanism 2 is provided with a second nesting space II with a lower opening, and the second nesting space II is used to cooperate with the transmission line for connection; wherein the upper end of the conductor connection mechanism 2 is provided with a nesting connection portion III, and the nesting connection portion III is used to cooperate with the first nesting space I to achieve a tight connection between the tower connection mechanism 1 and the conductor connection mechanism 2; Furthermore, in order to ensure reliable separation and fixation of the pole tower connection mechanism 1 and the wire connection mechanism 2, this embodiment provides a first locking mechanism 208 in the nested connection portion III, and the corresponding pole tower connection mechanism 1 is provided with a locking column 108 adapted to the first locking mechanism 208.

[0038] Specific, combined Figure 9 and Figure 10 As shown, the first locking mechanism 208 of this embodiment includes a gear 2082, a rack 2083, a fixed base 2081, and a drive assembly 210. The gear 2082 is located in the middle of the nested connection portion III, and the output end of the drive assembly 210 is connected to the gear 2082. The drive assembly 210 provides driving force to the gear 2082 to control the rotation of the gear 2082. In this embodiment, there are two racks 2083, one of which is located above the gear 2082 and the other is located below the gear 2082. The two racks 2083 remain parallel and are both meshed with the gear 2082. The rotation of the gear 2082 can drive the two racks 2083 at the upper and lower positions to move synchronously in opposite directions or opposite directions. For example, when the pole tower connection mechanism 1 and the wire connection mechanism 2 are fixed, the gear 2082 drives the two racks 2083 at the upper and lower positions to move in opposite directions synchronously, that is, the two racks 2083 extend to the left and right directions respectively. At this time, each rack 2083 will be mutually constrained with the locking column 108 of the pole tower connection mechanism 1, and thus the pole tower connection mechanism 1 and the wire connection mechanism 2 are combined into one. When the pole tower connection mechanism 1 and the wire connection mechanism 2 are separated, the gear 2082 drives the two racks 2083 at the upper and lower positions to move in opposite directions synchronously, that is, the two racks 2083 retract toward the center position respectively. At this time, each rack 2083 cannot be constrained by the locking column 108 of the pole tower connection mechanism 1, and thus the pole tower connection mechanism 1 and the wire connection mechanism 2 have no connection relationship and are divided into two parts.

[0039] Further, such as Figure 10 As shown, to limit the above-mentioned rack 2083 to horizontal movement, this embodiment has a fixed base 2081 fixed to the left and right sides of the gear 2082, and each fixed base 2081 is provided with a mounting hole for assembling the rack 2083 and maintaining horizontal movement of the rack 2083. It should be emphasized that to match the installation position of the rack 2083, the two fixed bases 2081 of this embodiment are installed at a certain distance in the vertical direction (Y-axis direction). In addition, the rack 2083 of this embodiment adopts a circular rack design to adapt to the circular mounting holes on the fixed base 2081. To ensure safe use, limit pins are specially provided at both ends of the rack 2083 to prevent the rack 2083 from accidentally falling out.

[0040] Specific, combined Figure 2-5As shown, the tower connection mechanism 1 of this embodiment includes a first vertical plate 101, a first connecting strut 102, a first power supply assembly 104, a first control assembly 103, a connecting claw hook 107, and a second locking mechanism 106. Two first vertical plates 101 are disposed opposite each other, and the first connecting strut 102 is located between the two first vertical plates 101. The two first vertical plates 101 are fixed together by a plurality of first connecting struts 102 to form a first fixed housing; the first nesting space I is located in the middle of the first fixed housing.

[0041] The connecting claw hook 107 is connected to the upper end of the first fixed shell, and the connecting claw hook 107 is used to provide a connection point for the drone; the second locking mechanism 106 is fixed to the side position of the first nesting space I, and the second locking mechanism 106 is used to cooperate with the first nesting space I to realize the connection between the tower connection mechanism 1 and the angle steel of the transmission tower; the first power supply component 104 and the first control component 103 are respectively fixed to the outside of the first fixed shell, and the first power supply component 104 is used to supply power to the first control component 103 and the second locking mechanism 106, and the first control mechanism is used to control the second locking mechanism 106 to realize unlocking or locking action.

[0042] Further, such as Figure 5 As shown, the second locking mechanism 106 of this embodiment includes a first electric push rod 1061 and a first closing link 1062, the first closing link 1062 is a right-angle structure, and a first hinge portion is provided at the biased end portion of the first closing link 1062, and the first closing link 1062 is connected to the first fixed shell through the first hinge portion; the first electric push rod 1061 is connected to one end of the first closing link 1062 close to the first hinge portion, and the first closing link 1062 is driven to unlock or lock relative to the first nesting space I through the telescopic action of the first electric push rod 1061.

[0043] More specifically, combined Figure 6-9As shown, the wire connection mechanism 2 of this embodiment includes a second vertical plate 201, a second connecting strut 202, a second power supply assembly 204, a second control assembly 203, a wire tilt compensation mechanism 207, and a third locking mechanism 206. Two second vertical plates 201 are positioned opposite each other, with the second connecting strut 202 located between them. The two second vertical plates 201 are secured together by a plurality of second connecting struts 202 to form a second fixed housing. The second nesting space II is located in the center of the second fixed housing. The third locking mechanism 206 is secured to the side of the second nesting space II and is used to cooperate with the second nesting space II to connect the wire connection mechanism 2 to the power transmission line. The wire tilt compensation mechanism 207 is located above the second nesting space II and is used to accommodate power transmission lines installed at different angles, ensuring a tight connection between the power transmission line and the wire connection mechanism 2. The second power supply component 204 and the second control component 203 are respectively fixed to the outside of the second fixed shell, and the second power supply component 204 is used to supply power to the second control component 203 and the third locking mechanism 206, and the second control mechanism is used to control the third locking mechanism 206 to achieve unlocking or locking action.

[0044] It should be noted that the conductor inclination compensation mechanism 207 of this embodiment has an angle adjustment capability of ±6° and can adapt to transmission lines with different installation angles to ensure that the conductor connection mechanism and the transmission conductor can be reliably connected under various working conditions.

[0045] Furthermore, Figure 9 As shown, the third locking mechanism 206 includes a second electric push rod 2061 and a second closing link 2062, a second hinge portion is provided in the middle of the second closing link 2062, and the second closing link 2062 is connected to the second fixed shell through the second hinge portion; the second electric push rod 2061 is connected to one end of the second closing link 2062 close to the second hinge portion, and the second electric push rod 2061 is driven to unlock or lock relative to the second nesting space II through the telescopic action of the second electric push rod 2061.

[0046] In this embodiment, the tower connection mechanism 1 is provided with a second locking mechanism 106, and the wire connection mechanism 2 is provided with a third locking mechanism 206. The device of this embodiment adopts the above-mentioned double locking design to ensure that the tower connection mechanism and the wire connection mechanism can be firmly locked under various environmental conditions.

[0047] Furthermore, in order to ensure that the pole tower connection mechanism 1 is accurately nested into the upper end position of the wire connection mechanism 2, the wire connection mechanism 2 of this embodiment is provided with at least two guide plates 209, wherein at least one of the guide plates 209 is fixed to one side of the nested connection part III, and the remaining guide plates 209 are fixed to the opposite side of the nested connection part III. A guide space with an upper end opening is formed by the guide plates 209 located on both sides of the nested connection part III, and as the guide plates 209 extend upward, the opening of the guide space becomes larger, which is conducive to guiding the wire connection mechanism 2 to be sleeved into the first nested space I of the pole tower connection mechanism 1.

[0048] It should be noted that, since the transmission line grounding device is mounted by a drone hoisting method in this embodiment, in order to improve the mounting efficiency, a first guide rod 105 is provided at the opening position of the first nesting space I on the first fixed shell for the tower connection mechanism 1, as shown in FIG. Figure 2 Similarly, for the wire connecting mechanism 2, a second guide rod 205 is provided at the opening position of the second nesting space II on the second fixed shell, as shown. Figure 6 When the tower connection mechanism 1 is mounted on the angle iron of the transmission tower, the angle iron can be smoothly guided into the first nesting space I through the first guide rod 105; and when the wire connection mechanism 2 is mounted on the transmission wire, the transmission wire can be smoothly guided into the second nesting space II through the first guide rod 105.

[0049] Further, combined Figure 11-16 As shown, when the grounding operation is performed using the transmission line grounding device hoisted by the drone, the control process of the device includes the following steps: First, as Figure 11 As shown, by controlling the rack 2083 in the first locking mechanism 208 to extend, the tower connection mechanism 1 and the wire connection mechanism 2 are kept as an integrated assembly; The ground operator then controls the drone to carry the assembly to the top of the transmission line at the corresponding target location and uses the drone's visual positioning system to align it with the transmission line. Then the drone is controlled to slowly descend so that the second nesting space II of the wire connecting mechanism 2 in the assembly is matched with the power transmission wire. Figure 12 At this time, the operator activates the third locking mechanism 206 through a remote control command to perform a locking action, that is, the second electric push rod 2061 drives the second closing link 2062 to close relative to the second nesting space II. At this time, the wire connecting mechanism 2 is stably connected to the power transmission wire; Then, the rack 2083 of the first locking mechanism 208 is controlled to retract, so that the tower connection mechanism 1 is separated from the wire connection mechanism 2. Figure 13As shown. At this time, the drone carries the separated tower connection mechanism 1 and rises; Next, the drone carries the pole tower connection mechanism 1 to the corresponding transmission tower, and uses the visual positioning system configured on the drone to align with the preset position of the transmission tower; By using the visual positioning system to control the flight posture of the UAV, the first nesting space I of the tower connection mechanism 1 is guided to the angle steel slot of the transmission tower, such as Figure 14 When the position is confirmed, the ground operator activates the second locking mechanism 106 through remote control commands to perform a locking action, that is, the first electric push rod 1061 drives the first closing link 1062 to close relative to the first nesting space I. At this time, the ground circuit is established and the UAV can be detached from the connection hook 107; When the distribution network maintenance is complete, the ground operator controls the drone to capture the connecting claw 107 of the tower connection mechanism 1. After confirming successful capture, the operator remotely controls the second locking mechanism to unlock it. Specifically, the first electric push rod 1061 drives the first closing link 1062 to open relative to the first nesting space I. The drone is then controlled to carry the tower connection mechanism 1 away from the angle steel of the transmission tower and fly above the conductor connection mechanism 2. The UAV's flight posture is controlled by a visual positioning system so that the first nesting space I of the tower connection mechanism 1 is guided to the nesting connection portion III of the wire connection mechanism 2; When the nesting is in place, the rack 2083 of the first locking mechanism 208 is extended to re-form the tower connection mechanism 1 and the wire connection mechanism 2 into an integrated assembly; After finally confirming that the combination is connected reliably, the third locking mechanism 206 located in the wire connection mechanism 2 performs an unlocking action, that is, the second electric push rod 2061 drives the second closing link 2062 to open relative to the second nesting space II. At this time, the drone carrying the combination safely detaches from the power transmission line, completing the entire operation process.

[0050] The above-described device and method of this embodiment are applicable to various types of maintenance operations for distribution network lines, and are particularly well-suited for line maintenance in complex terrains such as mountainous areas and river crossings. Due to the standardized structural design of the transmission line grounding device of this embodiment, it facilitates mass production and rapid deployment, and is adaptable to a variety of conductor and angle steel types, possessing a wide range of applicability. This device can effectively enhance the automation level of distribution network maintenance and reduce operational safety risks, playing a significant role in building an intelligent and efficient power grid operation and maintenance system.

[0051] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A transmission line grounding device hoisted by a drone, used for electrically connecting a transmission conductor to a transmission tower, characterized in that: The device includes a conductor connection mechanism, a pole tower connection mechanism and a connecting conductor. The tower connection mechanism is provided with a first nesting space with a lower opening, and the first nesting space is used to cooperate with the wire connection mechanism or the transmission tower for connection; the wire connection mechanism is provided with a second nesting space with a lower opening, and the second nesting space is used to cooperate with the transmission wire for connection; The upper end of the wire connecting mechanism is provided with a nesting connection portion, and the nesting connection portion is used to cooperate with the first nesting space to achieve a tight connection between the tower connecting mechanism and the wire connecting mechanism; The nested connection portion is provided with a first locking mechanism, and the pole tower connection mechanism is provided with a locking column adapted to the first locking mechanism, and the first locking mechanism cooperates with the locking column to enable the pole tower connection mechanism and the wire connection mechanism to be fixed and separated; The pole tower connection mechanism and the wire connection mechanism are electrically connected via the connecting wire.

2. The power transmission line grounding device according to claim 1, characterized in that: The pole tower connection mechanism includes two oppositely arranged first vertical plates and a first connecting pillar located between the two first vertical plates. The two first vertical plates are fixed by multiple first connecting pillars to form a first fixed shell; the first nesting space is located in the middle of the first fixed shell.

3. The power transmission line grounding device according to claim 2, characterized in that: The tower connection mechanism also includes a first power supply component, a first control component, a connecting claw hook and a second locking mechanism. The connecting claw hook is connected to the upper end of the first fixed shell, and the connecting claw hook is used to provide a connection point for the drone; The second locking mechanism is fixed to a side position of the first nesting space, and the second locking mechanism is used to cooperate with the first nesting space to connect the tower connection mechanism with the angle steel of the transmission tower; The first power supply assembly and the first control assembly are respectively fixed to the outside of the first fixed shell, the first power supply assembly is used to supply power to the first control assembly and the second locking mechanism, and the first control mechanism is used to control the second locking mechanism to achieve unlocking or locking action.

4. The power transmission line grounding device according to claim 1, characterized in that: The first locking mechanism includes a gear, a rack, a fixed base and a driving assembly. The gear is located in the middle of the nested connection portion, and the output end of the drive assembly is connected to the gear; There are two racks, one of which is located on the upper side of the gear and the other is located on the lower side of the gear, and both racks are meshed with the gear; There are two fixed bases, which are respectively fixed on the left and right sides of the gear, and each fixed base is provided with a mounting hole, which is used to match the rack and keep the rack moving horizontally.

5. The power transmission line grounding device according to claim 1, characterized in that: The wire connection mechanism includes two oppositely arranged second vertical plates and a second connecting pillar located between the two second vertical plates. The two second vertical plates are fixed by multiple second connecting pillars to form a second fixed shell; the second nesting space is located in the middle of the second fixed shell.

6. The power transmission line grounding device according to claim 5, characterized in that: The wire connection mechanism also includes a second power supply component, a second control component, a wire inclination compensation mechanism and a third locking mechanism. The third locking mechanism is fixed to a side position of the second nesting space, and the third locking mechanism is used to cooperate with the second nesting space to connect the wire connecting mechanism with the power transmission wire; The conductor inclination compensation mechanism is located at the upper portion of the second nested space, and is used to adapt to transmission conductors with different installation angles to achieve a tight connection between the transmission conductors and the conductor connection mechanism; The second power supply assembly and the second control assembly are respectively fixed to the outside of the second fixed shell, the second power supply assembly is used to supply power to the second control assembly and the third locking mechanism, and the second control mechanism is used to control the third locking mechanism to achieve unlocking or locking action.

7. The power transmission line grounding device according to claim 3, characterized in that: The second locking mechanism includes a first electric push rod and a first closing link. The first closing link is a right-angle structure. A first hinge portion is provided at the offset end of the first closing link. The first closing link is connected to the first fixed shell through the first hinge portion; the first electric push rod is connected to one end of the first closing link close to the first hinge portion, and the first closing link is driven to unlock or lock relative to the first nesting space through the telescopic action of the first electric push rod.

8. The power transmission line grounding device according to claim 6, characterized in that: The third locking mechanism includes a second electric push rod and a second closing link, a second hinge portion is provided in the middle of the second closing link, and the second closing link is connected to the second fixed shell through the second hinge portion; the second electric push rod is connected to one end of the second closing link close to the second hinge portion, and the second closing link is driven to unlock or lock relative to the second nesting space through the telescopic action of the second electric push rod.

9. The power transmission line grounding device according to claim 1, characterized in that: The wire connection mechanism includes at least two guide plates, at least one of which is fixed to one side of the nested connection portion, and the remaining guide plates are fixed to the opposite side of the nested connection portion. A guide space with an open upper end is formed by the guide plates located on both sides of the nested connection portion, and the guide space is used to guide the wire connection mechanism to be sleeved into the first nested space of the pole tower connection mechanism.

10. A control method for a power transmission line grounding device hoisted by an unmanned aerial vehicle, characterized in that: The method is applied to a grounding operation of a power transmission line grounding device hoisted by a drone as described in any one of claims 1 to 9, and the method comprises the following steps: The tower connecting mechanism and the wire connecting mechanism are held together to form a combined body by a first locking mechanism; Use a drone to carry the assembly to the top of the transmission line at the corresponding target location, and use the visual positioning system configured on the drone to align with the transmission wire; Controlling the drone to slowly descend so that the second nesting space of the wire connecting mechanism in the assembly is engaged with and locked to the power transmission wire; The pole tower connection mechanism is separated from the wire connection mechanism by a first locking mechanism, and the drone carries the pole tower connection mechanism up; The drone carries the pole tower connection mechanism to the corresponding transmission tower, and uses the visual positioning system configured on the drone to align with the preset position of the transmission tower; The visual positioning system is used to control the flight attitude of the UAV so that the first nesting space of the tower connection mechanism is guided to the angle steel slot of the transmission tower and locked, thereby completing the establishment of the grounding loop; After the grounding is completed, the drone is controlled to capture the tower connection mechanism and unlock it, and the drone carries the tower connection mechanism to the top of the wire connection mechanism; Controlling the flight posture of the UAV through a visual positioning system so that the first nesting space of the tower connection mechanism is guided to the nesting connection portion of the wire connection mechanism; The tower connection mechanism and the wire connection mechanism are reassembled into a combined body through a first locking mechanism; The wire connection mechanism is unlocked, and the drone carrying the assembly is separated from the power transmission line.

Images