A power transmission line grounding device installed using a drone and its control method

Abstract

This application relates to a transmission line grounding device and its control method that utilizes a drone for hoisting. The device is used for the electrical connection between transmission conductors and transmission towers. The device includes a conductor connection mechanism, a tower connection mechanism, and a connecting wire. The tower connection mechanism and the conductor connection mechanism are automatically locked together via a first locking mechanism, and electrically connected via the connecting wire. This device can complete the coordinated hoisting, automatic docking, and reliable fixing of 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 eliminates the limitations of traditional manual pole climbing and multi-drone collaboration, significantly improving the efficiency of power distribution network maintenance operations and reducing operational safety risks in complex environments.

Description

Technical Field

[0001] This application relates to the field of power transmission line maintenance technology, specifically to a power transmission line grounding device installed by a drone and its control method. Background Technology

[0002] In power distribution network line maintenance, installing working grounding wires is one of the core technical measures to ensure operational safety. It is mainly used to prevent backfeeding, eliminate induced voltage, and discharge residual charge in the lines. Traditional grounding wire installation requires manual pole climbing or close-range connection using an insulated bucket truck, which is not only inefficient and labor-intensive but also difficult to implement in complex terrains such as steep slopes and river crossings, posing risks of falls from heights and electric shock. With the rapid development of drone technology, using drones for grounding wire installation has become a new trend, but this equipment still has the following shortcomings:

[0003] Existing devices require multiple drones to operate in coordination, resulting in low implementation costs and efficiency.

[0004] The assembly of corresponding components on the conductor side and tower side still requires manual assistance, which is complex and has limited reliability.

[0005] The existing equipment is not adaptable to conductors and towers, and is prone to loosening and falling off under conditions such as strong winds, threatening operational safety.

[0006] To address the aforementioned issues, there is an urgent need for a transmission line grounding device that can efficiently and cost-effectively complete the coordinated hoisting and automatic docking of components on the conductor side and tower side, so as to completely eliminate the limitations of manual pole climbing and multi-machine collaboration. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, this application provides a power transmission line grounding device installed by a drone and its control method, specifically adopting the following technical solution:

[0008] A power transmission line grounding device installed by a drone is used for the electrical connection between the transmission conductor and the transmission tower. The device includes a conductor connection mechanism, a tower connection mechanism, and connecting conductors.

[0009] The tower connection mechanism has a first nested space with a lower opening, which is used to connect with the conductor connection mechanism or the transmission tower; the conductor connection mechanism has a second nested space with a lower opening, which is used to connect with the transmission conductor.

[0010] The upper end of the conductor connection mechanism is provided with a nested connection part, which is used to cooperate with the first nested space to realize the tight connection between the tower connection mechanism and the conductor connection mechanism;

[0011] The nested connection part is provided with a first locking mechanism, and the pole and tower connection mechanism is provided with a locking post adapted to the first locking mechanism. Through the cooperation of the first locking mechanism and the locking post, the pole and tower connection mechanism and the conductor connection mechanism can be fixed and separated.

[0012] The pole connection mechanism and the conductor connection mechanism are electrically connected through the connecting conductor.

[0013] Optionally: The tower connection mechanism includes two opposing first upright plates and a first connecting column located between the two first upright plates. The two first upright plates are fixed together by multiple first connecting columns to form a first fixed shell; the first nesting space is located in the middle of the first fixed shell.

[0014] 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.

[0015] The connecting claw hook is connected to the upper end of the first fixed housing, and the connecting claw hook is used to provide a connection point to the UAV;

[0016] The second locking mechanism is fixed to the side of the first nested space. The second locking mechanism is used to cooperate with the first nested space to connect the tower connection mechanism to the angle steel of the transmission tower.

[0017] The first power supply component and the first control component are respectively fixed to the outside of the first fixed housing. The first power supply component is used to supply power to the first control component and the second locking mechanism. The first control mechanism is used to control the second locking mechanism to perform unlocking or locking actions.

[0018] Optionally, the first locking mechanism includes a gear, a rack, a fixed base, and a drive assembly.

[0019] The gear is located in the middle of the nested connection, and the output end of the drive component is connected to the gear;

[0020] The rack has two racks, one rack is located on the upper side of the gear and the other rack is located on the lower side of the gear, and both racks are engaged with the gear;

[0021] Two fixed bases are provided, which are respectively fixed to the left and right sides of the gear. Each fixed base is provided with a mounting hole for engaging the rack and keeping the rack moving horizontally.

[0022] Optionally: The wire connection mechanism includes two opposing second upright plates and a second connecting post located between the two second upright plates. The two second upright plates are fixed together by multiple second connecting posts to form a second fixed housing. The second nesting space is located in the middle of the second fixed housing.

[0023] Furthermore, the wire connection mechanism also includes a second power supply component, a second control component, a wire tilt angle compensation mechanism, and a third locking mechanism.

[0024] The third locking mechanism is fixed to the side of the second nested space. The third locking mechanism is used to cooperate with the second nested space to connect the wire connection mechanism to the power transmission wire.

[0025] The conductor tilt compensation mechanism is located at the upper part of the second nested space. The conductor tilt compensation mechanism is used to adapt to transmission conductors with different erection angles and realize the tight connection between the transmission conductor and the conductor connection mechanism.

[0026] The second power supply component and the second control component are respectively fixed to the outside of the second fixed housing. The second power supply component is used to supply power to the second control component and the third locking mechanism. The second control mechanism is used to control the third locking mechanism to perform unlocking or locking actions.

[0027] Optionally: The second locking mechanism includes a first electric push rod and a first closing link. The first closing link has a right-angle structure and a first hinge portion is provided at the biased end of the first closing link. The first closing link is connected to the first fixed housing through the first hinge portion. The first electric push rod is connected to the end of the first closing link near the first hinge portion. The extension and retraction of the first electric push rod drives the first closing link to unlock or lock relative to the first nested space.

[0028] Optionally: The third locking mechanism includes a second electric push rod and a second closing link. The second closing link has a second hinge portion in the middle and is connected to the second fixed housing through the second hinge portion. The second electric push rod is connected to one end of the second closing link near the second hinge portion. The extension and retraction of the second electric push rod drives the second closing link to perform unlocking or locking actions relative to the second nested space.

[0029] Optionally, the conductor connection mechanism includes at least two guide plates, wherein at least one guide plate is fixed to one side of the nested connection part, and the remaining guide plates are fixed to the opposite side of the nested connection part. A guide space with an upper opening is formed by the guide plates located on both sides of the nested connection part. The guide space is used to guide the conductor connection mechanism to be fitted into the first nested space of the pole connection mechanism.

[0030] Furthermore, this application also discloses a control method for a transmission line grounding device hoisted by a drone. This method is applied to the grounding operation of the aforementioned transmission line grounding device hoisted by a drone, and includes the following steps:

[0031] The first locking mechanism keeps the tower connection mechanism and the conductor connection mechanism together as a unit;

[0032] The drone carries the combined structure to the top of the power transmission line at the corresponding target location, and uses the visual positioning system configured on the drone to align with the power transmission line.

[0033] Control the drone to descend slowly, so that the second nested space of the wire connection mechanism in the assembly engages with and locks the power transmission wire;

[0034] The first locking mechanism separates the pole connection mechanism from the conductor connection mechanism, and the drone carries the pole connection mechanism upward.

[0035] The drone carries the tower connection mechanism to the corresponding power transmission tower and uses the visual positioning system configured on the drone to align with the preset position of the power transmission tower;

[0036] The flight attitude of the UAV is controlled by the visual positioning system, so that the first nested space of the tower connection mechanism is guided to the angle steel slot of the power transmission tower and locked, thus completing the establishment of the grounding circuit;

[0037] After grounding is completed, the drone is controlled to capture and unlock the pole connection mechanism, and the drone carries the pole connection mechanism to the top of the conductor connection mechanism;

[0038] The flight attitude of the UAV is controlled by a visual positioning system, so that the first nested space of the pole connection mechanism is guided to the nested connection part of the wire connection mechanism;

[0039] The first locking mechanism reassembles the pole connection mechanism and the conductor connection mechanism into a combined unit.

[0040] The conductor connection mechanism is unlocked, and the drone carrying the assembly is removed from the power transmission line.

[0041] Beneficial effects

[0042] The technical solution of this application achieves the following beneficial effects:

[0043] The transmission line grounding device of this application is installed between the transmission tower and the transmission conductor to prevent backfeeding, eliminate induced voltage, and discharge residual charge in the line. The device consists of two parts: a tower connection mechanism and a conductor connection mechanism. The two parts are automatically locked together via a first locking mechanism. Furthermore, a single UAV can complete the coordinated hoisting, automatic docking, and reliable fixing of the conductor-side and tower-side components, ultimately forming a stable grounding path between the transmission conductor and the transmission tower. This completely eliminates the limitations of traditional manual pole climbing and multi-machine collaboration, significantly improving the efficiency of power distribution network maintenance and reducing operational safety risks in complex environments. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall combined structure of the power transmission line grounding device in the embodiments of this application.

[0045] Figure 2 This is a schematic diagram of the overall structure of the pole connection mechanism in the embodiments of this application.

[0046] Figure 3 This is a front view structural diagram of the pole-tower connection mechanism in the embodiments of this application.

[0047] Figure 4 This is a rear view schematic diagram of the tower connection mechanism in the embodiments of this application.

[0048] Figure 5 This is an exploded structural diagram of the tower connection mechanism in the embodiments of this application.

[0049] Figure 6 This is a schematic diagram of the overall structure of the wire connection mechanism in the embodiments of this application.

[0050] Figure 7 This is a front view of the wire connection mechanism in an embodiment of this application.

[0051] Figure 8 This is a rear view schematic diagram of the wire connection mechanism in an embodiment of this application.

[0052] Figure 9 This is an exploded structural diagram of the wire connection mechanism in the embodiments of this application.

[0053] Figure 10 This is a schematic diagram of the structure of the first locking mechanism in the embodiment of this application.

[0054] Figure 11 This is a schematic diagram of the state of the combination of the pole connection mechanism and the conductor connection mechanism in the embodiments of this application.

[0055] Figure 12 This is a schematic diagram showing the state of the conductor connection mechanism being attached to the power transmission conductor in an embodiment of this application.

[0056] Figure 13 This is a schematic diagram showing the state in which the tower connection mechanism and the conductor connection mechanism are separated when the rack of the first locking mechanism in this embodiment retracts.

[0057] Figure 14 This is a schematic diagram showing the state of the pole connection mechanism being attached to the transmission pole in the embodiments of this application.

[0058] Figure 15 for Figure 12 A magnified view of position A in the middle.

[0059] Figure 16 for Figure 13 A magnified view of position B in the middle.

[0060] The specific meanings of the reference numerals in the attached figures are as follows:

[0061] 1-Pole connection mechanism; 101-First upright plate; 102-First connecting support column; 103-First control component; 104-First power supply component; 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 connection mechanism; 201-Second upright plate; 202-Second connecting support column; 203-Second control component; 204-Second power supply component; 205-Second guide rod; 206-Third locking mechanism; 2061-Second electric push rod; 2062-Second closing link; 207-Wire tilt angle compensation mechanism; 208-First locking mechanism; 2081-Fixed base; 2082-Gear; 2083-Rack; 209-Guide plate; 210-Drive component; 3-Connecting wire.

[0062] Ⅰ-First nested space; Ⅱ-Second nested space; Ⅲ-Nested connection part. Detailed Implementation

[0063] The present application will now be further described with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application and should not be construed as limiting the scope of protection of the present application. It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present application.

[0064] To clearly illustrate the spatial layout and relative positions of the components in this application, a spatial rectangular coordinate system is established based on the viewpoint presented in the accompanying drawings. The X-axis corresponds to the width of the view structure (left-right direction); the Y-axis corresponds to the height of the view structure (up-down direction); and the Z-axis corresponds to the length of the view structure (front-back direction). The above directional descriptions are for ease of description and simplification only, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0065] Specifically, such as Figure 1 As shown in the illustration, this application discloses a transmission line grounding device installed using a drone, used for electrical connection between transmission conductors and transmission towers. The device includes a conductor connection mechanism 2, a tower connection mechanism 1, and a connecting wire 3. The conductor connection mechanism 2 and the tower connection mechanism 1 are designed with a nested structure, with the tower connection mechanism 1 nested above the conductor connection mechanism 2. The two are electrically connected via the connecting wire 3. When grounding work is required for distribution network maintenance, the tower connection mechanism 1 is connected to the angle steel of the transmission tower, and the conductor connection mechanism 2 is connected to the target location of the transmission conductor. Since the transmission tower is grounded, a grounding path can be constructed using the conductor connection mechanism 2 - connecting wire 3 - tower connection mechanism 1 - transmission tower, ensuring that the portion of the transmission conductor located between the target location and the transmission tower is at the same potential, thus ensuring the safety of maintenance personnel on that portion of the transmission conductor.

[0066] With the rapid development of drone technology, using drones for grounding wire installation has become a new trend. Existing grounding devices for some transmission lines rely on at least two drones working together to mount conductor connection mechanisms 2 and tower connection mechanisms 1, respectively, to install components on the conductor and tower sides. This process is complex, costly, and inefficient. Furthermore, after mounting the conductor and tower components, manual connection and fixation are still required, otherwise reliability is insufficient. Therefore, this application, through innovative modular design and multiple locking mechanisms, achieves rapid installation and reliable grounding under single-drone operation, significantly improving the safety and efficiency of power distribution network maintenance.

[0067] Specifically, the structure of the transmission line grounding device in this application is as follows:

[0068] Combination Figure 3 and Figure 4 As shown, this embodiment provides a first nesting space I with a lower opening for the tower connection mechanism 1. The first nesting space I is used to connect with the conductor connection mechanism 2 or the transmission tower; combined with Figure 7 and Figure 8As shown, the conductor connection mechanism 2 has a lower opening second nested space II, which is used to connect with the transmission conductor; wherein the upper end of the conductor connection mechanism 2 has a nested connection part III, which is used to cooperate with the first nested space I to realize the tight connection between the tower connection mechanism 1 and the conductor connection mechanism 2;

[0069] Furthermore, to ensure reliable disassembly and fixing of the pole connection mechanism 1 and the conductor connection mechanism 2, this embodiment provides a first locking mechanism 208 in the nested connection part III, and the corresponding pole connection mechanism 1 is provided with a locking post 108 adapted to the first locking mechanism 208.

[0070] Specifically, in combination Figure 9 and Figure 10 As shown, the first locking mechanism 208 in 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 part 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 its rotation. In this embodiment, there are two racks 2083, one located on the upper side of the gear 2082 and the other located on the lower side of the gear 2082. The two racks 2083 are parallel and mesh with the gear 2082. By rotating the gear 2082, the two racks 2083 in the upper and lower positions can be driven to move synchronously in opposite directions or in opposite directions. For example, when the pole connection mechanism 1 and the conductor connection mechanism 2 are fixed, the gear 2082 drives the two racks 2083 in the upper and lower positions to move synchronously in opposite directions, that is, the two racks 2083 extend to the left and right respectively. At this time, each rack 2083 will be mutually constrained with the locking post 108 of the pole connection mechanism 1, and thus the pole connection mechanism 1 and the conductor connection mechanism 2 are combined into one. When the pole connection mechanism 1 and the conductor connection mechanism 2 are separated, the gear 2082 drives the two racks 2083 in the upper and lower positions to move synchronously in opposite directions, that is, the two racks 2083 retract to the center position respectively. At this time, each rack 2083 cannot be constrained with the locking post 108 of the pole connection mechanism 1, and thus the pole connection mechanism 1 and the conductor connection mechanism 2 are not connected and are divided into two parts.

[0071] Furthermore, such as Figure 10As shown, to restrict the rack 2083 to only horizontal movement, in this embodiment, a fixed base 2081 is fixed on each of 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 its horizontal movement. It should be emphasized that, to match the rack 2083's mounting position, the two fixed bases 2081 in this embodiment are staggered by a certain distance in the vertical direction (Y-axis direction). Furthermore, the rack 2083 in this embodiment adopts a circular rack design to fit the circular mounting holes on the fixed bases 2081. To ensure safe use, limiting pins are specially provided at both ends of the rack 2083 to prevent accidental dislodgement.

[0072] Specifically, in combination Figure 2-5 As shown, the tower connection mechanism 1 in this embodiment includes a first upright plate 101, a first connecting support column 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 upright plates 101 are arranged opposite each other, and the first connecting support column 102 is located between the two first upright plates 101. The two first upright plates 101 are fixed together by multiple first connecting supports 102 to form a first fixed housing; the first nesting space I is located in the middle of the first fixed housing.

[0073] The connecting claw hook 107 is connected to the upper end of the first fixed housing, and the connecting claw hook 107 is used to provide a connection point to the UAV; the second locking mechanism 106 is fixed to the side of the first nested space I, and the second locking mechanism 106 is used to cooperate with the first nested space I to connect the pole connecting mechanism 1 to the angle steel of the transmission pole; the first power supply component 104 and the first control component 103 are respectively fixed to the outside of the first fixed housing, 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 component is used to control the second locking mechanism 106 to perform unlocking or locking actions.

[0074] Furthermore, such as Figure 5 As shown, the second locking mechanism 106 in this embodiment includes a first electric push rod 1061 and a first closing link 1062. The first closing link 1062 has a right-angle structure and a first hinge portion is provided at the biased end of the first closing link 1062. The first closing link 1062 is connected to the first fixed housing through the first hinge portion. The first electric push rod 1061 is connected to the end of the first closing link 1062 near the first hinge portion. The extension and retraction of the first electric push rod 1061 drives the first closing link 1062 to perform unlocking or locking actions relative to the first nested space I.

[0075] More specifically, in combination Figure 6-9 As shown, the conductor connection mechanism 2 in this embodiment includes a second upright plate 201, a second connecting support column 202, a second power supply component 204, a second control component 203, a conductor tilt compensation mechanism 207, and a third locking mechanism 206. Two second upright plates 201 are arranged opposite each other, and the second connecting support column 202 is located between the two second upright plates 201. The two second upright plates 201 are fixed together by multiple second connecting supports 202 to form a second fixed housing. The second nested space II is located in the middle of the second fixed housing. The third locking mechanism 206 is fixed to the side of the second nested space II and is used to connect the conductor connection mechanism 2 to the transmission conductor in conjunction with the second nested space II. The conductor tilt compensation mechanism 207 is located at the upper part of the second nested space II and is used to adapt to transmission conductors with different installation angles, achieving a tight connection between the transmission conductor and the conductor 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 housing. The second power supply component 204 is used to supply power to the second control component 203 and the third locking mechanism 206. The second control mechanism is used to control the third locking mechanism 206 to perform unlocking or locking actions.

[0076] It should be noted that the conductor tilt compensation mechanism 207 in this embodiment has an angle adjustment capability of ±6°, which can adapt to transmission lines with different erection angles to ensure that the conductor connection mechanism and the transmission conductor can be reliably connected under various working conditions.

[0077] Furthermore, such as Figure 9 As shown, the third locking mechanism 206 includes a second electric push rod 2061 and a second closing link 2062. The second closing link 2062 has a second hinge portion in the middle and is connected to the second fixed housing through the second hinge portion. The second electric push rod 2061 is connected to one end of the second closing link 2062 near the second hinge portion. The extension and retraction of the second electric push rod 2061 drives the second closing link 2062 to perform unlocking or locking actions relative to the second nested space II.

[0078] In this embodiment, the pole connection mechanism 1 is provided with a second locking mechanism 106, and the conductor connection mechanism 2 is provided with a third locking mechanism 206. The device in this embodiment adopts the above-mentioned double locking design to ensure that the pole connection mechanism and the conductor connection mechanism can be stably locked under various environmental conditions.

[0079] Furthermore, to ensure that the pole connection mechanism 1 is accurately nested into the upper position of the conductor connection mechanism 2, the conductor connection mechanism 2 in this embodiment is provided with at least two guide plates 209, wherein at least one guide plate 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. The guide plates 209 located on both sides of the nested connection part III form a guide space with an upper opening, and as the guide plates 209 extend upward, the opening of the guide space becomes larger, which is beneficial for guiding the conductor connection mechanism 2 to fit into the first nested space I of the pole connection mechanism 1.

[0080] It should be noted that, since this embodiment uses a drone hoisting method to mount the transmission line grounding device, in order to improve mounting efficiency, a first guide rod 105 is provided at the opening position of the first nested space I on the first fixed housing of the tower connection mechanism 1, as shown below. Figure 2 As shown. Similarly, for the wire connection mechanism 2, a second guide rod 205 is provided at the opening position of the second nested space II on the second fixed housing, as shown. Figure 6 As shown. When the tower connection mechanism 1 is attached to the angle iron of the transmission tower, the angle iron can be smoothly guided into the first nested space I through the first guide rod 105; and when the conductor connection mechanism 2 is attached to the transmission conductor, the transmission conductor can be smoothly guided into the second nested space II through the first guide rod 105.

[0081] Furthermore, in combination Figure 11-16 As shown, when performing grounding work using a power transmission line grounding device installed by a drone, the control process for that device includes the following steps:

[0082] Firstly, as Figure 11 As shown, by controlling the rack 2083 in the first locking mechanism 208 to extend, the pole connection mechanism 1 and the conductor connection mechanism 2 are kept as an integral assembly.

[0083] Ground operators then control the drone to carry the assembly to the corresponding target location above the power transmission line, and use the drone's visual positioning system to align with the power transmission line.

[0084] Then, the drone is slowly lowered so that the second nested space II of the wire connection mechanism 2 in the assembly is properly engaged with the power transmission wire, as follows: Figure 12 As shown. At this time, the operator activates the third locking mechanism 206 through remote control command to perform the locking action, that is, the second electric push rod 2061 drives the second closing link 2062 to close relative to the second nested space II, at which time the wire connection mechanism 2 is stably connected to the transmission wire;

[0085] Then, by controlling the retraction of the rack 2083 of the first locking mechanism 208, the tower connection mechanism 1 is separated from the conductor connection mechanism 2, as follows. Figure 13 As shown. At this time, the drone carrying the separated pole connection mechanism 1 rises;

[0086] Next, the drone carries the tower connection mechanism 1 to the corresponding power transmission tower and uses the visual positioning system configured on the drone to align with the preset position of the power transmission tower.

[0087] By using a visual positioning system to control the flight attitude of the drone, the first nested space I of the tower connection mechanism 1 is guided to the angle steel slot of the transmission tower, such as... Figure 14 As shown. Once the position is confirmed, the ground operator initiates the locking action of the second locking mechanism 106 via remote control command. That is, the first electric push rod 1061 drives the first closing link 1062 to close relative to the first nested space I. At this time, the grounding circuit is established and the UAV can detach from the connecting claw hook 107.

[0088] After the power distribution network maintenance is completed, the ground operator controls the drone to capture the connecting claw hook 107 of the tower connection mechanism 1. After confirming successful capture, the drone remotely controls the second locking mechanism to unlock, that is, the first electric push rod 1061 drives the first closing connecting rod 1062 to open relative to the first nesting space I. Then, the drone is 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.

[0089] The flight attitude of the UAV is controlled by the visual positioning system, so that the first nesting space I of the pole connection mechanism 1 is guided to the nesting connection part III of the wire connection mechanism 2;

[0090] Once the nesting is in place, the rack 2083 of the first locking mechanism 208 will extend, so that the pole connection mechanism 1 and the conductor connection mechanism 2 can re-form an integrated assembly.

[0091] After confirming that the assembly is reliably connected, the third locking mechanism 206 located in the wire connection mechanism 2 unlocks, that is, the second electric push rod 2061 drives the second closing link 2062 to open relative to the second nested space II. At this time, the UAV carrying the assembly safely leaves the power transmission line, completing the entire operation process.

[0092] The apparatus and method described in this embodiment are applicable to various maintenance operations of distribution network lines, and are particularly suitable 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 in this embodiment, it facilitates mass production and rapid deployment, and is compatible with various conductor and angle steel types, exhibiting wide applicability. This device can effectively improve the automation level of distribution network maintenance, reduce operational safety risks, and is of great significance for building an intelligent and efficient power grid operation and maintenance system.

[0093] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A power transmission line grounding device installed by a drone, used for electrical connection between power transmission conductors and power transmission towers, characterized in that, The device includes a conductor connection mechanism, a pole connection mechanism, and connecting conductors. The tower connection mechanism has a first nested space with a lower opening, which is used to connect with the conductor connection mechanism or the transmission tower; the conductor connection mechanism has a second nested space with a lower opening, which is used to connect with the transmission conductor. The upper end of the conductor connection mechanism is provided with a nested connection part, which is used to cooperate with the first nested space to realize the tight connection between the tower connection mechanism and the conductor connection mechanism; The nested connection part is provided with a first locking mechanism, and the pole and tower connection mechanism is provided with a locking post adapted to the first locking mechanism. Through the cooperation of the first locking mechanism and the locking post, the pole and tower connection mechanism and the conductor connection mechanism can be fixed and separated. The pole connection mechanism and the conductor connection mechanism are electrically connected through the connecting conductor.

2. The transmission line grounding device according to claim 1, characterized in that, The tower connection mechanism includes two opposing first upright plates and a first connecting column located between the two first upright plates. The two first upright plates are fixed together by multiple first connecting columns to form a first fixed shell. The first nesting space is located in the middle of the first fixed shell.

3. The 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 housing, and the connecting claw hook is used to provide a connection point to the UAV; The second locking mechanism is fixed to the side of the first nested space. The second locking mechanism is used to cooperate with the first nested space to connect the tower connection mechanism to the angle steel of the transmission tower. The first power supply component and the first control component are respectively fixed to the outside of the first fixed housing. The first power supply component is used to supply power to the first control component and the second locking mechanism. The first control mechanism is used to control the second locking mechanism to perform unlocking or locking actions.

4. The 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 drive assembly. The gear is located in the middle of the nested connection, and the output end of the drive component is connected to the gear; The rack has two racks, one rack is located on the upper side of the gear and the other rack is located on the lower side of the gear, and both racks are engaged with the gear; Two fixed bases are provided, which are respectively fixed to the left and right sides of the gear. Each fixed base is provided with a mounting hole for engaging the rack and keeping the rack moving horizontally.

5. The transmission line grounding device according to claim 1, characterized in that, The wire connection mechanism includes two opposing second upright plates and a second connecting pillar located between the two second upright plates. The two second upright plates are fixed together by multiple second connecting pillars to form a second fixed housing. The second nesting space is located in the middle of the second fixed housing.

6. The 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 tilt angle compensation mechanism, and a third locking mechanism. The third locking mechanism is fixed to the side of the second nested space. The third locking mechanism is used to cooperate with the second nested space to connect the wire connection mechanism to the power transmission wire. The conductor tilt compensation mechanism is located at the upper part of the second nested space. The conductor tilt compensation mechanism is used to adapt to transmission conductors with different erection angles and realize the tight connection between the transmission conductor and the conductor connection mechanism. The second power supply component and the second control component are respectively fixed to the outside of the second fixed housing. The second power supply component is used to supply power to the second control component and the third locking mechanism. The second control mechanism is used to control the third locking mechanism to achieve unlocking or locking actions.

7. The 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 has a right-angle structure and 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 housing through the first hinge portion. The first electric push rod is connected to the end of the first closing link near the first hinge portion. The extension and retraction of the first electric push rod drives the first closing link to unlock or lock relative to the first nested space.

8. The 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. The second closing link has a second hinge portion in the middle and is connected to the second fixed housing through the second hinge portion. The second electric push rod is connected to one end of the second closing link near the second hinge portion. The extension and retraction of the second electric push rod drives the second closing link to perform unlocking or locking actions relative to the second nested space.

9. The transmission line grounding device according to claim 1, characterized in that, The conductor connection mechanism includes at least two guide plates, wherein at least one guide plate is fixed to one side of the nested connection part, and the remaining guide plates are fixed to the opposite side of the nested connection part. The guide plates located on both sides of the nested connection part form a guide space with an upper opening. The guide space is used to guide the conductor connection mechanism to be fitted into the first nested space of the pole connection mechanism.

10. A control method for a power transmission line grounding device installed using a drone, characterized in that, The method is applied to grounding operations of a power line grounding device hoisted by a drone as described in any one of claims 1-9, and the method includes the following steps: The first locking mechanism keeps the tower connection mechanism and the conductor connection mechanism together as a unit; The drone carries the combined structure to the top of the power transmission line at the corresponding target location, and uses the visual positioning system configured on the drone to align with the power transmission line. Control the drone to descend slowly, so that the second nested space of the wire connection mechanism in the assembly engages with and locks the power transmission wire; The first locking mechanism separates the pole connection mechanism from the conductor connection mechanism, and the drone carries the pole connection mechanism upward. The drone carries the tower connection mechanism to the corresponding power transmission tower and uses the visual positioning system configured on the drone to align with the preset position of the power transmission tower; The flight attitude of the UAV is controlled by the visual positioning system, so that the first nested space of the tower connection mechanism is guided to the angle steel slot of the power transmission tower and locked, thus completing the establishment of the grounding circuit; After grounding is completed, the drone is controlled to capture and unlock the pole connection mechanism, and the drone carries the pole connection mechanism to the top of the conductor connection mechanism; The flight attitude of the UAV is controlled by a visual positioning system, so that the first nested space of the pole connection mechanism is guided to the nested connection part of the wire connection mechanism; The first locking mechanism reassembles the pole connection mechanism and the conductor connection mechanism into a combined unit. The conductor connection mechanism is unlocked, and the drone carrying the assembly is removed from the power transmission line.

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