Air operation robot quick release overhead line safety operation method and emergency quick release mechanism thereof

Abstract

The application discloses a kind of aerial work robot quick release overhead line safety operation method and its pressing walking device and emergency quick release mechanism, its advantages are that its pressing walking device is fused with emergency quick release mechanism, the rotating seat of the emergency quick release mechanism is hinged with fixed seat, torsional spring is sleeved on hinged shaft, torsional spring has two and is respectively arranged at the two sides of rotating seat, the two ends of torsional spring are respectively abutted with fixed seat and rotating seat, electromagnet is installed on rotating seat, pressing mechanism is installed below rotating seat;The core of electromagnet is extended and locked with lock plate in normal state, pressing walking device can normally work, when emergency occurs, electromagnet can quickly act to make its core retract and unlock with lock plate, at this time, under the action of torsional spring, rotating seat is immediately turned and drives pressing mechanism to be quickly ejected outward to open to release overhead line, aerial work robot can be timely lifted and separated, to avoid damage.

Description

Technical Field

[0001] This invention relates to the field of aerial work robots, specifically to a method for the safe operation of rapidly releasing overhead power lines by an aerial work robot, as well as its clamping and walking device and emergency rapid release mechanism. Background Technology

[0002] Traditional overhead line inspection and maintenance primarily rely on manual labor. Workers need to periodically climb towers to visually inspect the lines, measure the insulation performance of insulators, and check the wear and tear of hardware. This method is not only inefficient but also poses numerous safety hazards. For example, workers operating at heights are susceptible to adverse weather conditions, aging lines, and animal disturbances, increasing the risk of accidents. Furthermore, the limited frequency of manual inspections makes it difficult to promptly detect potential problems, potentially leading to power outages and significant socio-economic losses.

[0003] With the continuous advancement of robotics technology, aerial work robots, specifically drones carrying end-effectors, are gradually becoming an emerging solution for overhead line inspection and maintenance. Drones, relying on their locomotion systems, can autonomously move along overhead lines to perform inspections and repairs, improving operational efficiency and safety. Existing locomotion systems, to ensure a stable equipotential connection with the overhead line, include a locomotion mechanism and a clamping mechanism. The clamping mechanism's drive motor, via a worm gear transmission, causes the swing arm to rotate the clamping wheel of the clamping mechanism below the overhead line, cooperating with the locomotion wheel of the locomotion mechanism above the line to lock it in place. However, in emergency situations where the drone needs to quickly detach from the overhead line, this locomotion system struggles to release the line rapidly, potentially causing damage due to delayed detachment. Therefore, there is an urgent need to develop a safe operational method for aerial work robots to quickly release overhead lines and a corresponding emergency rapid release mechanism. Summary of the Invention

[0004] One technical problem this application aims to solve is to overcome the deficiencies of the above-mentioned related technologies and provide a method for safe operation of aerial work robots to quickly release overhead lines, as well as a clamping and walking device and an emergency rapid release mechanism. The emergency rapid release mechanism is integrated into the clamping and walking device. When an emergency is detected, the clamping mechanism can be quickly opened to release the overhead line and the aerial work robot can be controlled to take off and detach in time to avoid damage.

[0005] The technical solution adopted by this safe operation method to solve the technical problem is: a safe operation method for quickly releasing overhead lines using an aerial work robot, which specifically includes the following steps:

[0006] The detection module monitors the activity of the aerial work robot on the overhead line in real time and feeds it back to the control module; the activity includes normal walking, encountering obstacles or emergency situations.

[0007] The control module sends control commands to the clamping and walking device according to the activity situation: During normal walking, the walking mechanism of the clamping and walking device cooperates with the clamping mechanism to clamp the overhead line and perform walking actions; when encountering an obstacle, the clamping mechanism is opened normally to release the overhead line, the walking mechanism walks over the obstacle, and after overcoming the obstacle, the clamping mechanism is driven to retract and cooperate with the walking mechanism to clamp the overhead line again to perform walking actions; in an emergency, the emergency quick release mechanism is controlled to open the clamping mechanism to release the overhead line, drive the flight mechanism to raise the aerial work robot to detach from the overhead line, and after the aerial work robot lands, the emergency quick release mechanism is manually restored.

[0008] The technical solution adopted by this clamping and walking device to solve the technical problem is as follows: A clamping and walking device for realizing the above-mentioned safe operation method includes a walking mechanism and a clamping mechanism. The walking mechanism is electrically connected to a control module. The clamping mechanism includes a connecting frame, a drive motor fixed on the connecting frame, a swing arm pivotally connected to the connecting frame, and a clamping auxiliary wheel. The clamping auxiliary wheel is pivotally connected to a mounting base at the far end of the swing arm. The drive motor is electrically connected to the control module and is drively connected to the swing arm to drive the swing arm to swing so that the clamping auxiliary wheel on the swing arm rotates to below the overhead line and makes the clamping auxiliary wheel cooperate with the walking wheel of the walking mechanism to clamp the overhead line. It also includes an emergency quick release mechanism. The emergency quick release mechanism is electrically connected to the control module. The clamping mechanism is installed below the emergency quick release mechanism. The emergency quick release mechanism is used to drive the clamping mechanism to eject and release the overhead line outward when it receives a control command from the control module.

[0009] The technical solution adopted by this emergency rapid release mechanism to solve the technical problem is as follows: An emergency rapid release mechanism is used to quickly open the clamping mechanism to release the overhead line in an emergency, including a fixed base, a locking plate, an electromagnet, a torsion spring, and a rotating base; the fixed base is fixedly connected to the walking mechanism or the fuselage of a drone, the rotating base is hinged to the fixed base, the torsion spring is sleeved on the hinge shaft, there are two torsion springs and they are respectively located on both sides of the rotating base, one end of the torsion spring abuts against the fixed base, and the other end of the torsion spring abuts against or is fixed to the rotating base, the electromagnet is installed on the rotating base, and a clamping mechanism is installed under the rotating base;

[0010] The core of the electromagnet is used to extend and lock with the locking plate under normal conditions, and to retract and unlock the locking plate in an emergency.

[0011] The torsion spring is used to rotate the rotating seat to drive the clamping mechanism to eject and open the overhead line when the iron core and the lock plate are unlocked.

[0012] Compared with related technologies, the advantages of this aerial work robot's rapid release method for overhead power lines, its clamping and walking device, and its emergency rapid release mechanism lie in the fact that its clamping and walking device integrates an emergency rapid release mechanism. This emergency rapid release mechanism includes a fixed base, a locking plate, an electromagnet, a torsion spring, and a rotating base. The fixed base is fixedly connected to the walking mechanism or the drone's fuselage. The rotating base is hinged to the fixed base. The torsion spring is sleeved on the hinge shaft. There are two torsion springs, each located on one side of the rotating base. One end of each torsion spring abuts against the fixed base, and the other end abuts against the rotating base. The electromagnet is mounted on a rotating base, and a clamping mechanism is installed below the rotating base. The electromagnet's core extends to lock with the locking plate under normal conditions and retracts to unlock the locking plate in an emergency. The torsion spring rotates the rotating base when the core unlocks the locking plate, causing the clamping mechanism to eject outward and open the overhead line. When an emergency is detected, the electromagnet can quickly retract its core to unlock the locking plate. Under the force of the torsion spring, the rotating base immediately rotates, causing the clamping mechanism to quickly eject outward and open the overhead line, allowing the aerial robot to take off and detach in time to avoid damage.

[0013] Preferably, the two ends of the pivot of the clamping auxiliary wheel are respectively inserted into the mounting base and slidably engaged with the mounting base. A compression spring is abutted between each end of the pivot and the mounting base below it, and the ends of the compression springs are fixed to the ends of the pivot and the mounting base respectively. Under the action of the compression springs, the vibration of the swing arm during movement caused by the irregular shape of the overhead line can be eliminated, better ensuring the contact stability between the clamping walking device and the overhead line, and keeping the aerial work robot and the overhead line at the same potential during movement.

[0014] Preferably, the mounting base has an upwardly extending guide block with a guide hole; a bushing is fixed to the end of the pivot, the bushing passing through the guide hole, and a compression spring is disposed at the portion of the bushing extending out of the guide hole. The guide hole has a rectangular cross-section, and the outer contour of the bushing cross-section is square. This design prevents the bushing from rotating and the compression spring from deforming. The bushing design shortens the length of the clamping auxiliary wheel axle, thus facilitating the assembly of the clamping auxiliary wheel axle with the mounting base guide block. The bushing can be fitted onto the clamping auxiliary wheel axle from the outside of the guide hole for limiting and fixing.

[0015] Furthermore, there are two clamping auxiliary wheels, symmetrically arranged on both sides of the swing arm. This ensures better clamping and engagement with the traveling wheels.

[0016] As an improvement, the walking wheel is provided with multiple patterns on its circumference, which are either recessed or convex patterns. Both convex and recessed patterns can enhance the friction between the walking wheel and the overhead line, improving the stability of the aerial work robot's walking speed, while recessed patterns cause less damage to the overhead line.

[0017] Preferably, the recessed texture is arranged along the axial direction of the wheel. The direction of the recessed texture is perpendicular to the walking direction of the wheel, so it will not affect the walking.

[0018] Furthermore, the recessed texture gradually narrows and becomes shallower from the middle to both ends. This design structure of the recessed texture facilitates its processing.

[0019] As an improvement, limiting blocks are fixed to both outer sides of the fixed base to limit the rotation angle of the rotating seat. This prevents the drive motor from colliding with the fixed base. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the aerial work robot of the present invention during landing or obstacle avoidance.

[0021] Figure 2 This is a side view of the overhead working robot of the present invention walking normally on an overhead line.

[0022] Figure 3 This is a perspective view of the pressing and walking device of the present invention when it is normally opened.

[0023] Figure 4 This is a perspective view of the pressing and walking device of the present invention during operation.

[0024] Figure 5 This is a perspective view of the pressing and walking device of the present invention during operation.

[0025] Figure 6 This is a perspective view of the pressing and walking device (excluding the limiting block) of the present invention opening in an emergency.

[0026] Figure 7 This is a partial exploded view of the pressing and walking device of the present invention.

[0027] Figure 8 This is a perspective view of the emergency rapid release mechanism of the present invention.

[0028] Figure 9 This is a perspective view of the swing arm and the clamping auxiliary wheel of the clamping mechanism of the clamping walking device of the present invention.

[0029] As shown in the figure:

[0030] 1. UAV fuselage; 2. Flight mechanism; 3. Landing frame; 5. Clamping and walking device; 51. Walking mechanism; 511. Walking wheel; 512. Bracket; 513. Walking motor; 52. Clamping mechanism; 521. Connecting frame; 522. Drive motor; 523. Swing arm; 524. Mounting base; 5241. Guide block; 5242. Guide hole; 525. Clamping auxiliary wheel; 5251. Bushing; 526. Compression spring; 53. Emergency quick release mechanism; 531. Fixed base; 532. Rotating base; 533. Hinge shaft; 534. Torsion spring; 535. Electromagnet; 536. Locking plate; 537. Limiting block; 6. Visual sensor; 100. Overhead line. Detailed Implementation

[0031] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0033] This embodiment is as follows: Figure 1 and Figure 2 The above-displacement robot shown includes a drone fuselage 1, a flight mechanism 2, a landing gear 3, a counterweight, a clamping and walking device 5, a power supply system, an avionics system, a communication system, a perception and obstacle avoidance system, an end-effector, and an equipotential system. The avionics system includes a control module, and the perception and obstacle avoidance system includes a detection module. The detection module is communicatively connected to the control module. The detection module includes multiple vision sensors 6 mounted on the landing gear 3. The detection module is used to detect the positional relationship between the aerial robot and the overhead line 100 and feed it back to the control module. The control module controls the power supply system, flight mechanism 2, clamping and walking device 5, end-effector, and equipotential system to perform relevant actions based on the feedback information.

[0034] The safe operation method for the rapid release of overhead power lines by its aerial work robot includes the following steps:

[0035] The vision sensor 6 of the detection module monitors the activity of the aerial robot on the overhead line 100 in real time and feeds it back to the control module; the activity includes normal walking, encountering obstacles or emergency situations;

[0036] The control module sends control commands to the clamping and walking device 5 according to the activity situation: During normal walking, the walking mechanism 51 and the clamping mechanism 52 of the clamping and walking device 5 cooperate to clamp the overhead line 100 and the walking mechanism 51 performs the walking action; when encountering an obstacle, the clamping mechanism 52 is opened normally to release the overhead line 100, the walking mechanism 51 walks over the obstacle, and after overcoming the obstacle, the clamping mechanism 52 is driven to retract and cooperate with the walking mechanism 51 to clamp the overhead line 100, and the walking mechanism 51 performs the walking action again; in an emergency, the emergency quick release mechanism 53 is controlled to open the clamping mechanism 52 to release the overhead line 100, and the flight mechanism 2 is driven to raise the aerial work robot to detach from the overhead line 100. After the aerial work robot lands, the emergency quick release mechanism 53 is manually restored.

[0037] In this embodiment, the pressing walking device 5 is as follows: Figures 3 to 7 As shown, it includes a walking mechanism 51, a pressing mechanism 52, and an emergency rapid release mechanism 53. The walking mechanism 51, the pressing mechanism 52, and the emergency rapid release mechanism 53 are electrically connected to the control module. Figure 3 In the clamping walking device 5, the emergency quick release mechanism 53 is not released, and the clamping mechanism 52 is normally opened. It is used when landing on the overhead line 100, flying away from the overhead line 100, or avoiding obstacles. Figure 4 and Figure 5 In the clamping walking device 5, the emergency quick release mechanism 53 is not released, and the clamping mechanism 52 cooperates with the walking mechanism 51 to clamp the overhead line 100, which is used in operation; Figure 6 In the clamping walking device 5, the emergency quick release mechanism 53 is released, and the clamping mechanism 52 hangs down without hindering the aerial work robot from rising and flying away from the overhead line 100. It is used in emergency situations and the emergency quick release mechanism 53 needs to be restored after landing.

[0038] In some embodiments, the walking mechanism 51, such as Figure 7 The device includes a walking wheel 511, a bracket 512, and a walking motor 513. The bracket 512 is fixedly connected to the UAV body 1. The walking motor 513 and the walking wheel 511 are assembled inside the bracket 512. The walking motor 513 is electrically connected to the control module and fixed to one side of the bracket 512. The walking wheel 511 is rotatably connected to the walking motor 513 and pivotally connected to the bracket 512. The walking wheel 511 has multiple patterns circumferentially. The patterns are recessed patterns, which are set along the axial direction of the walking wheel 511. The recessed patterns gradually narrow and become shallower from the middle to both ends. Of course, the patterns can also be designed as convex patterns. Both recessed and convex patterns can enhance the friction between the walking wheel 511 and the overhead line 100, improve the stability of the walking speed, and the wear caused to the overhead line 100 by the recessed patterns is less than that caused by the convex patterns. The locking plate 536 is fixed to the mounting plate on the side of the bracket 512 by bolts.

[0039] In some embodiments, the clamping mechanism 52, such as Figure 7 and Figure 9 The device includes a connecting frame 521, a drive motor 522 fixed on the connecting frame 521, a swing arm 523 pivotally connected to the connecting frame 521, and a pressing auxiliary wheel 525. The pressing auxiliary wheel 525 is pivotally connected to a mounting base 524 at the far end of the swing arm 523. The drive motor 522 is electrically connected to a control module. The output shaft of the drive motor 522 is connected to a worm gear at the end of the swing arm 523 via a worm gear transmission. This drives the swing arm 523 to swing, causing the pressing auxiliary wheel 525 on the swing arm 523 to rotate below the overhead line 100, and causing the pressing auxiliary wheel 525 to cooperate with the traveling wheel 511 of the traveling mechanism 51 to press the overhead line 100.

[0040] Preferably, the two ends of the pivot of the clamping auxiliary wheel 525 are respectively inserted into the mounting base 524 and slide in cooperation with the mounting base 524. A compression spring 526 is abutted between the pivot end and the mounting base 524 below it, and the ends of the compression spring 526 are fixed to the pivot end and the mounting base 524 respectively.

[0041] Preferably, the mounting base 524 is provided with an upwardly extending guide block 5241, and the guide block 5241 is provided with a guide hole 5242; a bushing 5251 is fixed to the end of the pivot, the bushing 5251 passes through the guide hole 5242, and the compression spring 526 is provided on the part of the bushing 5251 that extends out of the guide hole 5242. The bushing 5251 is designed to shorten the pivot of the clamping auxiliary wheel 525, facilitating the assembly of the clamping auxiliary wheel 525 with the mounting base 524. Preferably, the cross-section of the guide hole 5242 is rectangular, and the outer contour of the cross-section of the bushing 5251 is square. Furthermore, there are two clamping auxiliary wheels 525, which are symmetrically arranged on both sides of the swing arm 523.

[0042] Among them, there are 53 emergency rapid release agencies. Figure 8As shown, it includes a fixed base 531, a rotating base 532, a hinge shaft 533, a torsion spring 534, an electromagnet 535, a locking plate 536, and a limiting block 537. The fixed base 531 is fixedly connected to the walking mechanism 51 or the UAV body 1. The rotating base 532 is hinged to the fixed base 531. The hinge shaft 533 has two shafts, which are respectively installed on the hinge joints on both sides of the rotating base 532. The torsion spring 534 has two shafts, which are respectively sleeved on the hinge shaft 533. One end of the torsion spring 534 abuts against the fixed base 531. The other end of 534 abuts or is fixed to the rotating seat 532. The electromagnet 535 is mounted on the rotating seat 532, and a clamping mechanism 52 is installed below the rotating seat 532. The electromagnet 535 is electrically connected to the control module. The iron core of the electromagnet 535 is used to extend and lock with the locking plate 536 in the normal state, and to retract and unlock with the locking plate 536 in an emergency. The torsion spring 534 is used to spring the rotating seat 532 to drive the clamping mechanism 52 to eject and open the overhead line 100 when the iron core unlocks with the locking plate 536. There are two limit blocks 537, which are fixedly connected to the outside of the fixed seat 531, and are used to limit the rotation of the rotating seat 532.

[0043] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for the safe operation of a drone quickly releasing overhead power lines, characterized in that, Specifically, the steps include the following: The detection module monitors the activity of the aerial work robot on the overhead line in real time and feeds it back to the control module; the activity includes normal walking, encountering obstacles or emergency situations. The control module sends control commands to the clamping and walking device based on the activity: During normal walking, the walking mechanism of the clamping and walking device works with the clamping mechanism to clamp the overhead line and perform the walking action; when encountering an obstacle, the clamping mechanism is opened normally to release the overhead line, the walking mechanism walks over the obstacle, and after overcoming the obstacle, the clamping mechanism is driven to retract and work with the walking mechanism to clamp the overhead line again to perform the walking action; in an emergency, the emergency quick release mechanism is controlled to open the clamping mechanism to release the overhead line, the flight mechanism is driven to raise the aerial work robot to detach from the overhead line, and after the aerial work robot lands, the emergency quick release mechanism is manually restored; The emergency rapid release mechanism includes a fixed base, a locking plate, an electromagnet, a torsion spring, and a rotating base. The fixed base is fixedly connected to the walking mechanism or the fuselage of the drone. The rotating base is hinged to the fixed base. The torsion spring is sleeved on the hinge shaft. There are two torsion springs, which are respectively located on both sides of the rotating base. One end of the torsion spring abuts against the fixed base, and the other end of the torsion spring abuts against or is fixed to the rotating base. The electromagnet is electrically connected to the control module and is mounted on the rotating base. The clamping mechanism is mounted below the rotating base. The core of the electromagnet is used to extend and lock with the locking plate under normal conditions, and to retract and unlock with the locking plate when a control signal is received from the control module in an emergency. The torsion spring is used to rotate the rotating seat to drive the clamping mechanism to eject and open the overhead line when the iron core and the lock plate are unlocked.

2. A clamping and walking device for implementing the safe operation method of rapid release of overhead lines by an aerial work robot as described in claim 1, comprising a walking mechanism and a clamping mechanism, wherein the clamping mechanism comprises a connecting frame, a drive motor fixed on the connecting frame, a swing arm pivotally connected to the connecting frame, and a clamping auxiliary wheel, wherein the clamping auxiliary wheel is pivotally connected to a mounting base at the distal end of the swing arm, and the drive motor is induced to drive the swing arm to swing so that the clamping auxiliary wheel on the swing arm rotates to below the overhead line, and causes the clamping auxiliary wheel to cooperate with the walking wheel of the walking mechanism to clamp the overhead line, characterized in that, It also includes an emergency rapid release mechanism, which is electrically connected to the control module. The clamping mechanism is installed below the emergency rapid release mechanism. The emergency rapid release mechanism is used to drive the clamping mechanism to eject and release the overhead line outward when it receives a control command from the control module.

3. The clamping and walking device for realizing the safe operation method of quickly releasing overhead lines by an aerial work robot according to claim 2, characterized in that: The two ends of the pivot of the clamping auxiliary wheel are respectively inserted into the mounting base and slide in cooperation with the mounting base. A compression spring is abutted between the pivot end and the mounting base below it. The ends of the compression spring are fixed to the pivot end and the mounting base respectively.

4. The clamping and walking device for realizing the safe operation method of quickly releasing overhead lines by an aerial work robot according to claim 3, characterized in that: The mounting base is provided with an upwardly extending guide block, and the guide block is provided with a guide hole; a bushing is fixed to the end of the pivot, the bushing passes through the guide hole, and the compression spring is provided at the part of the bushing that passes through the guide hole; the cross-section of the guide hole is rectangular, and the outer contour of the cross-section of the bushing is square.

5. The clamping and walking device for realizing a method for safe operation of an aerial work robot to quickly release overhead lines, as described in any one of claims 2 to 4, characterized in that: There are two clamping auxiliary wheels, which are symmetrically arranged on both sides of the swing arm.

6. The clamping and walking device for realizing the safe operation method of quickly releasing overhead lines by an aerial work robot according to claim 2, characterized in that: The walking wheel has multiple patterns on its circumference, which are either recessed or convex patterns.

7. The clamping and walking device for realizing a method for safe operation of aerial work robots quickly releasing overhead lines, as described in claim 6, is characterized in that: The recessed texture is arranged along the axial direction of the wheel.

8. The clamping and walking device for realizing the safe operation method of quickly releasing overhead lines by an aerial work robot according to claim 7, characterized in that: The recessed texture gradually narrows and becomes shallower from the middle to both ends.

9. The clamping and walking device for realizing the safe operation method of quickly releasing overhead lines by an aerial work robot according to claim 2, characterized in that: Both outer sides of the fixed base are fixed with limiting blocks to limit the rotation angle of the rotating base.

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