Lightning rod maintenance deployment system and maintenance method thereof

Abstract

The lightning rod maintenance deployment system comprises a fastening device, a traction device, an unmanned aerial vehicle and a transmission device, the fastening device is provided with a docking mechanism connected with a lightning rod set position, the traction device comprises a rope disc and a traction rope, one end of the traction rope is connected with the fastening device, and the other end of the traction rope is wound on the rope disc; the unmanned aerial vehicle is used for carrying the fastening device and the traction rope to a preset position, so that the traction rope forms a transportation track between the lightning rod and the ground, the transmission device comprises a conveying platform and a climbing mechanism, the conveying platform carries lightning rod maintenance equipment, and the climbing mechanism is used for driving the conveying platform to climb to a lightning rod set position in the length direction of the transportation track. The unmanned aerial vehicle carries the fastening device and the traction rope to construct the transportation track, stable transportation of the maintenance equipment is achieved in combination with the climbing mechanism, the problem that traditional manpower and an existing robot are difficult to accurately position in a complex environment is solved, and the advantages of improving maintenance safety and enhancing transportation efficiency and reliability are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power facility maintenance, and particularly relates to a lightning rod maintenance deployment system. BACKGROUND

[0002] The lightning rod of a transformer substation is an important lightning protection device of a power system, and its regular maintenance and detection work is crucial. Traditional lightning rod maintenance of a transformer substation completely relies on manual operation, and technicians need to climb to the lightning rod base on a high-rise building or a grid structure to carry out maintenance work. This operation mode not only faces the risk of falling from a high altitude, but also needs to be operated in a complex environment with crossed cables and dense pipelines, which has serious safety hazards and is low in efficiency. In addition, manual maintenance is greatly limited by weather conditions, and maintenance work cannot be carried out in time in bad weather, which affects the safe operation of the power system.

[0003] Although the detection robot currently applied can partially replace manual operation, the lightning rod of a transformer substation is usually located on a complex base, and the surrounding environment has many obstacles. Therefore, the traditional detection robot often has difficulty in smoothly reaching the lightning rod position for effective detection. The existing robot system lacks an efficient transportation and positioning mechanism, and is easily disturbed in a complex environment, so that the maintenance equipment cannot be accurately deployed to the target position. At the same time, there is a lack of reliable traction and transmission system in the existing technology, which makes it difficult to realize stable transportation of the maintenance equipment between the lightning rod and the ground, further limiting the maintenance efficiency.

[0004] Therefore, in view of the above technical problems, there is an urgent need for a lightning rod maintenance deployment system, which uses a drone to transport a detection robot to a specified position, so as to avoid various obstacles and disturbances in the surrounding environment, and at the same time, ensures that the maintenance equipment can safely and efficiently complete the maintenance task of the lightning rod. SUMMARY

[0005] The embodiment of the present application provides a lightning rod maintenance deployment system and a maintenance method thereof, which uses a drone to transport a detection robot to a specified position, so as to avoid various obstacles and disturbances in the surrounding environment, and has the advantages of improving the safety of maintenance work, improving the efficiency of equipment deployment, and enhancing the stability of transportation in a complex environment.

[0006] In a first aspect, the embodiment of the present application provides a lightning rod maintenance deployment system, which comprises:

[0007] A fastening device, the fastening device has a docking mechanism connected with a lightning rod setting position;

[0008] A traction device, the traction device comprises a rope reel and a traction rope, one end of the traction rope is connected with the fastening device, and the other end of the traction rope is wound on the rope reel;

[0009] An unmanned aerial vehicle is used to carry the fastening device and the traction rope to a preset position, so that the traction rope forms a transportation track between the lightning rod and the ground;

[0010] A transmission device includes a conveying platform for carrying lightning rod maintenance equipment and a climbing mechanism for driving the conveying platform to climb along the length direction of the transportation track to a lightning rod setting position.

[0011] In a possible implementation, the climbing mechanism includes an electric rope climber, which includes a body having a traction channel for the traction rope to move and a driving wheel engaged with the traction rope in the traction channel to drive the conveying platform to move along the length direction of the transportation track.

[0012] In a possible implementation, the body is provided with a one-way locking mechanism having a limiting part that can be controlled to limit the driving wheel from reversing.

[0013] In a possible implementation, the climbing mechanism further includes a driving member for driving the driving wheel to rotate.

[0014] In a possible implementation, the transmission device further includes a balance counterweight, the center of gravity of which is located directly below the driving wheel, so that the conveying platform remains horizontal during movement along the length direction of the transportation track.

[0015] In a possible implementation, the rope reel is provided with a traction tensioning device for driving the rope reel to rotate to adjust the tension of the traction rope.

[0016] In a possible implementation, the docking mechanism has a connecting part in the form of magnetic attraction connection, mechanical jaw connection or vacuum suction connection.

[0017] In a possible implementation, the unmanned aerial vehicle is provided with a clamping mechanism having a clamping part for clamping the docking mechanism.

[0018] In a possible implementation, the docking mechanism further includes a pressure sensor for detecting the pressure value of the connection between the connecting part and the lightning rod setting position.

[0019] In a second aspect, the embodiments of the present application further provide a lightning rod maintenance deployment system maintenance method, which uses the lightning rod maintenance deployment system as described above, and includes the following steps:

[0020] The unmanned aerial vehicle carries a fastening device and a traction rope to fly to the connection position of the lightning rod and the tower base, one end of the fastening device is connected to the fixed end of the traction rope, and the other end has a docking mechanism connected with the lightning rod;

[0021] The unmanned aerial vehicle docks with the lightning rod at the preset position through the docking mechanism, and fixes the fastening device on the lightning rod;

[0022] The unmanned aerial vehicle releases the fastening device and carries the free end of the traction rope to return to the ground fixing point for fixation, forming a traction path from the lightning rod preset position to the ground;

[0023] The transmission device carrying the lightning rod maintenance equipment is connected with the traction rope, and the transmission device is controlled to move to the lightning rod preset position through the traction path;

[0024] After the transmission device reaches the lightning rod preset position, the delivery platform releases the lightning rod maintenance equipment, and the lightning rod maintenance equipment performs a preset operation on the lightning rod;

[0025] After the lightning rod maintenance equipment completes the preset operation, it returns to the delivery platform, and the transmission device returns to the ground through the traction rope;

[0026] The ground fixing point is released, the unmanned aerial vehicle flies to the lightning rod setting position to clamp the fastening device, the docking mechanism is separated from the lightning rod setting position, and the unmanned aerial vehicle drives the fastening device to return.

[0027] The lightning rod maintenance deployment system and the maintenance method provided by the embodiment of the application solve the problems of high risk of traditional manual high-altitude operation and difficulty of accurate positioning of existing robots in complex environments by constructing a transportation track by the unmanned aerial vehicle carrying a fastening device and a traction rope, and realizing stable transportation of the maintenance equipment by combining a climbing mechanism, and have the advantages of improving maintenance safety, enhancing transportation efficiency and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0029] Figure 1 The lightning rod and tower base structure diagram of the lightning rod maintenance deployment system provided by the application;

[0030] Figure 2 The unmanned aerial vehicle and lightning rod setting position docking structure diagram of the lightning rod maintenance deployment system provided by the application before docking;

[0031] Figure 3 The unmanned aerial vehicle and lightning rod setting position docking structure diagram of the lightning rod maintenance deployment system provided by the application when docking is completed;

[0032] Figure 4 The unmanned aerial vehicle of the lightning rod maintenance and deployment system provided in the present application is connected to the lightning rod set position to complete the structure schematic diagram;

[0033] Figure 5 The transmission device of the lightning rod maintenance and deployment system provided in the present application moves on the traction rope, and the structure schematic diagram is shown;

[0034] Figure 6 The structure schematic diagram of the transmission device of the lightning rod maintenance and deployment system provided in the present application is shown;

[0035] Figure 7 The step diagram of the maintenance method of the lightning rod maintenance and deployment system provided in the present application is shown.

[0036] Reference signs: 1, lightning rod; 2, tower base; 3, unmanned aerial vehicle; 4, rope reel; 5, traction rope; 6, fastening device; 7, transmission device; 71, conveying platform; 72, driving member; 73, electric rope climbing machine; 74, balance counterweight.

[0037] Through the above-mentioned drawings, the specific embodiments of the present application have been shown, and more detailed descriptions will be given hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0039] At present, in the lightning rod maintenance scene of a substation, high-altitude operation relies on manual climbing or ground control of a robot, but the lightning rod installation base is often located at the top of a tower and is surrounded by cable bridges, ventilation pipes and steel structure cross beams, forming a three-dimensional space obstacle network. The maintenance equipment needs to pass through the horizontal obstacles in a narrow space with a vertical height of more than 30 meters. Traditional wheeled or tracked robots cannot realize multi-axis collaborative obstacle avoidance due to insufficient degrees of freedom of movement, resulting in blocked equipment transportation path. When operated manually, the technician needs to carry detection equipment along the tower, but there are smooth metal components and inclined support rods on the surface of the tower. The stability of the equipment is significantly affected by wind disturbance during the climbing process, and the operation efficiency is limited by the consumption of personnel physical fitness and the time-consuming of safety protection measures.

[0040] For example, a lightning rod of a certain substation is located at the top of a steel structure tower, surrounded by three layers of cable bridge and two groups of horizontal wind pipes, forming a ring-shaped obstacle area with a radius of 1.2 meters. The detection robot needs to start from the ground base station, vertically climb 12 meters along the outer wall of the tower, and then cross two cable bridges with a spacing of 0.8 meters. The traditional wheeled robot is prone to slipping on the surface of the inclined 60-degree support rod due to the insufficient friction coefficient between the driving wheel and the metal surface, resulting in a path tracking error exceeding the allowable threshold. When manually operated, the technician needs to adjust the safety rope fixing point during the climbing process, and the single operation time is up to 45 minutes. In strong wind conditions, the human body balance decreases, causing the operation interruption rate to increase to 32%.

[0041] If the above problems are not solved, the corrosion detection and fastener state evaluation of the key connection point of the lightning rod cannot be performed according to the regulations, resulting in that the ground resistance value exceeding the standard is not discovered in time, increasing the risk of equipment insulation breakdown caused by lightning overvoltage, and the operation and maintenance unit needs to adopt higher frequency manual inspection, further increasing the probability of high-altitude falling and object impact accidents, and due to the limited operation window period, the defect treatment opportunity may be delayed, causing the main transformer and GIS equipment in the lightning protection range to be damaged by direct lightning.

[0042] In view of the above problems, the application proposes to divide the transportation path into two stages of air deployment and ground climbing, use a UAV to carry a lightweight traction assembly to establish a vertical channel, and then use a ground device to stably climb along the channel.

[0043] The lightning rod maintenance deployment system provided by the application includes a fastening device, a traction device, a UAV and a transmission device. The fastening device has a docking mechanism connected with the lightning rod set position. The traction device includes a rope reel and a traction rope. One end of the traction rope is connected with the fastening device, and the other end is wound around the rope reel. The UAV is used to carry the fastening device and the traction rope to the preset position, so that the traction rope forms a transportation track between the lightning rod and the ground. The transmission device includes a conveying platform and a climbing mechanism. The conveying platform is used to carry the lightning rod maintenance equipment. The climbing mechanism is used to drive the conveying platform to climb to the lightning rod set position along the length direction of the transportation track. By using the UAV to carry the fastening device and the traction rope to construct the transportation track, and combining the climbing mechanism to realize the stable transportation of the maintenance equipment, the problems of high risk of traditional manual high-altitude operation and difficulty of accurate positioning of existing robots in complex environment are solved, and the advantages of improving maintenance safety, enhancing transportation efficiency and reliability are achieved.

[0044] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail in specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0045] Combining Figures 1-6 The application proposes a lightning rod maintenance deployment system, which comprises a fastening device 6, a traction device, a drone 3 and a transmission device 7.

[0046] The fastening device 6 is a device for connecting the lightning rod 1 to a set position, which can be realized by magnetic connection, mechanical jaw connection or vacuum adsorption connection, and its function is to provide a reliable fixed support point for the traction device, solving the problem that the traditional maintenance method cannot establish a stable transportation track in the air.

[0047] The traction device can adjust the tension of the traction rope 5 by using an electric drive device, and its function is to form a vertical transportation channel between the lightning rod 1 and the ground, replacing the manual climbing path and eliminating the risk of falling in the air.

[0048] The drone 3 is a flight equipment for transporting the fastening device 6 and the traction rope 5, which can be realized by a multi-rotor drone 3 carrying a clamping mechanism, and its function is to break through the ground obstacle restriction by air transportation, and accurately deploy the traction device to the preset position of the lightning rod 1.

[0049] The transmission device 7 can drive the conveying platform 71 to move along the traction rope 5 by using an electric rope climbing machine 73, and its function is to replace manual transportation by mechanical transmission, realize the automation of vertical transportation of maintenance equipment, and improve the work efficiency.

[0050] The application realizes the automation of transportation of maintenance equipment by the coordinated deployment of the drone 3 and the traction device, the construction of a vertical transportation track between the lightning rod 1 and the ground, and the combination of the transmission device 7 that can climb along the track. This scheme breaks through the limitations of traditional manual climbing and ground robot movement, uses the drone 3 to avoid complex environmental obstacles, and ensures the safety and efficiency of high-altitude work through a mechanized track transportation system.

[0051] When the system works, the drone 3 carries the fastening device 6 and the traction rope 5 to fly to the preset position of the lightning rod 1, the fastening device 6 is connected and fixed with the lightning rod 1 through the docking mechanism, then the drone 3 releases the fastening device 6, carries the other end of the traction rope 5 back to the ground fixed point, forms a traction path from the lightning rod 1 to the ground. Then connect the transmission device 7 with the traction rope 5, the transmission device 7 climbs along the traction rope 5 to the position of the lightning rod 1, the conveying platform 71 reaches and releases the maintenance equipment to work, after the work is completed, the maintenance equipment returns to the conveying platform 71, the transmission device 7 returns to the ground along the traction rope 5, and finally the ground fixed point is released, the drone 3 flies to the position of the lightning rod 1 to clamp the fastening device 6 and returns, completing the whole maintenance process.

[0052] The system establishes a vertical transportation channel through the unmanned aerial vehicle 3 and the traction rope 5, avoids complex environmental obstacles, and the transmission device 7 climbs along the traction rope 5, ensuring that the equipment stably reaches the lightning rod 1 position, overcoming the problem that the traditional wheeled robot is limited in movement in a complex environment, improving the reliability and efficiency of maintenance work, and realizing stable transportation of the lightning rod 1 maintenance equipment to the high-altitude operation position in a complex environment. The unmanned aerial vehicle 3 cooperates with the traction rope 5 to establish a vertical transportation channel, avoiding obstacles around the tower, the transmission device 7 climbs along the traction rope 5, overcoming the problem that the traditional wheeled robot is easy to slip on an inclined metal surface, significantly improving the success rate of the maintenance equipment reaching the lightning rod 1 position, and reducing the safety risk of manual climbing work. At the same time, the system has high automation, shortens the single maintenance operation time, and improves the efficiency of lightning rod 1 detection and maintenance.

[0053] The application further proposes that the climbing mechanism includes an electric rope climbing machine 73, the electric rope climbing machine 73 includes a machine body and a driving wheel, the machine body has a traction channel for the movement of the traction rope 5, and the driving wheel is engaged with the traction rope 5 in the traction channel for transmission, thereby driving the conveying platform 71 to move along the length direction of the transportation track.

[0054] The traction channel is in a U-shaped or C-shaped structure, the inner wall of which is provided with a guide groove to limit the lateral displacement of the traction rope 5, and the surface of the driving wheel is processed with a tooth-shaped groove matching the outer diameter of the traction rope 5; the angle between the driving wheel and the traction rope 5 is controlled in the range of 90°-120°, the machine body is made of aluminum alloy material, and the driving wheel is connected to the output shaft of the driving part 72 through a worm gear mechanism.

[0055] Specifically, when the driving part 72 outputs a torque, the worm gear mechanism reduces the rotating speed and transmits it to the driving wheel, and the tooth-shaped groove on the surface of the driving wheel forms forced engagement with the traction rope 5. The traction rope 5 moves linearly along the guide groove in the traction channel, and the driving wheel can drive the conveying platform 71 to move a distance equal to the product of the diameter and the number of teeth of the traction rope 5 per revolution. Limiting baffles are arranged on both sides of the machine body to prevent the traction rope 5 from coming out, and in the process of continuous rotation of the driving wheel, the engagement contact area of the traction rope 5 and the tooth-shaped groove is ensured, and the power transmission efficiency is ensured.

[0056] As a preferred embodiment, the scheme of the application is implemented as follows: the climbing mechanism comprises an electric rope climber 73, which comprises a machine body and a driving wheel. The machine body has a traction channel for the movement of the traction rope 5, and the driving wheel is in driving engagement with the traction rope 5 in the traction channel, thereby driving the movement of the conveying platform 71 along the length direction of the transportation track. Specifically, the machine body of the electric rope climber 73 can be made of aluminum alloy material and has a cuboid structure. The traction channel penetrates through the machine body in the length direction, and the inner wall is smooth to reduce friction. The driving wheel adopts a gear structure and is in close engagement with the traction rope 5. The driving wheel is driven by a motor and can rotate in forward and reverse directions. The conveying platform 71 is fixedly connected to the bottom of the machine body and is used for carrying the maintenance equipment. When the motor drives the driving wheel to rotate in the forward direction, the electric rope climber 73 climbs upward along the traction rope 5; conversely, it descends, and the climbing speed can be adjusted by controlling the motor speed.

[0057] Through the above technical scheme, the application realizes the automatic conveying of the lightning rod 1 maintenance equipment. The electric rope climber 73 can stably climb along the traction rope 5, and the maintenance equipment can be conveyed to the position of the high lightning rod 1 without manual climbing. This not only improves the work efficiency, but more importantly, ensures the safety of the workers. At the same time, the electric rope climber 73 has a simple and compact structure and strong adaptability, and can flexibly operate in complex environments. In addition, precise positioning can be realized by adjusting the motor speed, which is beneficial to the accurate performance of the maintenance work.

[0058] In order to prevent the driving wheel of the electric rope climber 73 from producing reverse rotation due to gravity or load change during the climbing of the conveying platform 71 along the transportation track, causing unintended reverse movement or sliding of the conveying platform 71, and to avoid safety hazards, the application further proposes that a one-way locking mechanism is arranged on the machine body, and the one-way locking mechanism has a limiting part that can be controlled to limit the reverse rotation of the driving wheel.

[0059] Among them, the one-way locking mechanism can adopt a ratchet and pawl structure, the ratchet is fixed coaxially on the driving wheel shaft, the pawl is hinged on the mounting seat of the machine body, the limiting part adopts an electromagnetic actuator, and the engagement state of the pawl and the ratchet is controlled by an electric signal. As another implementation, the limiting part can be set as a hydraulic brake device, and the end of the hydraulic cylinder piston rod is provided with a friction plate, which forms a contact type brake with the driving wheel rim.

[0060] Specifically, when the driving wheel rotates forward to drive the conveying platform 71 to climb, the pawl slides along the ratchet tooth surface without generating resistance, and when the driving wheel appears a reverse rotation trend, the electromagnetic actuator drives the pawl to embed into the ratchet tooth groove to form mechanical interference, thereby preventing the driving wheel from reversing. After the conveying platform 71 reaches the target position, the power supply of the electromagnetic actuator can be cut off by the control circuit to make the pawl disengage from the ratchet to release the locking. Further, a pressure sensor for detecting the pressure value of the connection between the connecting part and the lightning rod 1 setting position can be arranged, and when the pressure sensor detects that the pressure value of the connecting part is abnormal, the one-way locking mechanism can be triggered to automatically start, forming a double protection mechanism. The structure effectively eliminates the possibility of reverse movement of the driving wheel through mechanical interlocking, and ensures that the conveying platform 71 remains stationary at any height position.

[0061] Through the above technical solutions, the application effectively limits the reverse rotation of the driving wheel, prevents the transmission device 7 from falling back unexpectedly during climbing, and improves the safety and reliability of the lightning rod 1 maintenance and deployment system. At the same time, the design of the controllable limiting part makes the system flexible, and the locking can be easily released when needed, which is convenient for the recovery and maintenance of the transmission device 7.

[0062] The application further proposes that the climbing mechanism further comprises a driving member 72 for driving the driving wheel to rotate.

[0063] The driving member 72 comprises a motor or a hydraulic motor, and specifically adopts a stepping motor. The driving member 72 is connected with the driving wheel through a gear set or a transmission belt, and is electrically connected with the control system to adjust the output torque. The surface of the driving wheel is provided with anti-skid lines to enhance the friction with the traction rope 5. The driving member 72 is installed in the body and is isolated from the external environment through a sealing structure. A speed reducer is arranged between the output shaft of the driving member 72 and the shaft of the driving wheel to match the speed requirement. The control system dynamically adjusts the power output of the driving member 72 according to the tension of the traction rope 5.

[0064] Specifically, when the transmission device 7 needs to climb along the traction rope 5, the driving member 72 receives the control signal to start operation, and transmits power to the driving wheel through gear transmission. The driving wheel is engaged with the traction rope 5 and generates a rotating thrust to push the body to move along the length direction of the traction rope 5. The output power of the driving member 72 is adjusted in real time according to the climbing load, for example, the torque output is increased when the conveying platform 71 carries heavy maintenance equipment to ensure uniform climbing. The built-in overload protection module of the driving member 72 automatically cuts off the power when the traction rope 5 is stuck to prevent equipment damage. The engagement of the driving wheel with the traction rope 5 and the continuous power output of the driving member 72 enable the transmission device 7 to move stably on the transportation track with any inclination angle.

[0065] By the technical scheme, the application can realize accurate control of the driving wheel, improve the stability and reliability of the conveying platform 71 moving along the transportation track. The driving member 72 can provide continuous and stable power, so that the conveying platform 71 can smoothly climb to the set position of the lightning rod 1, effectively avoiding the instability of manual operation. At the same time, the motor-driven mode can realize remote control, reducing the on-site operators and further improving the operation safety. In addition, the motor-driven mode can flexibly adjust the climbing speed according to actual needs, improving the operation efficiency.

[0066] In order to prevent the conveying platform 71 from tilting during movement along the transportation track due to torque fluctuation caused by the engagement transmission of the traction rope 5 and the driving wheel, which may affect the transportation stability of the lightning rod 1 maintenance equipment, the application further proposes that the transmission device 7 further comprises a balance counterweight 74, and the center of gravity of the balance counterweight 74 is located directly below the driving wheel, so that the conveying platform 71 remains horizontal during movement along the length direction of the transportation track.

[0067] The balance counterweight 74 is installed directly below the driving wheel, and the mass distribution of the balance counterweight 74 forms a symmetrical structure with the center of gravity of the conveying platform 71. The installation position of the balance counterweight 74 is set on the plumb line perpendicular to the driving wheel axis, and the balance counterweight 74 and the conveying platform 71 are fixed through a rigid connecting member. The weight of the balance counterweight 74 is configured to be 30%-50% of the total weight of the conveying platform 71, for example, a cuboid structure made of cast iron material, and the bottom surface is at the same level as the lowest point of the driving wheel. During rotation of the driving wheel, the gravity line of the balance counterweight 74 and the transmission torque direction of the driving wheel form a counterbalance torque.

[0068] Specifically, when the driving wheel of the electric rope climber 73 pulls the conveying platform 71 to climb along the traction rope 5, the center of gravity of the balance counterweight 74 is always located directly below the driving wheel, forming a stable gravity balance fulcrum. During vertical movement, the counteracting torque generated by the balance counterweight 74 offsets the tilting torque generated by the center of gravity of the conveying platform 71. When the conveying platform 71 encounters lateral wind force or interference caused by swinging of the traction rope 5, the balance counterweight 74 lowers the overall center of gravity, so that the conveying platform 71 forms a self-stabilizing state around the driving wheel axis. The vertical alignment of the balance counterweight 74 and the driving wheel enables the conveying platform 71 to maintain a horizontal posture during acceleration or deceleration, avoiding side slipping or toppling of the lightning rod 1 maintenance equipment. During movement of the conveying platform 71 along the transportation track, the balance counterweight 74 keeps the conveying platform 71 horizontal through gravity.

[0069] Through the above technical solutions, this application can ensure that the conveying platform 71 remains horizontal and stable during movement along the transport track, preventing the load from slipping or being damaged due to tilting of the conveying platform 71. At the same time, the setting of the counterweight 74 can improve the stability of the conveying platform 71 during transportation, reduce shaking, and ensure that the lightning rod 1 maintenance equipment safely and reliably reaches the designated position.

[0070] This application further proposes that the rope reel 4 is provided with a traction tensioning device, which is used to drive the rope reel 4 to rotate, thereby adjusting the tension of the traction rope 5.

[0071] The traction tensioning device may include a motor, a reducer, and a tension sensor. The tension sensor detects the tension value of the traction rope 5 in real time. The drive motor is connected to the rope reel 4 via a transmission connection, and the motor is connected to the rope reel 4 through the reducer. The motor can rotate in both directions, driving the rope reel 4 to rotate in both directions. When the motor rotates forward, the rope reel 4 tightens the traction rope 5, increasing the tension of the traction rope 5; when the motor rotates in reverse, the rope reel 4 loosens the traction rope 5, decreasing the tension of the traction rope 5. The traction tensioning device also includes a tension sensor for real-time detection of the tension of the traction rope 5.

[0072] The controller controls the motor speed based on the tension value fed back by the tension sensor, thereby adjusting the tension of the traction rope 5 to a preset range. When the tension of the traction rope 5 is lower than the preset threshold, the drive motor drives the rope reel 4 to rotate to tighten the traction rope 5; when the tension is higher than the preset threshold, the drive motor rotates in the opposite direction to release the traction rope 5.

[0073] Furthermore, the traction tensioning device can also integrate a control module. The control module dynamically adjusts the speed and direction of the drive motor based on the feedback signal from the tension sensor, so that the tension of the traction rope 5 is maintained within the set range.

[0074] During the movement of the transmission device 7 along the traction rope 5, the traction tensioning device ensures that the traction rope 5 is always under appropriate tension by adjusting the rotation of the rope reel 4 in real time. When the transmission device 7 climbs upward, the tension of the traction rope 5 may increase due to the increased load. At this time, the drive motor releases the traction rope 5 in the reverse direction to reduce the tension. When the transmission device 7 descends or the traction rope 5 slackens due to ambient wind, the drive motor rotates in the forward direction to tighten the traction rope 5. By dynamically balancing the tension of the traction rope 5, the transmission device 7 can be prevented from swaying or the traction rope 5 from detaching from the rope reel 4 due to insufficient tension. At the same time, excessive tension can be prevented from causing the traction rope 5 to break or the drive wheel to slip. This achieves precise control of the tension of the traction rope 5, ensuring that the transport track maintains an appropriate tension. This not only improves the stability and safety of the transmission device 7 on the transport track but also extends the service life of the traction rope 5. In addition, the adjustable tension characteristic allows the system to adapt to different working conditions, enhancing the applicability and reliability of the lightning rod 1 maintenance and deployment system.

[0075] This application further proposes that the docking mechanism has a connecting part, which can be a magnetic connection, a mechanical claw connection, or a vacuum adsorption connection.

[0076] Among them, the magnetic connection uses an electromagnet or permanent magnet to generate an attraction force, suitable for the surface of the lightning rod 1 made of metal; the mechanical claw connection uses adjustable claws to embed into the pre-set slots of the lightning rod 1 base or wrap around a columnar structure; the vacuum adsorption connection uses a negative pressure adsorption device to adhere to the surface of the lightning rod 1, suitable for non-metallic smooth surfaces. The three connection methods can be configured independently or used in combination. A pressure sensor is embedded in the internal cavity of the connection part to detect the contact pressure value of the connection surface in real time.

[0077] Specifically, after the drone 3, carrying the fastening device 6, arrives at the lightning rod 1 base, it selects the appropriate connection method based on the surface material and structural characteristics of the lightning rod 1. When the lightning rod 1 is made of metal, magnetic connection is used for fixation via magnetic attraction; when the lightning rod 1 base has a preset slot, mechanical claws insert into the slot to lock it in place; when the surface of the lightning rod 1 is a smooth, non-metallic material, a vacuum adsorption device is activated to create negative pressure fixation. The pressure sensor compares the detected pressure data with a preset threshold. When the pressure value reaches a safe range, the traction rope 5 is released to form a transport track. After maintenance is completed, the connection is quickly separated by power-off demagnetization, claw retraction, or release of negative pressure, and the drone 3 retrieves the fastening device 6. These three connection methods cover different material and structural scenarios, and pressure detection ensures connection reliability, preventing equipment from falling due to connection failure during high-altitude operations.

[0078] When the connection part uses an electromagnetic adsorption device, including an electromagnet and a control circuit, the electromagnet is installed at the front end of the docking mechanism, and the control circuit is used to adjust the magnetic strength of the electromagnet. When connection is required, the control circuit activates the electromagnet to generate magnetic force, achieving adsorption connection with the metal part of the lightning rod 1. When separation is required, the control circuit cuts off the power supply to the electromagnet, releasing the magnetic connection.

[0079] When the connecting part adopts a mechanical gripper structure, the mechanical gripper consists of multiple movable claw arms, which are driven to open and close by a servo motor. When connection is required, the servo motor drives the claw arms to close, firmly clamping the lightning rod 1. When separation is required, the servo motor drives the claw arms to open, releasing the lightning rod 1.

[0080] When a vacuum adsorption device is used for the connection, the device includes a vacuum pump, a suction cup, and a control valve. The suction cup is installed at the front end of the docking mechanism and fits tightly against the surface of the lightning rod 1. When connection is required, the control valve opens, and the vacuum pump draws air to create a negative pressure, achieving adsorption connection. When separation is required, the control valve closes, releasing the negative pressure and completing the separation.

[0081] Through the above technical solutions, this application achieves reliable connection and flexible separation between the docking mechanism and the lightning rod 1. Magnetic connection is suitable for metal lightning rods 1, providing rapid and stable connection. Mechanical claw connection is suitable for lightning rods 1 made of various materials, offering strong adaptability. Vacuum adsorption connection is suitable for lightning rods 1 with smooth surfaces, providing high connection strength without damaging the surface of the lightning rod 1. All these connection methods can be remotely controlled for rapid connection and separation, improving the efficiency and safety of maintenance operations. Furthermore, the selection of multiple connection methods enhances the system's applicability, enabling it to adapt to different types and materials of lightning rods 1, thus expanding the system's application range.

[0082] This application further proposes that the UAV 3 is equipped with a clamping mechanism, which has a clamping part for clamping the docking mechanism.

[0083] The clamping part can adopt one or more combinations of mechanical grippers, electromagnetic chucks, or vacuum chucks, forming a contact surface with the housing of the docking mechanism. The clamping mechanism includes a power unit, which controls the opening and closing of the clamping part through a linear drive device. The inner side of the clamping part is provided with anti-slip textures. The clamping mechanism is fixedly connected to the fuselage of the UAV 3 by bolts, and the installation position is located in the center area of ​​the bottom of the UAV 3, with the installation plane coinciding with the gravity axis of the UAV 3.

[0084] Specifically, a clamping mechanism is installed at the bottom of the UAV 3. This mechanism comprises two symmetrically arranged clamping arms, each with an L-shaped gripper at its end. The inner side of the L-shaped gripper is covered with a non-slip rubber layer. The clamping arms open and close synchronously via an electric push rod. When the docking mechanism needs to be secured, the gripper closes and mechanically interlocks with the annular groove on the side of the docking mechanism. A Hall sensor inside the clamping arm detects the clamping position signal and triggers a locking pin to insert into the gripper's rotating shaft. A rotating platform is located at the top of the clamping mechanism, allowing the docking mechanism to adjust its installation angle before release.

[0085] When UAV 3 performs a transport mission, the L-shaped grippers of the clamping unit close under the drive of the power unit, enclosing the mounting flange of the docking mechanism within the clamping cavity. The anti-slip texture generates friction with the outer shell of the docking mechanism, forming an effective fixation. The clamping force is monitored in real time by a pressure sensor; when the clamping force is detected to be below a preset threshold, the control unit automatically increases the driving pressure. During flight, the symmetrical layout design of the clamping unit ensures that the center of gravity of the docking mechanism remains within the projection area of ​​the center of gravity of UAV 3. The flight attitude control system adjusts the rotor speed in real time based on the center of gravity offset. When UAV 3 arrives at the installation position of lightning rod 1, the clamping unit precisely releases the docking mechanism under control commands. During release, the grippers open, ensuring that the magnetic connection surface between the docking mechanism and lightning rod 1 is fully exposed.

[0086] Through the above technical solution, this application effectively solves the problem of device slippage caused by airflow disturbance when the UAV 3 carries the docking mechanism. The cooperation between the anti-slip rubber layer and the annular groove significantly improves the clamping stability, and the synergistic effect of the locking pin and the Hall sensor ensures that the docking mechanism will not accidentally fall off during transportation. The rotating platform allows the docking mechanism to be angled according to the spatial orientation of the lightning rod 1 installation surface, avoiding manual intervention and adjustment, and realizing the precise deployment and retrieval of the fastening device 6 in complex high-altitude environments.

[0087] This application further proposes that a clamping mechanism be provided on the UAV 3, the clamping mechanism having a clamping part for clamping the docking mechanism.

[0088] The clamping part adopts an adjustable mechanical claw structure with anti-slip texture on the inner side of the claw. The clamping part matches the outline of the docking mechanism. The clamping force of the claw is adjusted by a servo motor-driven screw mechanism. The main body of the clamping mechanism is fixed to the fuselage of the UAV 3 with bolts. The opening and closing direction of the clamping part is perpendicular to the flight direction of the UAV 3 to avoid loosening of the clamp due to airflow impact during flight.

[0089] Specifically, the pressure sensor is integrated inside the annular groove of the magnetic connection part. When the magnetic connection surface contacts the flange of the lightning rod 1, the pressure sensor collects the positive pressure data of the contact surface in real time. For example, when the pressure value reaches the preset 15N threshold, the electromagnet is energized to form a stable connection; if the pressure value remains below 8N, the control unit activates an alarm and stops the release action of the drone 3. The pressure sensor forms a closed-loop feedback with the flight control system of the drone 3 through a sealed wire, ensuring that the connection status is monitored in real time.

[0090] Through the above technical solution, this application solves the problem of not being able to monitor the connection status in real time when the UAV 3 docks with the lightning rod 1, effectively avoiding the risk of device detachment due to poor contact. Real-time feedback of pressure data allows for accurate assessment of the reliability of the magnetic connection, ensuring the maintenance device maintains a stable connection during transportation. Simultaneously, it provides quantitative operational data for the control of the UAV 3, significantly improving the safety of high-altitude operations.

[0091] Reference Figure 7 This application further proposes a maintenance method for a lightning rod 1 maintenance deployment system, including the following steps:

[0092] The drone 3, carrying the fastening device 6 and the traction rope 5, flies to the connection position between the lightning rod 1 and the tower base 2 (in this application, the connection position between the lightning rod 1 and the tower base 2 is the root position of the lightning rod 1). One end of the fastening device 6 is connected to the fixed end of the traction rope 5, and the other end has a docking mechanism for connecting with the lightning rod 1. The drone 3 docks with the lightning rod 1 at a preset position through the docking mechanism to fix the fastening device 6 to the lightning rod 1.

[0093] The drone 3 releases the fastening device 6 and carries the free end of the traction rope 5 back to the ground fixed point for fixation, forming a traction path from the preset position of the lightning rod 1 to the ground; the transmission device 7 carrying the maintenance equipment of the lightning rod 1 is connected to the traction rope 5, and the transmission device 7 is controlled to move to the preset position of the lightning rod 1 through the traction path.

[0094] After the transmission device 7 reaches the preset position of the lightning rod 1, the conveying platform 71 releases the lightning rod 1 maintenance equipment, and the lightning rod 1 maintenance equipment performs preset operations on the lightning rod 1; after the lightning rod 1 maintenance equipment completes the preset operations, it returns to the conveying platform 71, and the transmission device 7 returns to the ground via the traction rope 5.

[0095] After releasing the ground anchor point, the drone 3 flies to the designated position of the lightning rod 1 and clamps the fastening device 6. The docking mechanism separates from the designated position of the lightning rod 1, and the drone 3 drives the fastening device 6 back.

[0096] When the UAV 3, carrying the fastening device 6 and the traction rope 5, arrives at the base of the lightning rod 1, it can achieve a physical connection between the docking mechanism and the lightning rod 1 through magnetic attraction, mechanical claws, or vacuum adsorption. After the free end of the traction rope 5 returns to the fixed point on the ground, the tension of the traction path can be adjusted by the tensioning device on the rope reel 4 to ensure that the traction rope 5 is taut when the transmission device 7 moves. During the movement of the transmission device 7 along the traction path, the electric rope climbing machine 73 drives the wheel and engages with the traction rope 5 for transmission, and works with the counterweight 74 to maintain the horizontal attitude of the conveying platform 71. After the operation is completed, the UAV 3 flies back to the position of the lightning rod 1 and releases the docking mechanism through the clamping mechanism to achieve device recovery.

[0097] Specifically, UAV 3 first carries the fastening device 6 and the traction rope 5 to the lightning rod 1 base. It uses a pressure sensor to detect the connection pressure between the docking mechanism and the lightning rod 1, and confirms the fixation is complete when a preset threshold is reached. The free end of the traction rope 5 is carried back to the ground by UAV 3 and locked by ground anchors or fixed piles, forming an inclined or vertical traction path. After the transmission device 7 is activated, the drive wheel of the electric rope climber 73 engages with the traction rope 5, and climbs at a constant speed along the traction path under the action of the drive component 72. During the climb, a one-way locking mechanism prevents the drive wheel from rotating in the opposite direction, causing the device to slide down. After the conveyor platform 71 reaches the lightning rod 1 position, the maintenance equipment performs inspection or maintenance operations according to a preset program, such as replacing parts of the lightning rod 1 or cleaning surface deposits using a robotic arm. After the operation is completed, the maintenance equipment returns to the conveyor platform 71, and the transmission device 7 returns to the ground along the original path of the traction rope 5. Finally, UAV 3 takes off again to the lightning rod 1 position, grabs the fastening device 6 through the clamping mechanism, triggers the docking mechanism to disengage, and achieves overall device recovery. This method enables maintenance equipment to reliably move along a predetermined trajectory in complex environments through the coordinated action of the UAV 3 and the traction path, avoiding the risks of manual climbing and solving the technical problem that traditional robots cannot cross obstacles.

[0098] Through the above technical solutions, this application effectively solves the problems of fall risk and insufficient obstacle-crossing ability of traditional robots in high-altitude manual maintenance. A closed transportation channel is formed by the vertical traction path established by the UAV 3, enabling maintenance equipment to perform maintenance operations on the lightning rod 1 without human intervention, eliminating the hidden dangers of personnel exposure to complex high-altitude environments. The docking method combining electromagnetic adsorption and visual positioning ensures that the maintenance equipment can be reliably deployed to the lightning rod 1 base even in environments with strong electromagnetic interference, overcoming the technical bottleneck of difficult positioning of traditional mechanical grippers in confined spaces.

[0099] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A lightning rod maintenance and deployment system, characterized in that: include: Fastening device (6), the fastening device (6) having a docking mechanism that connects to a set position of the lightning rod (1); The traction device includes a rope reel (4) and a traction rope (5), one end of which is connected to the fastening device (6) and the other end is wound around the rope reel (4). The drone (3) is used to carry the fastening device (6) and the traction rope (5) to a preset position, so that the traction rope (5) forms a transport track between the lightning rod (1) and the ground; The transmission device (7) includes a conveying platform (71) and a climbing mechanism. The conveying platform (71) is used to carry the lightning rod (1) maintenance equipment, and the climbing mechanism is used to drive the conveying platform (71) to climb along the length of the transport track to the set position of the lightning rod (1).

2. The lightning rod maintenance and deployment system according to claim 1, characterized in that: The climbing mechanism includes an electric rope climbing machine (73), which includes a body and a drive wheel. The body has a traction channel for the traction rope (5) to move. The drive wheel engages with the traction rope (5) located in the traction channel to drive the conveying platform (71) to move along the length of the transport track.

3. The lightning rod maintenance and deployment system according to claim 2, characterized in that: The machine body is provided with a one-way locking mechanism, which has a limiting part that can be controlled to restrict the drive wheel from rotating in the opposite direction.

4. The lightning rod maintenance and deployment system according to claim 2, characterized in that: The climbing mechanism also includes a drive element (72) for driving the drive wheel to rotate.

5. A lightning rod maintenance and deployment system according to claim 2, characterized in that: The transmission device (7) further includes a counterweight (74) whose center of gravity is located directly below the drive wheel, so that the conveying platform (71) remains horizontal as it moves along the length of the transport track.

6. The lightning rod maintenance and deployment system according to claim 1, characterized in that: The rope reel (4) is provided with a traction tensioning device, which is used to drive the rope reel (4) to rotate so as to adjust the tension of the traction rope (5).

7. The lightning rod maintenance and deployment system according to claim 1, characterized in that: The docking mechanism has a connecting part, which can be a magnetic connection, a mechanical claw connection, or a vacuum adsorption connection.

8. A lightning rod maintenance and deployment system according to claim 7, characterized in that: The drone (3) is provided with a clamping mechanism, which has a clamping part for clamping the docking mechanism.

9. A lightning rod maintenance and deployment system according to claim 7, characterized in that: The docking mechanism also includes a pressure sensor, which is used to detect the pressure value between the connection part and the lightning rod (1) at a set position.

10. A maintenance method for a lightning rod maintenance deployment system, employing the lightning rod maintenance deployment system as described in any one of claims 1-9, characterized in that: Includes the following steps: The drone (3) is operated to fly to the connection position between the lightning rod (1) and the tower base (2) with the fastening device (6) and the traction rope (5). One end of the fastening device (6) is connected to the fixed end of the traction rope (5), and the other end has a docking mechanism connected to the lightning rod (1). The drone (3) is operated to dock with the lightning rod (1) at a preset position through the docking mechanism, and the fastening device (6) is fixed to the lightning rod (1); The drone (3) releases the fastening device (6) and carries the free end of the traction rope (5) back to the ground fixed point for fixing, forming a traction path from the preset position of the lightning rod (1) to the ground; The transmission device (7) equipped with the lightning rod (1) maintenance equipment is connected to the traction rope (5), and the transmission device (7) is controlled to move to the preset position of the lightning rod (1) through the traction path; After the transmission device (7) reaches the preset position of the lightning rod (1), the conveying platform (71) releases the lightning rod (1) maintenance equipment, and the lightning rod (1) maintenance equipment performs preset operations on the lightning rod (1); After the lightning rod (1) maintenance equipment completes the preset operation, it returns to the conveying platform (71), and the transmission device (7) returns to the ground via the traction rope (5); Release the ground anchor point, the drone (3) flies to the set position of the lightning rod (1) and clamps the fastening device (6). The docking mechanism separates from the set position of the lightning rod (1), and the drone (3) drives the fastening device (6) back.

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