Insulated wire stripping device hung by unmanned aerial vehicle

Abstract

The invention relates to an insulated wire stripping device hung by an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, and is characterized in that the unmanned aerial vehicle is connected with the insulated wire stripping device through a pull rope; the insulated wire stripping device comprises a cross rod and two sets of supporting guide frames, electric universal connectors are arranged on the sides, close to each other, of the two sets of supporting guide frames, the output tail ends of the two sets of electric universal connectors are connected with the two ends of the cross rod through telescopic assemblies in one-to-one correspondence, and a stripping assembly is installed on the cross rod; the method is especially suitable for a multi-split conductor peeling scene, does not need to operate an unmanned aerial vehicle for frequent hoisting, and is lower in operation difficulty.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power engineering, in particular to an insulating conductor stripping device carried by a UAV. BACKGROUND

[0002] In the maintenance and repair operation of distribution network lines, insulating conductor stripping is a common process. The traditional operation method mainly relies on manual operation using stripping tools. However, manual stripping has the problems of easy electric shock accidents, difficulty in ensuring consistency, difficulty in manual operation in high altitude or complex terrain environment, and time-consuming.

[0003] Although some mechanical stripping devices based on UAVs exist in the prior art, such as the device shown in the background art, they can meet the stripping needs of a single insulating conductor. Figure 5 However, for extra-high voltage transmission lines, the number of split sub-conductors is large, generally four split, six split and eight split, and the arrangement shape is generally a square, a hexagon and an octagon. When detecting such multi-split sub-conductors using the above device, the UAV needs to be frequently lifted to detect the device. Moreover, when detecting the lower sub-conductors or other conductors on the side, it is difficult to operate due to the close distance between the adjacent conductors. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides an insulating conductor stripping device carried by a UAV to solve the above problems.

[0005] The present application provides the following technical solutions: An insulating conductor stripping device carried by a UAV, comprising: a UAV, connected to the insulating conductor stripping device through a pull rope; The insulating conductor stripping device comprises a crossbar and two groups of support guide frames, each of which is provided with an electric universal connector on one side close to each other, and the output ends of the two groups of electric universal connectors are connected to the two ends of the crossbar through one-to-one corresponding telescopic assemblies, and the crossbar is provided with a stripping assembly.

[0006] Preferably, the bottom of the support guide frame has a V-shaped guide opening, and the inner wall of the upper end of the guide opening is symmetrically provided with an elastic clamping piece of an elastic structure.

[0007] Preferably, the pull rope is provided with two groups, and the two groups of pull ropes are connected to the two groups of support guide frames one-to-one.

[0008] Preferably, the UAV is provided with two groups of wire reels, and the two groups of wire reels are used one-to-one corresponding to the two groups of pull ropes.

[0009] Preferably, the peeling assembly is mounted on a mounting platform, and the mounting platform is provided with a transverse driving assembly for moving the mounting platform between the two ends of the horizontal rod.

[0010] Preferably, the transverse driving assembly comprises a rack provided on the horizontal rod and a gear set provided on the mounting platform, the gear set is connected with a driving motor, and an output end of the gear set is engaged with the rack on the horizontal rod.

[0011] Preferably, the mounting platform is provided with a visual recognition module, and the visual recognition module comprises a high-definition camera and a laser range finder.

[0012] Preferably, the mounting platform is further provided with an insulated conductor clamp, and the insulated conductor clamp comprises two symmetrical clamping jaws, and a pressure sensor is arranged on the inner side of the clamping jaw.

[0013] The present application has the following beneficial technical effects: The unmanned aerial vehicle is connected with two groups of support guide frames in the insulated conductor peeling device through two pull ropes, and the two groups of support guide frames can greatly avoid rotation caused by external wind force in the air, and the peeling assembly on the two groups of support guide frames can be transferred between the adjacent two conductors through the movable horizontal rod, the electric universal connector and the telescopic assembly.

[0014] The present application is particularly suitable for the multi-split conductor peeling scene, and the unmanned aerial vehicle does not need to be frequently lifted and operated, and the operation difficulty is relatively low. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic diagram of the present application; Figure 2 It is a support guide frame structure schematic diagram of the present application; Figure 3 It is an electric universal connector structure schematic diagram of the present application; Figure 4 It is a cross-sectional view of the components on the mounting platform of the present application; Figure 5 It is a schematic diagram of an existing insulated conductor peeling device carried by an unmanned aerial vehicle.

[0016] The reference signs in the drawing are as follows: 1, support guide frame; 11, guide port; 12, elastic clamping piece; 2, electric universal connector; 3, telescopic assembly; 4, horizontal rod; 5, mounting platform; 51, gear set; 52, driving motor; 6, peeling assembly; 61, insulated conductor clamp; 7, visual recognition module; 8, wire winder; 81, pull rope; 9, unmanned aerial vehicle. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0018] Embodiment: An unmanned aerial vehicle (UAV) mounted insulation conductor stripping device, as shown in Figures 1-4 , comprising: The UAV 9 and the insulation conductor stripping device; the UAV 9 can be a quadcopter; the insulation conductor stripping device comprises a crossbar 4 and two groups of support guide frames 1, and each of the two groups of support guide frames 1 is provided with an electric universal connector 2 (without self-locking and following rotation under external force) on the side close to each other, and the electric universal connector 2 can be turned in X, Y and Z directions through motor driving, as shown in Figure 3 . The two ends of the crossbar 4 are provided with telescopic assemblies 3, and the telescopic assemblies 3 can be electric telescopic rods, and the output ends of the telescopic assemblies 3 are connected with the output ends of the corresponding electric universal connectors.

[0019] One side of the crossbar 4 is provided with a rack, and a carrying platform 5 is relatively sleeved on the crossbar 4, and the carrying platform 5 is provided with a gear set 51 driven to rotate by a driving motor 52, and the output end of the gear set 51 is engaged with the rack, so as to drive the carrying platform 5 to move linearly between the two ends of the crossbar 4; the carrying platform 5 is also provided with an intelligent control module, a visual recognition module 7, a stripping assembly 6 and an insulation conductor clamp 61; the stripping assembly 6 is a prior art for stripping the conductor, and details are not described herein.

[0020] As shown in Figure 4 , the insulation conductor clamp 61 comprises two clamping jaws arranged symmetrically, and a pressure sensor (not shown in the drawing) is arranged on the inner side of the clamping jaw. The visual recognition module 7 comprises a high-definition camera and a laser range finder, which is used for collecting conductor image and measuring conductor diameter; the high-definition camera of the visual recognition module has a resolution of 4K, and the laser range finder has a measurement accuracy of ±0.1mm, and can accurately identify the conductor parameters within a distance of 5-10 meters; the intelligent control module is provided with an AI algorithm, which automatically adjusts the working parameters of the stripping assembly 6 according to the visual recognition data collected by the visual recognition module 7; the insulation layer thickness of the conductor can be determined according to the conductor parameters.

[0021] Two groups of wire winders 8 (motor driven) are installed at the bottom of the UAV 9, one end of a pull rope 81 is connected with one of the wire winders 8, the other end is connected with one of the support guide frames 1, and the two groups of wire winders 8 are independently controlled.

[0022] As Figure 1 shown, the bottom of the support guide frame 1 has a V-shaped guide port 11, and the inner wall of the upper end of the guide port 11 is symmetrically provided with an elastic clamping piece 12 of elastic structure.

[0023] Since the pull rope 81 is of flexible structure, in order to prevent the insulation wire stripping device from swinging randomly in the air, the pull rope 81 is designed with two, which can greatly reduce the amplitude of swinging.

[0024] Working principle: In normal state, as Figure 1 shown, at this time, the controller controls the two groups of wire reels 8 to make the released pull ropes 81 equal in length, and the crossbar 4 is in a horizontal state; the controller controls the unmanned aerial vehicle 9 to drive the two groups of support guide frames 1 to move to the position 2 meters above the wire to be stripped and hover, the visual recognition module 7 is started, the high-definition camera shoots the wire image and transmits it to the intelligent control module, and the laser range finder measures the wire diameter 12.5mm, the module in the intelligent control module queries the database (obtained by fitting a large amount of experimental data) to determine that the insulation layer thickness of the wire of this model is 1.8mm, and generates the operation parameters such as stripping length 50mm, cutter speed 2000rpm, feed amount 2.0mm, and clamping force of the insulation wire clamp 61.

[0025] Then control the unmanned aerial vehicle 9 to slowly descend, and the two groups of support guide frames 1 are conveniently guided into the wire through the V-shaped guide port 11 at the upper end, and the wire is clamped under the action of the two deformable elastic clamping pieces 12; at this time, the crossbar 4 is roughly parallel to the wire.

[0026] Then, the driving motor 52 can drive the gear set 51 and the rack of the crossbar 4 to cooperate, drive the carrying platform 5 to move relative to the crossbar 4, and then drive the stripping assembly 6 and the insulation wire clamp 61 on the carrying platform 5 to fine-tune relative to the wire, and then the insulation wire clamp 61 clamps the wire and the stripping assembly 6 strips the wire. Specifically, when the pressure sensor on the insulation wire clamp 61 detects that the clamping force reaches a preset threshold (such as 10N), it stops closing, and the stripping assembly 6 strips according to the operation parameters obtained by the intelligent control module.

[0027] After stripping, the visual recognition module 7 shoots the stripped part again, the module in the visual recognition module 7 analyzes the image to confirm that the insulation layer is completely stripped and the copper core is not damaged, and confirms that the operation is completed.

[0028] After the need to move the mounting platform 5 to another set of wires (under the premise that it is not convenient to operate by the unmanned aerial vehicle 9), drive the mounting platform 5 to move on the cross rod 4 to be close to the first set of support guide frames 1 (close to the original stripped wire), the corresponding electric universal connector 2 of the second set of support guide frames 1 and the wire roller 8 work together to drive the corresponding second set of support guide frames 1 to separate from the original stripped wire; After that, the electric universal connector 2 corresponding to the first set of support guide frames 1 works to drive the cross rod 4 to rotate towards the subsequent another set of wires to be stripped, and the unmanned aerial vehicle 9 can move to assist the rotation of the cross rod 4 during this process (during this process, the pull rope 81 corresponding to the first set of support guide frames 1 is in a relaxed state, and the pull rope 81 corresponding to the second set of support guide frames 1 is in a tensioned state); After that, the telescopic assembly 3 corresponding to the second set of support guide frames 1 is extended to push the corresponding second set of support guide frames 1 to be relative to the subsequent another set of wires to be stripped.

[0029] After that, control the mounting platform 5 to move close to the subsequent another set of wires to be stripped, then control the pull rope 81 corresponding to the second set of support guide frames 1 to be in a relaxed state, and the pull rope 81 corresponding to the first set of support guide frames 1 to be in a tensioned state; the electric universal connector 2 corresponding to the first set of support guide frames 1 rotates to drive the first set of support guide frames 1 to rotate and adjust the direction, and then the telescopic assembly 3 corresponding to the first set of support guide frames 1 is shortened to drive the first set of support guide frames 1 to separate from the stripped wire; After that, the electric universal connector 2 corresponding to the second set of support guide frames 1 continues to work to drive the cross rod 4 to rotate towards the subsequent another set of wires to be stripped, and the unmanned aerial vehicle 9 can move to assist the rotation of the cross rod 4 during this process, so as to drive the first set of support guide frames 1 to be relative to the subsequent another set of wires to be stripped.

[0030] Through the above steps, the two sets of support guide frames 1 are transferred to the subsequent another set of wires to be stripped.

[0031] Further, the mounting platform 5 is connected with the stripping assembly 6 and the insulated wire clamp 61 through the lifting assembly, and the stripping assembly 6 and the insulated wire clamp 61 can be controlled to be close to or away from the mounting platform 5, which can be further adapted to the transfer between the two sets of wires.

[0032] The above-described embodiments only express the specific implementation of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. An unmanned aerial vehicle hitched insulating wire stripping device, characterized in that, Including: The unmanned aerial vehicle (9) is connected with the insulating wire stripping device through a pull rope (81); The insulating wire stripping device comprises a crossbar (4) and two groups of support guide frames (1), and the two groups of support guide frames (1) are provided with electric universal connectors (2) on the side close to each other, and the output ends of the two groups of electric universal connectors (2) are connected with the two ends of the crossbar (4) through one-to-one corresponding telescopic assemblies (3), respectively. The stripping assembly (6) is installed on the crossbar (4).

2. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 1, characterized in that, The bottom of the support guide frame (1) has a V-shaped guide opening (11), and the inner side wall of the upper end of the guide opening (11) is symmetrically provided with an elastic clamping piece (12) of elastic structure.

3. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 1, characterized in that, The pull rope (81) is provided with two groups, and the two groups of pull ropes (81) are connected with the two groups of support guide frames (1) one by one.

4. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 3, characterized in that, The unmanned aerial vehicle (9) is provided with two groups of wire reels (8), and the two groups of wire reels (8) are used one by one with the two groups of pull ropes (81).

5. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 1, characterized in that, The stripping assembly (6) is installed on the carrying platform (5), and the carrying platform (5) is provided with a horizontal movement driving assembly for moving between the two ends of the crossbar (4).

6. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 5, characterized in that, The horizontal movement driving assembly comprises a rack opened on the crossbar (4) and a gear set (51) provided on the carrying platform (5), the output end of the gear set (51) is engaged with the rack on the crossbar (4), and the driving motor (52) connected with the input end of the gear set is installed on the carrying platform (5).

7. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 5, characterized in that, The carrying platform (5) is provided with a visual identification module (7), which comprises a high-definition camera and a laser range finder, which is used for collecting wire image and measuring wire diameter.

8. The unmanned aerial vehicle hitched insulating wire stripping device according to claim 5, characterized in that, It also includes an insulating wire clamp (61) provided on the carrying platform (5), which comprises two clamping jaws symmetrically arranged, and a pressure sensor is arranged on the inner side of the clamping jaw.

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