Line spacer anti-galloping live-line installation system and application

Abstract

The invention discloses a line spacer anti-galloping electrified installation system and application, the line spacer anti-galloping electrified installation system comprises an unmanned aerial vehicle, a connecting rope, a detachable part and an installation module, the unmanned aerial vehicle is connected with the connecting rope, one end of the connecting rope is connected with the detachable part, the detachable part is connected with the installation module, the installation module is installed below the unmanned aerial vehicle, and the unmanned aerial vehicle is connected with the unmanned aerial vehicle. The installation module comprises a spacer, fixing plates and a wire fixing and unlocking mechanism, the fixing plates are installed at the two ends of the spacer, the wire fixing and unlocking mechanism is installed on the fixing plates, a notch allowing a wire to enter is designed in the wire fixing and unlocking mechanism, the two ends of the notch are a fixing end and a guiding end respectively, and the fixing end and the guiding end are connected with the fixing plates. The driving mechanism is connected to the guiding end and drives the guiding end to drive the wire to move until the wire is in contact with the fixed end. The invention aims to solve the problems of potential safety hazards, low efficiency, complex operation and the like in live-line spacer installation operation in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacer post anti-dancing live installation, in particular to a line spacer post anti-dancing live installation system and application. BACKGROUND

[0002] In recent years, extreme weather events have occurred frequently, leading to an increasing number of power accidents caused by natural disasters such as strong winds. These accidents not only cause equipment damage, tripping, and power outages, but also pose a serious threat to personal safety. Anti-dancing, wind deviation, and anti-icing jumping of transmission lines are long-term challenges faced by power companies. In rural areas, in particular, 10kV lines often use bare conductors, and when encountering severe weather, frequent bird activity, and other situations, the dancing problem of long-span, large-sag line conductors is particularly prominent. Power failures caused by conductor dancing are common, especially inter-phase short circuits and accidents such as tower collapse and damage caused by dancing, which seriously affect the normal production and life of users, reduce power supply reliability, cause economic losses, and even trigger social negative impacts.

[0003] Although some distribution network lines do not need engineering modification to continue operation, there are problems such as line exposure, large span, small inter-phase distance, poor line channel environment, and unbalanced line sag. The overhead distribution network frame is weak, and the operating environment is relatively poor. Increasingly complex terrain and harsh weather conditions, among other factors, have led to frequent line failures. Therefore, there is an urgent need to conduct related research and applications to prevent the impact of extreme weather and external factors on the line.

[0004] Currently, the scale of China's power grid construction continues to expand, and significant conductor dancing can easily cause mixed line short circuits, flashover tripping, suspension insulator clamp slipping, line hardware wear, spacer post breakage, and separation of current-carrying lines and jumper strings, which seriously affects the daily operation of the power grid and causes significant economic losses. Therefore, it is of great significance to conduct in-depth and effective research on the dancing prevention of transmission lines.

[0005] There are many factors that affect conductor dancing characteristics, including wind speed, ice thickness, ice shape, wind attack angle, and line structure parameters. With the development of computer technology, research on conductor dancing mechanisms, wind tunnel tests, and simulation has improved. However, the design of anti-dancing devices and the optimization of parameter selection methods still need improvement. Existing anti-dancing devices can usually only address one or a few specific dancing forms, and their effectiveness against other forms of dancing is poor, and they may even increase the probability of other forms of dancing.

[0006] With the increase of the quality of per unit length of power line, the quality of fittings and the diameter of conductor in China, the probability of line galloping also increases. Common anti-galloping devices include spoiler, mistuned pendulum, damper, spacer, etc. Among them, the spacer includes phase-to-phase spacer, single-phase spacer on split conductor and phase-to-ground spacer. These devices have the effect of suppressing conductor galloping. Through engineering practice, phase-to-phase spacer has obvious effect on anti-galloping and is the most widely used anti-galloping device at present. This project mainly studies the application status of phase-to-phase spacer.

[0007] The traditional structure of phase-to-phase spacer is usually composed of a metal rod with a clamp connected to each end. It can be installed on the conductor by tightening the clamp with bolts. Due to the structure of phase-to-phase spacer, there are great safety hazards in live-line work. In addition, the mechanical strength required for live-line spacer is determined by the mechanical stress at the end connection of the spacer and the stress concentration of the connection structure, while the mechanical strength of the core rod depends on the mechanical strength of the end connection and the utilization strength of the core rod. The mechanical strength of the core rod also varies with different connection structures of live-line spacers using the same core rod. At present, the design of the end coupling of live-line spacer at home and abroad mainly depends on the ASME specification, but the specification still needs to be further improved.

[0008] The installation process of phase-to-phase spacer usually includes preparing tools and materials, determining the installation position, fixing on the support rod through the connecting piece, installing the insulator, and checking the installation. During the installation process, relevant technical specifications and standards such as "Technical Conditions for Composite Phase-to-Phase Spacers for AC Overhead Lines" (DL / T 1058-2007) should be strictly followed to ensure the installation quality and equipment performance.

[0009] At present, there are two main installation methods for phase-to-phase spacer, namely "mechanical type" and "electric type". By optimizing the structure and size specifications of the tool, increasing or replacing tool components, etc., the installation or replacement efficiency of line spacers can be improved. Special flying vehicles or manual line walking methods are commonly used in the installation of spacers at home and abroad, but for power distribution network lines in mountainous areas, there is a lack of efficient, safe and adaptable intelligent installation method for spacers. The installation of spacers still relies on manual line operation, which not only consumes time and effort, but also is easily limited by the environment. Based on the analysis of the installation conditions of distribution network spacers, domestic scholars such as Yin Jie proposed a general design scheme of remotely controllable spacer installation robot, designed the walking system, installation and fastening system, insulating link, fittings and spacers of the robot using three-dimensional modeling software, and realized the assembly and debugging of the robot, completed the installation test of distribution network line spacers. However, this research has high cost and is difficult to be widely promoted.

[0010] In view of this, the present application aims to combine the unmanned aerial vehicle inspection technology with the spacer, and proposes a line spacer anti-dancing live installation system and application. SUMMARY

[0011] In view of the problems existing in the prior art, the present application provides a line spacer anti-dancing live installation system and application, aiming to solve the safety hazards, low efficiency and complex operation of the live installation of spacers in the prior art.

[0012] In order to achieve the above-mentioned purpose, the line spacer anti-dancing live installation system and application adopted by the present application comprises a unmanned aerial vehicle, a connecting rope, a detachable part and an installation module, the connecting rope is connected to the unmanned aerial vehicle, one end of the connecting rope is connected to the detachable part, the installation module is connected to the detachable part, the installation module is installed below the unmanned aerial vehicle, the installation module comprises a spacer, a fixed plate and a wire fixing and unlocking mechanism, the fixed plate is installed at both ends of the spacer, the wire fixing and unlocking mechanism is installed on the fixed plate, a notch for the wire to enter is designed on the wire fixing and unlocking mechanism, both ends of the notch are fixed end and guide end respectively, a driving mechanism is connected to the guide end and drives the guide end to move until the wire contacts the fixed end.

[0013] As a further optimization of the above-mentioned scheme, a fixed holder is further included, a rotating wheel is rotatably connected to the fixed holder, a first driving motor is connected to the input end of the rotating wheel through a rotating shaft, the first driving motor is fixedly installed on the fixed holder, the connecting rope is wound on the rotating wheel, and both ends of the connecting rope are connected to the detachable parts on both ends of the spacer.

[0014] As a further optimization of the above-mentioned scheme, the detachable part comprises an electromagnet connected to the connecting rope and a magnet block, the magnet block is installed on the spacer, and the electromagnet is in magnetic attraction with the magnet block in the energized state.

[0015] As a further optimization of the above-mentioned scheme, the notch is a U-shaped groove.

[0016] As a further optimization of the above-mentioned scheme, the driving mechanism comprises a guide rail provided on the fixed plate, a moving seat is installed on the guide rail and has a roller which is slidingly fitted with the guide rail, one of the rollers is a driving roller and the input end of the driving roller is connected to a second driving motor fixed on the moving seat.

[0017] As a further optimization of the above-mentioned scheme, limit blocks are installed at both ends of the guide rail.

[0018] As a further optimization of the above-mentioned scheme, the guide section has a curved section for hooking the wire and a long straight section.

[0019] As a further optimization of the above scheme, the body part of the spacer rod includes a counterweight corresponding to the upper and lower positions.

[0020] As a further optimization of the above scheme, a pull rope is connected to the counterweight, with one end connected to the guide end, and the counterweight is magnetically attracted to the spacer rod. After the guide end is located at the limit position close to the fixed end, the counterweight is separated from the spacer rod.

[0021] The application of the line spacer rod anti-dancing live installation system includes the following steps: a. Assemble the installation module with the spacer rod, and connect the installation module with the connecting rope of the unmanned aerial vehicle through the detachable part; b. The unmanned aerial vehicle carries the installation module and moves to the vicinity of the conductor; c. Operate the unmanned aerial vehicle to make the slot of the conductor fixing and unlocking mechanism close to one of the conductors, and make the conductor enter the fixed hook of the guide end; d. Start the driving mechanism to drive the guide end to push the conductor to the fixed end until the conductor is held by the fixed end; e. Repeat steps c and d to complete the grabbing and fixing of the other conductor by the other end of the spacer rod; f. Send the power-off command to the electromagnet through the remote control system to make the installation module separate from the unmanned aerial vehicle; g. The unmanned aerial vehicle recovers the connecting rope and returns.

[0022] The line spacer rod anti-dancing live installation system and its application have the following beneficial effects: 1. Improve work safety: Through remote control installation by unmanned aerial vehicle, direct contact with live line is avoided, greatly reducing the risk of high-altitude work and live work, and improving work safety.

[0023] 2. Improve installation efficiency: Reduce manual intervention, shorten installation time, and improve installation efficiency.

[0024] 3. Reduce operation cost: Reduce dependence on large construction equipment and a large number of manpower, thereby reducing operation cost.

[0025] 4. Adapt to complex environment: The unmanned aerial vehicle has flexible flight capability and can easily handle line work in special environments such as mountains, rivers, and complex terrain, solving the problem of difficult access by traditional manual work.

[0026] 5. Reduce power outage time: Support live installation, no need to stop power, minimize the impact on user power supply, and improve power supply reliability.

[0027] 6. Preventing line fault: by installing spacer, effectively governing conductor dancing, reducing the occurrence of phase-to-phase short circuit, tower collapse and other faults, improving the line operation safety and power supply reliability.

[0028] 7. Before the spacer is completely fixed to the conductor, the counterweight is located in the upper and lower positions of the spacer body. During the process of the unmanned aerial vehicle carrying the installation module approaching the power cable and preparing to install, the counterweight can make the whole installation module keep a vertical downward hanging posture under the action of gravity, combined with the winding and unwinding of the connecting rope driven by the second driving motor, the suspension angle of the spacer can be adjusted, so that the conductor can be accurately installed in the slot, and the installation difficulty caused by the shaking or deflection of the spacer can be effectively avoided. After the guide end is located at the limit position close to the fixed end, the pull rope connected with the guide end will be pulled. So that the counterweight overcomes the magnetic attraction and separates from the spacer body. The counterweight after separation no longer bears the weight of installation assistance, but is directly hung below the cable, and is converted into a conductor counterweight.

[0029] Specific embodiments of the application are disclosed in detail below with reference to the following description and drawings, indicating the ways in which the principles of the application can be employed, it should be understood that the embodiments of the application are not limited in scope to the specific embodiments described, but include many changes, modifications and equivalents. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 Structure diagram of the line spacer anti-dancing live installation system; Figure 2 Structure diagram of the unmanned aerial vehicle in the application; Figure 3 Structure diagram of the installation module in the application; Figure 4 Structure diagram of the spacer in the application Figure 3 Enlarged structure diagram of A in the application; Figure 5 Structure diagram of the fixed plate in the application; Figure 6 Structure diagram of the roller in the application.

[0031] In the figure: 1, unmanned aerial vehicle; 2, connecting rope; 3, detachable part; 31, electromagnet; 32, magnet block; 4, installation module; 41, spacer; 42, fixed plate; 43, conductor fixing and unlocking mechanism; 431, slot; 432, fixed end; 433, guide end; 4331, curved section; 4332, long straight section; 434, driving mechanism; 4341, guide rail; 4342, moving seat; 4343, roller; 4344, second driving motor; 4345, limiting block; 5, fixed holder; 51, rotating wheel; 52, first driving motor; 6, counterweight; 61, pull rope. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and examples. However, it should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the scope of the present application.

[0033] It should be noted that when an element is referred to as being "provided on" or "provided with" another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" or "connected to" another element, it can be directly connected to the other element or there can be an intervening element. "Fixedly connected" means fixed connection, and there are many ways of fixed connection, which are not limited herein. The terms "vertical", "horizontal", "left", "right", and the like used herein are only for the purpose of illustration and do not represent the only implementation.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. The use of the terms "and / or" includes a combination of one or more of the associated listed items; Reference will now be made to the drawings, in which Figures 1-6 The present application provides a specific embodiment of a line spacer anti-dancing live installation system. In the embodiment, the system includes the following components: An unmanned aerial vehicle 1 is selected in the embodiment. The unmanned aerial vehicle 1 is a high-load, long-endurance multi-rotor industrial unmanned aerial vehicle 1. The bottom of the unmanned aerial vehicle 1 is integrated with an RTK-GPS positioning module and a visual navigation system to ensure sub-centimeter accurate positioning and stable hovering in complex power grid environments. The unmanned aerial vehicle 1 has strong wind resistance and can adapt to various operating environments.

[0035] A fixed gimbal 5 and a rotating wheel 51 mechanism are fixedly installed on the bottom of the unmanned aerial vehicle 1 in the embodiment. The fixed gimbal 5 is lightweight and high-strength. The rotating wheel 51 is rotatably connected to the fixed gimbal 5. The input end of the rotating wheel 51 is connected to a first driving motor 52 through a rotating shaft. The first driving motor 52 can be a high-torque servo motor in the embodiment. The first driving motor 52 is fixedly installed on the fixed gimbal 5. A connecting rope 2 made of high-strength insulating material is wound on the rotating wheel 51. The first driving motor 52 controls the rotation of the rotating wheel 51 to realize the winding and unwinding of the connecting rope 2, thereby adjusting the inclination angle of the lower installation module 4.

[0036] Connecting rope 2, in this embodiment, the connecting rope 2 is two independent connecting ropes 2, both of which are made of high-strength, wear-resistant, and excellent insulating synthetic fiber materials. One end of the connecting rope 2 is wound on the rotating wheel 51, and the other end is connected to the detachable part 3.

[0037] Detachable part 3, in this embodiment, the detachable part 3 is two independent electromagnet 31 units, two electromagnet 31 units are connected at the ends of the two connecting ropes 2, and each electromagnet 31 unit is built-in electromagnet 31, which can be controlled by the unmanned aerial vehicle 1 remote control system. When the electromagnet 31 is powered on, it is attracted to the magnet block 32 on the installation module 4, realizing magnetic attraction connection; when it is powered off, it is released from attraction, realizing fast separation.

[0038] Installation module 4, in this embodiment, the installation module 4 is made of aluminum alloy and high polymer insulating material, which is light and strong. The installation module 4 is the core operation unit for installing the spacer rod 41, mainly including: Spacer rod 41, the spacer rod 41 is made of new composite insulating material, which has excellent insulating performance and mechanical strength. The spacer rod 41 has standard interfaces at both ends for connecting the fixed plate 42, and is built-in with the magnet block 32 matched with the electromagnet 31 of the detachable part 3.

[0039] Fixed plate 42, two fixed plates 42 are firmly installed at both ends of the spacer rod 41 by bolts or buckles, and the fixed plate 42 is made of insulating material, which can effectively isolate high-voltage lines and provide installation platform for the wire fixing and unlocking mechanism 43.

[0040] Wire fixing and unlocking mechanism 43, one wire fixing and unlocking mechanism 43 is installed on each fixed plate 42, which includes a U-shaped notch 431 for accommodating power lines. The two ends of the U-shaped notch 431 are fixed end 432 and guide end 433. The guide end 433 is designed as a fixed hook with a curved section 4331 and a long straight section 4332, which facilitates the initial introduction and guidance of the wire.

[0041] Driving mechanism 434, each wire fixed with the guide end 433 of the unlocking mechanism 43 is equipped with an independent driving mechanism 434. The mechanism includes a guide rail 4341 arranged on the fixed plate 42, a moving seat 4342 is installed on the guide rail 4341, and the bottom of the moving seat 4342 is provided with a roller 4343 which is slidingly fitted with the guide rail 4341. One of the rollers 4343 acts as a driving wheel, and the input end of the driving wheel is connected to a second driving motor 4344 fixed on the moving seat 4342. By controlling the second driving motor 4344, the moving seat 4342 can be driven to move accurately along the guide rail 4341, thereby driving the guide end 433 to complete the actions of grabbing, moving and fixing the wire. Limiting blocks 4345 are arranged at both ends of the guide rail 4341 to ensure that the moving seat 4342 moves within a predetermined range and prevents overshoot.

[0042] Counterweight 6, two counterweights 6 are symmetrically arranged on the upper and lower sides of the body portion of the spacer rod 41. The counterweight 6 is connected with the spacer rod 41 by magnetic attraction (magnet inside and magnetic material on the body of the spacer rod 41). Each counterweight 6 is connected with a pull rope 61, and the other end of the pull rope 61 is connected to the corresponding guide end 433.

[0043] The system is applied to the live installation of the 10kV overhead line spacer rod 41, and the specific operation steps are as follows: a. Preparation before operation and system assembly: The technician completes the assembly and self-checking of the unmanned aerial vehicle 1, the fixed holder 5 and the installation module 4 on the ground.

[0044] The counterweight 6 on the body of the spacer rod 41 is installed in place by magnetic attraction.

[0045] The connecting rope 2 of the installation module 4 and the unmanned aerial vehicle 1 is firmly connected by the electromagnet 31.

[0046] The parameters of the unmanned aerial vehicle 1 and the installation module 4 are preset according to the parameters of the line to be installed, and the parameters of the line to be installed include line spacing and height.

[0047] Specifically, the technician first obtains the detailed parameters of the line to be installed through a geographic information system (GIS), historical inspection data or on-site survey, mainly including: Obtain line parameters: Line spacing: the accurate horizontal distance between adjacent wires.

[0048] Line height: the vertical height of the wire from the ground.

[0049] Pole tower position: the accurate GPS coordinates of the pole tower where the target installation point is located.

[0050] Line direction: azimuth and inclination of the wire.

[0051] Environmental factors: wind speed, temperature, obstacle distribution, etc.

[0052] UAV 1 parameter configuration: Flight path planning algorithm: According to the tower position, line direction and obstacle distribution, use the path planning algorithm to calculate the safe and efficient flight path of UAV 1 from the take-off point to the target installation point. This algorithm will consider factors such as obstacle avoidance, energy consumption and flight time.

[0053] Attitude and hovering parameter adjustment: According to the expected wind speed, load and line height, adjust the PID control parameters of UAV 1 to ensure high stability during hovering and low-speed flight.

[0054] Communication and remote control link test: Check the wireless communication link between UAV 1 and the ground control station to ensure signal strength and stability, and test the control response of the remote controller to UAV 1.

[0055] UAV 1 carries a multi-angle high-definition camera, which is connected to the installation module 4 through a multi-angle insulating hanger.

[0056] Installation module 4 parameter configuration: Spacer 41 size matching: According to the line spacing D, confirm whether the length and structure of the selected spacer 41 match. The new adjustable self-locking type spacer 41 can be pre-adjusted at this stage.

[0057] Visual recognition system calibration: The high-definition camera on the installation module 4 needs to be calibrated to ensure that its focal length, white balance and exposure settings are suitable for the target line environment. This helps improve the accuracy of subsequent conductor identification.

[0058] Drive mechanism 434 limit adjustment: According to the length of the spacer 41 and the design of the fixed end 432 and the guide end 433, adjust the electronic limit or physical limit of the drive mechanism 434 guide rail 4341 to ensure accurate movement of the moving seat 4342 within the predetermined range.

[0059] Task generation and upload: All preset parameters and flight paths are uploaded to the UAV 1 flight control system as a task file.

[0060] b. UAV 1 takes off and initial positioning: UAV 1 carries the installation module 4 and takes off vertically, flying to the predetermined power line under the remote control of the technician.

[0061] At this stage, under the action of the counterweight 6, the installation module 4 always maintains a vertical downward hanging posture, providing a stable initial installation reference.

[0062] The high-precision GPS and vision system of the UAV 1 roughly positions the installation module 4 above the target installation position.

[0063] Specifically, under the remote control of the technician, the UAV 1 vertically takes off from a safe takeoff point.

[0064] The UAV 1 enters a preset flight path and flies to the predetermined power line in an automatic or semi-automatic mode. At this time, the UAV 1 mainly relies on the high-precision GPS positioning system and the inertial navigation system for flight control.

[0065] High-precision GPS positioning system algorithm: combined with GNSS signals and differential correction technology, centimeter-level or sub-meter-level real-time position solution is realized.

[0066] When the UAV 1 flies to the target tower area, the flight mode is switched to the precise hovering mode.

[0067] Vision-assisted positioning algorithm: at this time, the vision system carried by the UAV 1 begins to play a role. Through image feature matching algorithm or target recognition algorithm based on semantic segmentation, key features such as power lines and towers are identified. Specifically, the image feature matching algorithm can select SIFT / SURF, ORB algorithm.

[0068] Fusion of vision information and GPS / IMU data is used to further improve the positioning accuracy of the UAV 1 relative to the power line through state estimation algorithms such as Kalman filtering, so as to roughly position the installation module 4 above the target installation position.

[0069] The multi-angle high-definition camera below the UAV 1 begins to transmit video stream to the ground control center in real time.

[0070] Video stream transmission algorithm: usually adopts high-efficiency video coding standards such as H.264 / H.265, and transmits video data to the ground control center through high-bandwidth wireless link with low delay.

[0071] The operator clearly observes the relative position relationship between the installation module 4 and the lower wire through the high-resolution display screen of the ground control center, including the pitch angle, roll angle, horizontal and vertical distance of the installation module 4 to the wire. These information will be an important basis for the next fine adjustment. The human eye recognition and judgment ability of the operator is crucial at this stage, he will make the final judgment combined with the auxiliary information provided by the algorithm.

[0072] The UAV 1 continues to use sensors such as laser radar or millimeter wave radar to combine with three-dimensional environment modeling algorithm to realize real-time perception of obstacles in the surrounding environment.

[0073] Real-time obstacle avoidance algorithm: If a potential collision risk is detected, the obstacle avoidance algorithm will immediately trigger the UAV 1 to perform an obstacle avoidance action to ensure flight safety.

[0074] c. Lead wire introduction: The multi-angle high-definition camera under the UAV 1 transmits real-time video back to the ground control center. The operator observes the relative position of the installation module 4 and the lead wire through the display screen.

[0075] The operator operates the UAV 1 to align one of the notches 431 with one of the power lead wires.

[0076] The UAV 1 slowly descends or translates, allowing the lead wire to smoothly enter the fixed hook bending section 4331 of the guide end 433 of the lead wire fixing and unlocking mechanism 43.

[0077] d. Lead wire grabbing, fixing, and weight block 6 function conversion: Once the lead wire enters the bending section 4331 of the guide end 433, the operator starts the second drive motor 4344 to drive the moving seat 4342 to move along the guide rail 4341, causing the guide end 433 to smoothly and accurately push the lead wire towards the fixed end 432 until the lead wire is securely held by the fixed end 432.

[0078] When the guide end 433 moves to the extreme position close to the fixed end 432, the pull rope 61 connected to the guide end 433 is pulled, overcoming the magnetic attraction between the weight block 6 and the spacer rod 41 body, causing the weight block 6 to detach from the spacer rod 41 body and directly hang below the cable, converting into a lead wire weight block 6, thereby achieving seamless conversion of the weight block 6 from installation assistance to anti-swing function.

[0079] Start the first drive motor 52 to accurately adjust the extension and retraction of the connecting rope 2 through the rotating wheel 51, thereby finely controlling the inclination angle of the spacer rod 41, repeating steps c and d to complete the grabbing and fixing of another lead wire at the other end of the spacer rod 41.

[0080] e. Spacer rod self-locking and system separation: When the spacer rod 41 is securely fixed at both ends of the lead wire, the built-in self-locking mechanism of the spacer rod 41 automatically activates, firmly locking the spacer rod 41 on the power line to prevent it from falling off.

[0081] The operator sends a power-off command to the electromagnet 31 through the remote control system, causing the electromagnet 31 to lose its magnetic force, thereby safely and quickly detaching the installation module 4 from the connecting rope 2 of the UAV 1.

[0082] The UAV 1 recovers the connecting rope 2, completes the installation work, and returns.

[0083] In summary, the application provides a line spacer anti-dancing charged installation system and application, with full unmanned operation as the core feature, realizing the charged, efficient and safe installation of the spacer 41. By avoiding direct contact between personnel and live lines, the personal risk of high-voltage operation is effectively eliminated. At the same time, the excellent terrain adaptability of the unmanned aerial vehicle 1 enables the unmanned aerial vehicle 1 to work flexibly and efficiently in complex environments that traditional manual work cannot reach. Combined with the automatic grabbing and fixing process, the application greatly shortens the installation operation time and creatively solves the secondary utilization problem of the counterweight 6, so that it is directly converted into an effective component to improve the performance of the cable anti-dancing after completing the auxiliary installation function, realizing the maximization of function and the optimization of resource allocation.

[0084] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A system for installation of line spacer anti-hunting insulators under live conditions, characterized in that: The utility model provides a kind of unmanned aerial vehicle installation module, including unmanned aerial vehicle (1), connecting rope (2), detachable piece (3) and installation module (4), the unmanned aerial vehicle (1) is connected with connecting rope (2), one end of connecting rope (2) is connected with detachable piece (3), detachable piece (3) is connected with installation module (4), and installation module (4) is installed below the unmanned aerial vehicle (1), and installation module (4) includes spacer (41), fixed plate (42), wire fixing and unlocking mechanism (43), fixed plate (42) is installed at the both ends of spacer (41), wire fixing and unlocking mechanism (43) is installed on the fixed plate (42), and notch (431) for wire is designed on the wire fixing and unlocking mechanism (43), and the both ends of the notch (431) are fixed end (432) and guide end (433) respectively, and drive mechanism (434) is connected on the guide end (433) and drives guide end (433) to drive the wire to move until contacting fixed end (432).

2. The interline spacer anti-hunting energizing installation system of claim 1, wherein: Further comprising fixed holder (5), the fixed holder (5) is rotatably connected with rotating wheel (51), the input end of rotating wheel (51) is connected with first drive motor (52) through rotating shaft, and first drive motor (52) is fixedly installed on the fixed holder (5), and connecting rope (2) is wound on rotating wheel (51), and the both ends of connecting rope (2) are connected with detachable piece (3) on the both ends of spacer (41).

3. The interline spacer anti-hunting energizing installation system of claim 2, wherein: The detachable piece (3) includes electromagnet (31) and magnet block (32) connected on connecting rope (2), and magnet block (32) is installed on spacer (41), and electromagnet (31) is magnetically attracted with magnet block (32) in energized state.

4. The interline spacer anti-hunting energizing installation system of claim 3, wherein: The notch (431) is U-shaped slot.

5. The interline spacer anti-hunting energizing installation system of claim 4, wherein: The drive mechanism (434) includes guide slide rail (4341) arranged on the fixed plate (42), and moving seat (4342) is installed on the guide slide rail (4341), and the moving seat (4342) has roller (4343) slidingly fitted with the guide slide rail (4341), and one roller (4343) is driving wheel, and the input end of the driving wheel is connected with second drive motor (4344) fixed on the moving seat (4342).

6. The interline spacer anti-hunting energizing installation system of claim 5, wherein: Limiting block (4345) is installed at the both ends of guide slide rail (4341).

7. The interline spacer anti-hunting energizing installation system of claim 6, wherein: The guide section has curved section (4331) for hooking wire and long straight section (4332).

8. The interline spacer anti-hunting energizing installation system of claim 7, wherein: The body part of spacer (41) includes counterweight (6) corresponding to the position of upper and lower.

9. The interline spacer anti-hunting energizing installation system of claim 8, wherein: The counterweight (6) is connected with pull rope (61), one end of pull rope (61) is connected with guide end (433), and the counterweight (6) is magnetically attracted with spacer (41), and after guide end (433) is located at limit position close to fixed end (432), the counterweight (6) is separated from spacer (41).

10. The use of a line spacer anti-swing electrified installation system according to any one of claims 1-9, characterized in that: The utility model provides a kind of unmanned aerial vehicle installation module, including the following steps: a. Assemble the installation module (4) with the spacer rod (41), and connect the installation module (4) with the connecting rope (2) of the unmanned aerial vehicle (1) through the detachable part (3); b. The unmanned aerial vehicle (1) carrying the installation module (4) ascends, and moves the unmanned aerial vehicle (1) to the vicinity of the wires; c. Operate the unmanned aerial vehicle (1) to make the slot (431) of the wire fixing and unlocking mechanism (43) on one end of the spacer rod (41) close to one of the wires, and make the wire enter the fixing hook of the guide end (433); d. Start the driving mechanism (434) to drive the guide end (433) to push the wire to the fixed end (432) until the wire is held by the fixed end (432); e. Repeat steps c and d to complete the grabbing and fixing of the other wire by the other end of the spacer rod (41); f. Send the power-off instruction to the electromagnet (31) through the remote control system to make the installation module (4) separate from the unmanned aerial vehicle (1); g. The unmanned aerial vehicle (1) recovers the connecting rope (2) and returns.

Images