Hanging method and lock catch structure of bundled conductor anti-galloping self-locking device suitable for unmanned aerial vehicle

Abstract

The invention belongs to the technical field of bundled conductor galloping suppression of a power system, and particularly relates to a mounting method and a lock catch structure of a bundled conductor galloping suppression self-locking device suitable for an unmanned aerial vehicle, the lock catch structure comprises a lock catch body, an adjusting unit and a self-locking unit, and one side of the lock catch body is provided with an opening; a wire containing space is formed in the lock catch body, the adjusting unit is arranged in the containing space and comprises a plurality of clamping pieces which are distributed on the periphery of a wire and used for clamping the wire in a self-adaptive mode and can move in a telescopic mode and a plurality of sensors in signal connection with the clamping pieces, and the self-locking unit is arranged at the position of an opening. And the locking mechanism is used for locking the opening in a closed manner or unlocking the opening in an opened manner. The device is compact in structural design, rapid in installation and high in reliability, can effectively prevent the bundled conductors from galloping, and effectively solves the problems that in the prior art, galloping suppression installation is low in efficiency, and hooks are insufficient in firmness and applicability.

Description

Technical Field

[0001] This invention belongs to the field of power system split conductor galloping technology, specifically relating to a mounting method and locking structure for a split conductor galloping self-locking device suitable for use by UAVs. Background Technology

[0002] In power transmission lines, split conductors are widely used due to their large cross-section and high transmission capacity. However, currently, split conductors are susceptible to low-frequency, high-amplitude "galloping" phenomena caused by icing and strong winds during line operation, leading to conductor strand breakage, hardware fracture, or other line faults. Traditional anti-galloping devices usually require manual installation, especially at high altitudes or in complex terrain, resulting in low installation efficiency, poor safety, and difficulty in meeting the needs of modern power engineering.

[0003] In recent years, the rapid development of drone technology has provided new solutions for the inspection and maintenance of power lines. However, existing drone mounting devices are mostly used for inspection and lack design for the installation of split conductor galloping suppression devices. Moreover, the installation efficiency and reliability need to be improved. In particular, for the suspension and installation of split conductor galloping suppression devices, most self-locking hook structures are poorly designed and cannot be well integrated with drone suspension and installation processes.

[0004] Therefore, there is an urgent need for a mounting method and locking structure for a split conductor suppression self-locking device suitable for UAVs, which can achieve fast, safe and reliable installation and has a self-locking function to ensure stable operation in complex environments. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low installation efficiency, insufficient hook firmness, and inadequate applicability in the prior art, and to provide a mounting method and locking structure for a split wire anti-collision self-locking device suitable for UAVs.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a method for mounting a split conductor anti-collision self-locking device suitable for UAVs, comprising the following steps: S1. Assemble the anti-dash self-locking device and connect it to the UAV mounting system. At the same time, calibrate the sensor signals and initialize the locking adjustment unit of the anti-dash self-locking device. S2. The drone, equipped with a self-locking device, flies to the target attachment point of the guide wire via remote operation or automatic route navigation. S3. The sensors on the self-locking device perceive the relative position of the device body and the spatial environment in real time, determine the spatial distance and contact degree between itself and the target attachment point, and dynamically adjust the attitude, hovering action and minor directional correction of the entire drone. S4. The locking structure of the self-locking device automatically optimizes its locking opening direction according to the spatial error signal to fit the actual hanging point. S5. The sensors at the front and inside of the locking structure start working. As the drone is gradually lowered and moved forward, the locking mechanism approaches the wire attachment point and continuously detects the actual position and contact force of the attachment point. It then finely adjusts the attitude of each degree of freedom in real time to ensure that the locking mechanism is pressed into or fitted into the attachment point. S6. The locking structure begins to monitor the clamping status and uses its adjustment unit to adaptively adjust the clamping to compensate for spatial errors. When the preset clamping force is reached, it completes self-locking and sends a signal indicating successful mounting. S7. The drone separates from the anti-dance self-locking device and returns, while the locking structure continuously feeds back detection signals to the ground terminal.

[0007] Preferably, in step S1, all sensor signals are collected by the main control chip and fed back to the ground terminal. The initialization of the latch adjustment unit includes adjusting the latch structure to the initial mounting state and also includes a rapid self-test of the sensitivity of the latch structure.

[0008] Preferably, the sensor used in step S3 is an accelerometer, a laser rangefinder, or a vision sensor.

[0009] Preferably, in step S5, the sensors used are contact detection sensors and capacitive proximity sensors.

[0010] Preferably, in step S6, the adjustment unit uses multiple sensors to perform closed-loop signal control to automatically adjust its deformation, so as to adapt to the actual offset, sway, or differences in the size of the hanging point of the conductor.

[0011] Preferably, the detection signals continuously fed back by the locking structure in step S7 include, but are not limited to, the locking force, the clamping force of the hanging point, the self-locking state, and the device posture.

[0012] A locking structure suitable for mounting a split conductor anti-collision self-locking device on a UAV includes: The latch body has an opening on one side and a wire receiving space is formed inside the latch body; An adjustment unit is disposed within the accommodating space and includes multiple retractable and movable clamping members distributed around the outer periphery of the conductor for adaptive clamping of the conductor, and multiple sensors signal-connected to the multiple clamping members. A self-locking unit is disposed at the opening and is used to close and lock or open and unlock the opening.

[0013] Preferably, the clamping member includes a retractable damping structure, which includes a cylinder with a damping medium, a piston sealed and connected to the cylinder, and a guide rod connected to the piston. The piston has a damping hole, one end of the guide rod is connected to the piston, and the other end extends through to the outside of the cylinder and is connected to a pressure plate. A buffer limiting block is provided between the pressure plate and the cylinder.

[0014] Preferably, the self-locking unit includes a lock body movably disposed at one end of the opening and connected to the driving member. The end of the lock body away from the driving member has a lock cap. The other end of the opening has a slot that mates with the lock cap and a latching groove that communicates with the slot. The lock body can move vertically under the action of the driving member to insert the lock cap into the slot and rotate 90° to lock it in place with the latching groove.

[0015] Preferably, the upper part of the latch body also has a ring structure for connecting or disconnecting from the drone.

[0016] After adopting the above technical solution, the present invention provides a mounting method and locking structure for a split conductor anti-collision self-locking device suitable for UAVs, which has the following beneficial effects: 1) In the split conductor anti-galling self-locking device and its locking structure, the present invention systematically introduces a variety of high-precision sensors to realize real-time monitoring and automatic identification of the device's hanging position, force state and self-locking action throughout the entire process. It can intelligently determine whether the hook is actually firmly engaged with the hanging point, providing full-process data support and error prevention mechanism for remote unmanned installation operations. 2) The locking structure of the present invention has adaptive adjustment capability. It can automatically adjust its opening angle, clamping spring force or posture according to the real-time hanging point information and spatial offset output by the sensor, so that it can still reliably achieve self-locking installation under non-ideal conditions such as wire vibration and hanging point size tolerance, which greatly expands the adaptability of the anti-vibration device to wires of different specifications and models and various complex field conditions. 3) This invention integrates automatic data acquisition throughout the entire process, remote feedback confirmation after mounting, and an instant alarm mechanism for abnormalities. This not only makes every drone mounting operation traceable and monitorable, but also allows the system to automatically stop the drone from detaching or issue a warning if abnormalities such as improper mounting or failure to lock occur. This greatly improves the automation and safety reliability of power transmission line inspection and maintenance operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the locking structure in this invention; Figure 2 This is a schematic diagram of the stretchable damping structure in this invention; Figure 3 This is a schematic diagram of the locking cap portion in the self-locking unit of the present invention; Figure 4 This is a schematic diagram of the structure of the self-locking unit of the present invention, which cooperates with the lock cap to complete the locking.

[0018] The components include: 1. Ring structure; 2. First retractable damping structure; 3. First sensor; 4. Third sensor; 5. Lock body; 6. Second sensor; 7. Third retractable damping structure; 8. Second retractable damping structure; 9. Damping medium; 10. Damping hole; 11. Cylinder body; 12. Buffer limit block; 13. Piston; 14. Guide rod; 15. Pressure plate; 16. Lock cap; 17. Locking groove; 18. Slotted groove. Detailed Implementation

[0019] The present invention will now be described more clearly and completely with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0022] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0023] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0025] The present invention provides a method for mounting a split conductor anti-collision self-locking device on a UAV, comprising the following steps: S1. Before operation, the anti-collision self-locking device and its locking structure are assembled manually on the ground and docked with the UAV mounting system. At the same time, the sensor signals of the anti-collision self-locking device are calibrated and the adjustment unit of the locking structure is initialized, including adjusting the locking tension and opening angle to the initial mounting state, and performing a quick self-test of the locking sensitivity to ensure that the device is fully adapted to the diversity of wire attachment points when it enters the ready-to-mount state. In addition, the initial working condition information of all sensors will be collected by the main control chip and uploaded to the ground terminal, which can be manually verified when necessary. S2. The drone, equipped with a self-locking device, flies to the target attachment point of the guide wire via remote operation or automatic route navigation. S3. The sensors on the anti-dance self-locking device perceive the relative position of the device body and the spatial environment in real time, determine the spatial distance and contact degree between itself and the target attachment point, and dynamically adjust the attitude, hovering action and minor directional correction of the entire UAV. Among them, the sensors are accelerometers, laser rangefinders or visual sensors. S4. The locking structure of the self-locking device automatically optimizes its locking opening direction according to the spatial error signal between itself and the target hanging point, so as to fit the actual hanging point. This can prevent alignment errors caused by attitude deviation due to wind vibration or wire sway. In addition, all signals will be displayed back to the ground terminal in real time to ensure manual visual monitoring and remote assistance. S5. After entering the mounting stage, the contact detection sensors and capacitive proximity sensors at the front and inner sides of the locking structure start to work. As the UAV is gradually lowered and moved forward, the locking slowly approaches the wire attachment point and continuously detects the actual position and contact force of the attachment point. If the locking is detected to make initial contact with the attachment point, the system automatically slows down the propulsion speed and finely adjusts the attitude of each degree of freedom in real time to ensure that the locking is successfully pressed into or fitted into the attachment point. S6. The clamping force sensor inside the locking structure immediately starts monitoring the clamping status. Through the closed-loop control of signals from multiple sensors, the adjustment unit can adaptively adjust the clamping to accommodate the actual offset, swaying, or size difference of the wire or the hanging point. When the preset clamping force is reached, the self-locking is completed and a successful mounting signal is fed back. S7. After mounting, the system automatically collects and stores key installation data, including the self-locking completion signal, clamping force data, and UAV release confirmation signal. Under normal conditions, the UAV separates from the anti-dash self-locking device and returns. At the same time, the locking structure continuously feeds back detection signals to the ground terminal, including but not limited to the locking force, hanging point clamping force, self-locking status, and device attitude. If any abnormality is detected in any step, the system will immediately issue an alarm, prompting manual intervention for review. This not only greatly improves the intelligence and safety level of the anti-dash self-locking device mounting operation, but also facilitates subsequent quality inspection, full-process traceability, and standardized data management.

[0026] like Figure 1-4 As shown, the present invention also provides a locking structure suitable for mounting a split wire anti-collision self-locking device on a UAV, comprising a locking body, an adjustment unit, and a self-locking unit.

[0027] The latch body has an opening on one side, and a wire receiving space is formed inside the latch body. Furthermore, the latch body also has a ring structure 1 on the top for connecting or separating from the drone.

[0028] The adjustment unit is disposed within the receiving space and includes multiple retractable clamping members distributed around the outer periphery of the wire for adaptive clamping of the wire, and multiple sensors signal-connected to the clamping members. Specifically, the clamping members include a first retractable damping structure 2 distributed in the upper part of the receiving space, a second retractable damping structure 8 distributed in the lower part of the receiving space, and a third retractable damping structure 7 distributed on one side of the second retractable damping structure 8. The adjustment directions of the first retractable damping structure 2 and the third retractable damping structure 7 are consistent and perpendicular to the adjustment direction of the second retractable damping structure 8. The sensors include a first sensor 3 and a second sensor 6 distributed in the upper and lower parts of the receiving space, and a third sensor 4 distributed on the side of the receiving space opposite to the opening. The first sensor 3, the second sensor 6, and the third sensor 4 can all be optical or mechanical sensors to provide feedback on the fit status of the wire within the receiving space during the mounting process, facilitating adjustment of the clamping members. Further, the first retractable… Damping structure 2, second retractable damping structure 8, and third retractable damping structure 7 all include a cylinder 11 with a damping medium 9, a piston 13 sealed inside the cylinder 11, and a guide rod 14 connected to the piston 13. The piston 13 has a damping hole 10. One end of the guide rod 14 is connected to the piston 13, and the other end extends through to the outside of the cylinder 11 and is connected to a pressure plate 15. A buffer limiting block 12 is provided between the pressure plate 15 and the cylinder 11. In this way, the clamping opening and closing degree can be automatically adjusted according to the change of wire diameter. Meanwhile, the multi-point contact design increases the friction between it and the wire. During operation, the clamping adjustment is achieved by extending and retracting the guide rod 14 according to the sensor signal. When the guide rod 14 drives the piston 13 to move, the damping medium 9 generates damping force through the damping hole 10, which can realize energy dissipation and vibration suppression, and ensure the stability of the clamping process. At the same time, the use of the damping structure can effectively reduce the vibration response under dynamic loads such as wind vibration and mechanical vibration during installation. It has the characteristics of full hysteresis curve, strong energy dissipation capacity, and good applicability.

[0029] The self-locking unit is located at the opening and is used to close and lock or open and unlock the opening. Specifically, it includes a lock body 5 movably disposed at one end of the opening and connected to a drive member. The end of the lock body 5 away from the drive member has a lock cap 16, and the other end of the opening has a slot 18 that mates with the lock cap 16, and a latching groove 17 that communicates with the slot 18. The lock body 5 can move vertically under the action of the drive member to insert the lock cap 16 into the slot 18 and rotate 90° to lock it in place with the latching groove 17. This can prevent the lock from coming loose and ensure stability under strong winds or when wires are moving.

[0030] In summary, the present invention provides a mounting method and locking structure for a split wire anti-collision self-locking device for UAVs, which organically combines sensor technology with an adaptive locking structure. This allows for real-time monitoring of the spatial relationship between the UAV and the mounting point of the anti-collision self-locking device, as well as the actual contact and engagement state between the locking structure and the split wire. Through these sensor signals, the system can automatically determine whether the device has reached the precise mounting area and intelligently adjust the locking angle, clamping width, or force based on minute spatial deviations on site, achieving adaptive adjustment and precise engagement of the locking structure for mounting points of wires of different shapes and sizes.

[0031] Furthermore, this invention not only ensures the high-speed and precise installation of the anti-dash self-locking device in high-altitude and complex environments, significantly improving the safety and reliability of the mounting, but also greatly reduces the risks of manual intervention and operation, providing effective technical support for smart grid maintenance and automated drone operations.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for mounting a split conductor anti-collision self-locking device on an unmanned aerial vehicle (UAV), characterized in that, Includes the following steps: S1. Assemble the anti-dash self-locking device and connect it to the UAV mounting system. At the same time, calibrate the sensor signals and initialize the locking adjustment unit of the anti-dash self-locking device. S2. The drone, equipped with a self-locking device, flies to the target attachment point of the guide wire via remote operation or automatic route navigation. S3. The sensors on the self-locking device perceive the relative position of the device body and the spatial environment in real time, determine the spatial distance and contact degree between itself and the target attachment point, and dynamically adjust the attitude, hovering action and minor directional correction of the entire drone. S4. The locking structure of the self-locking device automatically optimizes its locking opening direction according to the spatial error signal to fit the actual hanging point. S5. The sensors at the front and inside of the locking structure start working. As the drone is gradually lowered and moved forward, the locking mechanism approaches the wire attachment point and continuously detects the actual position and contact force of the attachment point. It then finely adjusts the attitude of each degree of freedom in real time to ensure that the locking mechanism is pressed into or fitted into the attachment point. S6. The locking structure begins to monitor the clamping status and uses its adjustment unit to adaptively adjust the clamping to compensate for spatial errors. When the preset clamping force is reached, it completes self-locking and sends a signal indicating successful mounting. S7. The drone separates from the anti-dance self-locking device and returns, while the locking structure continuously feeds back detection signals to the ground terminal.

2. The mounting method for a split conductor anti-collision self-locking device for UAVs according to claim 1, characterized in that: In step S1, all sensor signals are collected by the main control chip and fed back to the ground terminal. The initialization of the latch adjustment unit includes adjusting the latch structure to the initial mounting state and also includes a rapid self-test of the sensitivity of the latch structure.

3. The mounting method for a split conductor anti-collision self-locking device for UAVs according to claim 1, characterized in that: In step S3, the sensor used is an accelerometer, a laser rangefinder, or a vision sensor.

4. The mounting method for a split conductor anti-collision self-locking device for UAVs according to claim 1, characterized in that: In step S5, the sensors used are a contact detection sensor and a capacitive proximity sensor.

5. The mounting method for a split conductor anti-collision self-locking device for UAVs according to claim 1, characterized in that: In step S6, the adjustment unit uses multiple sensors to perform closed-loop signal control to automatically adjust its deformation, so as to adapt to the actual offset, swaying or differences in the size of the hanging point of the conductor.

6. The mounting method for a split conductor anti-collision self-locking device for UAVs according to claim 1, characterized in that: The detection signals continuously fed back by the locking structure in step S7 include, but are not limited to, the locking force, the clamping force of the hanging point, the self-locking state, and the device posture.

7. A locking structure suitable for mounting a split conductor anti-collision self-locking device on an unmanned aerial vehicle (UAV), characterized in that, include: The latch body has an opening on one side and a wire receiving space is formed inside the latch body; An adjustment unit is disposed within the accommodating space and includes multiple retractable and movable clamping members distributed around the outer periphery of the conductor for adaptive clamping of the conductor, and multiple sensors signal-connected to the multiple clamping members. A self-locking unit is disposed at the opening and is used to close and lock or open and unlock the opening.

8. A locking structure for mounting a split conductor anti-collision self-locking device on a UAV according to claim 7, characterized in that: The clamping member includes a retractable damping structure, which includes a cylinder with a damping medium, a piston sealed and connected to the cylinder, and a guide rod connected to the piston. The piston has a damping hole. One end of the guide rod is connected to the piston, and the other end extends through to the outside of the cylinder and is connected to a pressure plate. A buffer limiting block is provided between the pressure plate and the cylinder.

9. A locking structure for mounting a split conductor anti-collision self-locking device on a UAV according to claim 7, characterized in that: The self-locking unit includes a lock body movably disposed at one end of the opening and connected to a drive member. The end of the lock body away from the drive member has a lock cap. The other end of the opening has a slot that mates with the lock cap and a latching slot that communicates with the slot. The lock body can move vertically under the action of the drive member to insert the lock cap into the slot and rotate 90° to lock it in place with the latching slot.

10. A locking structure for mounting a split conductor anti-collision self-locking device on a UAV according to claim 7, characterized in that: The upper part of the latch body also has a ring structure for connecting or disconnecting from the drone.

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