Unmanned aerial vehicle auxiliary rapid assembling and disassembling device for power transmission line monitoring sensor

Abstract

The invention discloses an unmanned aerial vehicle auxiliary rapid assembly and disassembly device for a power transmission line monitoring sensor. The unmanned aerial vehicle auxiliary rapid assembly and disassembly device comprises a clamping mechanism and a shell provided with an unmanned aerial vehicle connecting hanging frame. The clamping mechanism comprises a force transmission half tile piece, a spring connecting block, a spring, a spring rod, a transverse connecting shaft, a trigger suspension, a steering engine and a clamping piece. The trigger suspension is positioned in the shell and can translate up and down; the two ends of the transverse connecting shaft are connected with the front side and the rear side in the shell, the left clamping piece and the right clamping piece are distributed on the left side and the right side of the transverse connecting shaft, the upper ends of the left clamping piece and the right clamping piece are rotationally connected with the transverse connecting shaft, and the monitoring sensor is embedded in one clamping piece. The two ends of the left clamping piece are respectively provided with a left force transmission half tile piece, the upper end of each left force transmission half tile piece is rotationally connected with the transverse connecting shaft, the two ends of the right clamping piece are respectively provided with a right force transmission half tile piece, the upper end of each right force transmission half tile piece is rotationally connected with the transverse connecting shaft, and the force transmission half tile pieces are clamped on the power transmission line in a closed mode. Rapid assembly and disassembly are realized under the assistance of the unmanned aerial vehicle, and rapid deployment of the sensor network is facilitated.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent operation and maintenance equipment for high-voltage transmission lines, specifically relating to a drone-assisted rapid installation and removal device for transmission line monitoring sensors. Background Technology

[0002] For condition monitoring of high-voltage transmission lines, the deployment of sensors (such as icing thickness and vibration sensors) is a crucial step in acquiring operational data. Currently, the installation of monitoring sensors mainly relies on manual climbing of towers or live-line work using insulated bucket trucks. Operators must manually fix the sensor clamps to the energized transmission lines at close range, in strong electromagnetic fields and complex weather conditions, at heights of tens of meters. This installation method not only poses extremely high risks of falls and electric shock but is also inefficient, with each sensor installation often taking a long time, hindering the rapid deployment of large-scale sensor networks. The consistency of clamping force and position during manual installation is difficult to guarantee, easily leading to poor sensor contact or detachment, affecting the reliability of data acquisition. The use of insulated bucket trucks for installation also severely limits the frequency and duration of live-line work, further restricting the rapid deployment of large-scale sensor networks.

[0003] In addition, existing sensor clamps generally lack the ability to adapt to transmission lines of different diameters. For transmission lines with smaller diameters, clamping loosening is likely to occur, while for transmission lines with larger diameters, clamping instability and easy detachment are likely to occur. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a drone-assisted rapid assembly and disassembly device for power transmission line monitoring sensors.

[0005] The present invention solves the aforementioned technical problem by adopting the following technical solution: A UAV-assisted rapid assembly and disassembly device for power transmission line monitoring sensors is characterized by comprising a housing and a clamping mechanism, wherein the housing is provided with a UAV connection bracket; the clamping mechanism comprises a left force transmission half-bearing component, a right force transmission half-bearing component, a spring connecting block, a spring, a spring rod, a transverse connecting shaft, a trigger suspension, a servo motor, a left clamping component, and a right clamping component; The trigger suspension is located inside the housing and can reciprocate vertically. The two ends of the lateral connecting shaft are connected to the front and rear sides inside the housing. Left and right clamping components are distributed on the left and right sides of the lateral connecting shaft, with their upper ends rotatably connected to the lateral connecting shaft. A monitoring sensor is embedded in one of the clamping components. The left clamping component has left force-transmitting half-buffers at both ends, with their upper ends rotatably connected to the lateral connecting shaft. The right clamping component has right force-transmitting half-buffers at both ends, with their upper ends rotatably connected to the lateral connecting shaft. The left and right force-transmitting half-buffers... Each part is equipped with a pressure rod at the top, with the free end of the pressure rod extending above the trigger suspension. When the force transmission half-buffer is closed, the pressure rod is horizontal and the trigger suspension pushes the pressure rod upward. The lower part of the left and right force transmission half-buffers is rotatably connected to one end of the corresponding spring rod. A spring is fitted on the spring rod and is always compressed. The spring is also connected to the spring connecting block, which is slidably connected to the spring rod and rotatably connected to the inner wall of the housing through a pin. Two servos are located on the left and right sides inside the housing. The servo arms can contact the trigger suspension and push the trigger suspension to move upward.

[0006] Furthermore, a slope is provided in the middle of one side of the trigger suspension, and when the servo is working, its swing arm first contacts the top of the slope.

[0007] Furthermore, the four corners of the trigger suspension are respectively provided with vertical connecting shafts, and the trigger suspension can move along the vertical connecting shafts. The upper and lower ends of the vertical connecting shafts are fixedly connected to the outer shell through connecting supports.

[0008] Furthermore, the free end of the pressure rod is provided with a roller.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Using drones to install and dismantle devices enables unmanned high-altitude installation operations, which not only significantly reduces safety risks but also improves the installation efficiency of sensors on high-voltage transmission lines, facilitating the rapid deployment of large-scale sensor networks.

[0010] 2. The device can adaptively adjust the unfolding degree of the left and right force transmission half-tiles and the left and right clamping parts according to the diameter of the power transmission line. The installation and disassembly process is simple. It can be automatically installed during the drone's lowering of the device and disassembled during the drone's lifting of the device, which is conducive to the rapid loading and unloading of the device. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the clamping mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the clamping member of the present invention; Figure 4 This is a schematic diagram of the force-transmitting half-tile component of the present invention; Figure 5 This is a schematic diagram of the force-transmitting half-tile of the present invention in a balanced state; Figure 6 This is a schematic diagram of the servo locking trigger suspension of the present invention; In the diagram, 1-outer shell; 2-clamping mechanism; 3-monitoring sensor; 11-UAV connecting bracket; 21-Left force transmission half-bearing component; 22-Right force transmission half-bearing component; 23-Spring connecting block; 24-Spring; 25-Spring rod; 26-Roller; 27-Horizontal connecting shaft; 28-Vertical connecting shaft; 29-No. 1 connecting support; 210-No. 2 connecting support; 211-Trigger suspension; 212-Servo motor; 213-Left clamping component; 214-Right clamping component; 215-Pressure rod. Detailed Implementation

[0012] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection of this application.

[0013] The present invention provides a drone-assisted quick assembly and disassembly device for power transmission line monitoring sensors, comprising a housing 1 and a clamping mechanism 2.

[0014] like Figure 1 As shown, the outer shell 1 is provided with a drone connection bracket 11 for the drone to lift the device; the bottom of the outer shell 1 is open, and slots for power transmission lines to pass through are provided on both sides.

[0015] like Figures 2-6 As shown, the clamping mechanism 2 includes a left force transmission half-bearing component 21, a right force transmission half-bearing component 22, a spring connecting block 23, a spring 24, a spring rod 25, a transverse connecting shaft 27, a vertical connecting shaft 28, a trigger suspension 211, a servo motor 212, a left clamping component 213, and a right clamping component 214; The trigger suspension 211 is located inside the outer casing 1. Each of the four corners of the trigger suspension 211 has a vertical connecting shaft 28, and the trigger suspension 211 can reciprocate up and down along the vertical connecting shafts 28. The upper and lower ends of each vertical connecting shaft 28 are fixedly connected to the outer casing 1 via a second connecting support 210. The two ends of the transverse connecting shaft 27 are fixedly connected to the front and rear sides inside the outer casing 1 via a first connecting support 29. A left clamping member 213 and a right clamping member 214 are distributed on the left and right sides of the transverse connecting shaft 27, and their upper ends are rotatably connected to the transverse connecting shaft 27. The two clamping members can close... The monitoring sensor 3 is embedded in the left clamping member 213 or the right clamping member 214. The two ends of the left clamping member 213 are respectively fixedly connected to a left force transmission half-tile 21, and the upper end of the left force transmission half-tile 21 is rotatably connected to the end of the transverse connecting shaft 27. The two ends of the right clamping member 214 are respectively fixedly connected to a right force transmission half-tile 22, and the upper end of the right force transmission half-tile 22 is rotatably connected to the end of the transverse connecting shaft 27. The force transmission half-tiles rotate synchronously with the corresponding clamping members. The left force transmission half-tile 21 and the right force transmission half-tile 22 on the same side can be closed to clamp the power transmission line. The left and right force-transmitting half-buffers 21 and 22 have the same structure. A pressure rod 215 is provided on the upper part of each half-buffer. The free end of the pressure rod 215 extends beyond the force-transmitting half-buffer and is located above the trigger suspension 211. When the force-transmitting half-buffer is closed, the pressure rod 215 is horizontal and in contact with the trigger suspension 211. The trigger suspension 211 provides a certain preload to the pressure rod 215, pushing it upwards to keep the force-transmitting half-buffer closed. The lower part of the force-transmitting half-buffer is connected to the spring rod. One end of spring rod 25 is rotatably connected, and spring 24 is fitted on spring rod 25 and is always compressed. One end of spring 24 is in close contact with the shoulder of spring rod 25, and the other end is connected to spring connecting block 23. Spring connecting block 23 is slidably connected to spring rod 25. A pin is provided on one side of spring connecting block 23. The pin is rotatably connected to the inner wall of outer shell 1 through first connecting support 29, and the pin is parallel to the transverse connecting shaft 27. When the force transmission half-tile is unfolded and in a balanced state, the spring... The extension line of the axis of the spring rod 25 intersects the axis of the transverse connecting shaft 27. The spring 24 has its maximum compression. The spring 24 provides a thrust to the force-transmitting half-tile pointing towards the transverse connecting shaft 27, causing it to unfold and maintain a balanced state, facilitating the entry of the transmission line into the device from the opening. The force provided by the spring 24 is always along the axial direction of the spring rod 25. Therefore, the rotation of the spring rod 25 around the force-transmitting half-tile can change the direction of the thrust. When the force-transmitting half-tile is in an unbalanced state, the extension line of the axis of the spring rod 25 does not intersect the axis of the transverse connecting shaft 27, and the compression degree of the spring 24 is between the maximum and minimum. The spring 24 provides a thrust to the force-transmitting half-tile pointing radially inward. When the unfolding degree of the force-transmitting half-tile is less than the unfolding degree in the balanced state, the force-transmitting half-tile tends to close under the action of the spring 24. When the unfolding degree of the force-transmitting half-tile is greater than the unfolding degree in the balanced state, the force-transmitting half-tile tends to continue to unfold under the action of the spring 24. Two servo motors 212 are fixed inside the housing 1 on the left and right sides. The output shaft of the servo motor 212 is located in the vertical direction. When the servo motor 212 is not working, its swing arm is parallel to the transverse connecting shaft 27. When the output shaft of the servo motor 212 rotates a certain angle, the swing arm contacts one side of the trigger suspension 211. As the swing arm continues to rotate, it pushes the trigger suspension 211 upward. The contact position between the trigger suspension 211 and the servo motor swing arm is provided with a slope. When the servo motor 212 is working, its swing arm first contacts the top of the slope. As the servo motor swing arm continues to rotate, the swing arm pushes the trigger suspension 211 upward under the action of the slope.

[0016] Furthermore, the free end of the pressure rod 215 of the force transmission half-bearing component is provided with a roller 26 to achieve flexible contact between the pressure rod 215 and the trigger suspension 211, thereby avoiding scratching the trigger suspension 211.

[0017] The working principle and workflow of this invention are as follows: The initial state of the device is when the force transmission half-bearing is closed and the swing arm of the servo motor 212 pushes upward against the trigger suspension 211.

[0018] Before installation, the remote control servo motor 212 is rotated, causing the swing arm of the servo motor 212 to rotate a certain angle in the positive direction until the swing arm is no longer in contact with the trigger suspension 211. The left force transmission half-buffer 21, the right force transmission half-buffer 22 and the corresponding spring rod 25 are manually rotated, causing the force transmission half-buffers to rotate around the transverse connecting shaft 27. The spring rod 25 moves slightly within the spring connecting block 23 and the pin on the spring connecting block 23 rotates around the first connecting support 29, so that the two force transmission half-buffers have the maximum degree of expansion, thereby causing the left clamping member 213 and the right clamping member 214 to fully expand. At this time, the extension line of the axis of the spring rod 25 does not intersect with the axis of the transverse connecting shaft 27. The thrust provided by the spring 24 to the force transmission half-buffers causes them to fully expand (i.e., the maximum degree of expansion). During the rotation of the force transmission half-buffers, the pressure rod 215 of the force transmission half-buffers presses the trigger suspension 211 downward and moves it a certain distance.

[0019] During installation, the device is suspended from the drone's hook via the drone connection bracket 11 on the outer casing 1. The drone transports the device above the power transmission line. The drone adjusts its position to ensure that the central axes of the left clamp 213 and right clamp 214 are basically aligned with the central axis of the power transmission line in the vertical plane. Then, the drone gradually descends, and the power transmission line enters the device through the opening. The power transmission line first contacts the trigger suspension 211. As the drone continues to lower the device, the power transmission line pushes against the trigger suspension 211 and pushes it upwards. During its upward movement, the trigger suspension 211 pushes against the pressure rod 215 of the force transmission half-bearing component, causing the force transmission half-bearing component to rotate around the transverse connecting shaft 27 in a closed direction. The process continues until the left force-transmitting half-tile 21, the right force-transmitting half-tile 22, and the left clamping member 213 and right clamping member 214 are clamped onto the power transmission line. At this point, the extent of the force-transmitting half-tile's unfolding is less than its extent of unfolding in the equilibrium state. Under the action of the spring 24, the force-transmitting half-tile has a tendency to close, thus clamping the power transmission line. Furthermore, the remote control servo motor 212 drives its swing arm to rotate in the opposite direction, making the swing arm make close contact with the slope surface of the trigger suspension 211, thereby locking the trigger suspension 211 and providing a continuous and stable locking force to the trigger suspension 211. This allows the left force-transmitting half-tile 21, the right force-transmitting half-tile 22, and the left clamping member 213 and right clamping member 214 to hold the power transmission line, achieving fixed installation of the device and the power transmission line. After installation is completed, the drone's hook detaches from the drone connecting bracket 11 on the outer shell 1.

[0020] During disassembly, the remote-controlled drone moves to suspend the drone connecting bracket 11 on the outer shell 1 from the drone's hook. Simultaneously, the remote-controlled servo motor 212 rotates its swing arm in the forward direction until the swing arm disengages from the trigger suspension 211, thus unlocking the trigger suspension 211. Then, the drone gradually rises and slowly lifts the device, and the power transmission line gradually disengages from the device. The clamping component and the force transmission half-tile rotate around the transverse connecting shaft 27 in the unfolding direction until the power transmission line is completely disengaged, thus disassembling the device. After the power transmission line is completely disengaged, the force transmission half-tile closes under the action of the spring 24, and the clamping component also closes, restoring the device to its initial state. The device can then be placed in a designated location by the drone, ready for repeated use.

[0021] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A UAV-assisted rapid assembly and disassembly device for power transmission line monitoring sensors, characterized in that, The device includes an outer shell and a clamping mechanism. The outer shell is equipped with a drone connection bracket. The clamping mechanism includes a left force transmission half-buffer, a right force transmission half-buffer, a spring connecting block, a spring, a spring rod, a lateral connecting shaft, a trigger suspension, a servo motor, a left clamping component, and a right clamping component. The trigger suspension is located inside the housing and can reciprocate vertically. The two ends of the lateral connecting shaft are connected to the front and rear sides inside the housing. Left and right clamping components are distributed on the left and right sides of the lateral connecting shaft, with their upper ends rotatably connected to the lateral connecting shaft. A monitoring sensor is embedded in one of the clamping components. The left clamping component has left force-transmitting half-buffers at both ends, with their upper ends rotatably connected to the lateral connecting shaft. The right clamping component has right force-transmitting half-buffers at both ends, with their upper ends rotatably connected to the lateral connecting shaft. The left and right force-transmitting half-buffers... Each part is equipped with a pressure rod at the top, with the free end of the pressure rod extending above the trigger suspension. When the force transmission half-buffer is closed, the pressure rod is horizontal and the trigger suspension pushes the pressure rod upward. The lower part of the left and right force transmission half-buffers is rotatably connected to one end of the corresponding spring rod. A spring is fitted on the spring rod and is always compressed. The spring is also connected to the spring connecting block, which is slidably connected to the spring rod and rotatably connected to the inner wall of the housing through a pin. Two servos are located on the left and right sides inside the housing. The servo arms can contact the trigger suspension and push the trigger suspension to move upward.

2. The UAV-assisted rapid assembly and disassembly device for power transmission line monitoring sensors according to claim 1, characterized in that, The middle part of one side of the trigger suspension has a slope, and when the servo is working, its swing arm first contacts the top of the slope.

3. The UAV-assisted rapid assembly and disassembly device for power transmission line monitoring sensors according to claim 1, characterized in that, The four corners of the trigger suspension are respectively provided with vertical connecting shafts. The trigger suspension can move along the vertical connecting shafts. The upper and lower ends of the vertical connecting shafts are fixedly connected to the outer shell through connecting supports.

4. The UAV-assisted rapid assembly and disassembly device for transmission line monitoring sensors according to any one of claims 1 to 3, characterized in that, The free end of the pressure rod is equipped with a roller.

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