High-altitude operation system and high-altitude operation method

Abstract

The invention provides a high-altitude operation system and a high-altitude operation method, the high-altitude operation system is used for cooperating with an unmanned aerial vehicle for high-altitude operation, and the high-altitude operation system comprises a hook structure which can be hung on the unmanned aerial vehicle, and the hook structure can be carried by the unmanned aerial vehicle and hung on a high-altitude object; the operation device comprises a main body part, an operation part, a position and posture adjusting mechanism and a locking and unlocking mechanism; the main body part comprises a climbing rope assembly and a clutch assembly, the climbing rope assembly can be connected with the hook structure through a rope, and the climbing rope assembly can drive the operation device to automatically climb to a high-altitude object along the rope; the locking and unlocking mechanism is connected with the clutch assembly, and the locking and unlocking mechanism can be remotely controlled to trigger the clutch assembly to unlock the climbing rope assembly, so that the operation device can slowly descend along the rope by means of self weight; the operation part is mounted on the main body part and used for realizing high-altitude operation; the pose adjusting mechanism is used for being matched with the hook structure to adjust the pose of the operation device so that the operation device can adapt to the process of climbing upwards and hanging on high-altitude objects.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of high-altitude operation, and more particularly relates to a high-altitude operation system and a high-altitude operation method. BACKGROUND

[0002] When performing high-altitude operation, the operation device often needs to be raised to a certain height before the operation can begin. In particular, in extreme weather, ice removal operation needs to be performed on high-voltage lines, which are not only suspended in high altitude, but also harmful to the human body. If the operation device is raised to the high-voltage line by manual assistance, not only is the ice removal operation inefficient, but also wastes manpower and resources, and at the same time, causes harm to the workers. In addition, when an emergency occurs, manual climbing is required to assist the operation device to fall, which is troublesome to operate. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a high-altitude operation system to solve the technical problem of low operation efficiency caused by the need for manual assistance to raise the operation device to the high-altitude object in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is to provide a high-altitude operation system for cooperating with a drone to perform high-altitude operation, comprising:

[0005] A hook structure capable of being mounted on a drone, the hook structure can be carried by the drone and hung on a high-altitude object;

[0006] An operation device, the operation device comprises a main body part, an operation part, a pose adjusting mechanism and a locking and unlocking mechanism; the main body part comprises a rope climbing assembly and a clutch assembly, the rope climbing assembly can be connected with the hook structure through a rope, the rope climbing assembly can drive the operation device to automatically climb along the rope to the high-altitude object; the locking and unlocking mechanism is connected with the clutch assembly, the locking and unlocking mechanism can be remotely controlled to trigger the clutch assembly to unlock the rope climbing assembly, so that the operation device can rely on the weight to descend along the rope; the operation part is installed on the main body part and is used to realize high-altitude operation; the pose adjusting mechanism is used to cooperate with the hook structure to adjust the pose of the operation device so that it can adapt to the process of climbing upward and hanging on the high-altitude object.

[0007] In some embodiments, the hook structure comprises:

[0008] A lug capable of being mounted on the drone;

[0009] At least one hook connected with the lug, the hook is used to be mounted on a high-altitude object;

[0010] at least one rope, each of the hooks being connected to one of the ropes, the working device being able to climb along the ropes to the high object automatically;

[0011] the main body part comprises a base frame; the rope climbing assembly comprises:

[0012] a rope climbing wheel installed on the base frame and used for winding or clamping the rope;

[0013] a guide wheel set located above the rope climbing wheel and used for guiding the rope into the rope climbing wheel;

[0014] an export wheel located beside the rope climbing wheel and used for guiding the rope out of the rope climbing wheel;

[0015] a rope climbing drive installed on the base frame, the rope climbing drive being used for driving the rope climbing wheel to rotate forward so that the rope climbing wheel climbs upward along the rope, and the rope climbing drive being used for driving the rope climbing wheel to rotate reversely so that the rope climbing wheel climbs downward along the rope;

[0016] a transmission assembly transmissionally connected between the rope climbing drive and the rope climbing wheel, the transmission assembly being connected with the clutch assembly, the clutch assembly being able to be triggered to disengage the transmission assembly so that the rope climbing drive is disconnected from the rope climbing wheel;

[0017] the rope is guided by the guide wheel set, the export wheel and the rope climbing wheel to contact with the rope climbing wheel in the direction of gravity, so that the rope climbing wheel can keep clamping the rope and rotating to change its position on the rope and the height of the working device due to the gravity of the working device itself.

[0018] In some embodiments, the transmission assembly comprises:

[0019] a first transmission member connected with the rope climbing wheel;

[0020] a second transmission member connected with the rope climbing drive and transmissionally connected with the first transmission member;

[0021] the clutch assembly is arranged on the base frame and is able to switch the transmission relationship between the first transmission member and the second transmission member to be connected or disconnected; the locking and unlocking mechanism comprises an emergency unlocking assembly connected with the clutch assembly, the unmanned aerial vehicle being able to pull the emergency unlocking assembly to disconnect the second transmission member from the first transmission member.

[0022] In some embodiments, the clutch assembly comprises:

[0023] A first elastic member is arranged between the base frame and the rope driving member and / or the second transmission member, and the elastic deformation of the first elastic member is greater when the transmission relationship is in the connected state than when the transmission relationship is in the disconnected state.

[0024] A first spring pin is capable of being inserted into the rope driving member and / or the second transmission member to keep the second transmission member and the first transmission member in the connected state. The first spring pin is connected to the emergency unlocking assembly and can be driven by the emergency unlocking assembly to be separated from the rope driving member and / or the second transmission member. The rope driving member and / or the second transmission member can slide under the action of the first elastic member and be disconnected from the first transmission member.

[0025] In some embodiments, the first transmission member includes a first gear, and the second transmission member includes a second gear. The first gear is in meshing transmission with the second gear. The first elastic member is used to drive the second gear to move away from the first gear so that the first gear and the second gear are disengaged.

[0026] In some embodiments, the clutch assembly further includes a rack, a third gear, and a wrench.

[0027] The rack is fixedly connected to the rope driving member and / or the second transmission member. The first spring pin can be inserted into the rack to keep the second transmission member connected to the first transmission member. The first spring pin is connected to the emergency unlocking assembly and can be driven by the emergency unlocking assembly to be separated from the rack. The rack can drive the second transmission member to slide away from the first transmission member under the action of the first elastic member.

[0028] The rack is in meshing transmission with the third gear, and the wrench is connected to the third gear. By rotating the wrench, the third gear can be rotated to move the rack.

[0029] In some embodiments, the main body part includes two sets of the rope assembly, and the clutch assembly includes two racks. The two racks are respectively in meshing transmission with the third gear, and the two racks are respectively connected to the two second transmission members. The first spring pin is inserted into one of the racks.

[0030] In some embodiments, the rope wheel has a receiving cavity for accommodating the rope. Opposite side walls of the receiving cavity are provided with clamping protrusions. The clamping protrusions are arranged at an angle with respect to the radial direction of the rope wheel and gradually decrease in axial height from the center of the rope wheel. The main body part further includes a rope withdrawal hook. The rope withdrawal hook is installed on the base frame and at least partially rises into the interior of the rope wheel to guide the rope out of the rope wheel.

[0031] In some embodiments, the locking and unlocking mechanism includes an emergency unlocking component, which includes an emergency unlocking handle and an emergency unlocking transmission member. The emergency unlocking transmission member is connected between the emergency unlocking handle and the clutch component. The emergency unlocking handle can be pulled by a drone to drive the emergency unlocking transmission member to trigger the clutch component.

[0032] In some embodiments, the emergency unlocking transmission component includes a mounting base, a sliding button, a second elastic element, and a second spring pin; the mounting base is mounted on the main body, the sliding button is slidably disposed on the mounting base, and the sliding button is connected to the clutch assembly via a first drive line;

[0033] The second spring pin can be inserted into the slide button to restrict the slide button to a third position so that the clutch assembly remains engaged; the second elastic element is disposed between the slide button and the mounting base, and the elastic deformation of the second elastic element is less when the climbing rope assembly is in the unlocked state than when it is in the locked state;

[0034] The second spring pin is connected to the emergency unlock handle, which can be pulled by the drone to lift the second spring pin upward to disengage it from the sliding button. The second elastic element can drive the sliding button to slide from the third position to the fourth position to trigger the clutch assembly.

[0035] In some embodiments, the posture adjustment mechanism includes a guide wheel frame and a gravity compression elastic element; the guide wheel assembly is disposed on the guide wheel frame, and the guide wheel frame is slidably connected to the base frame in the vertical direction; the gravity compression elastic element abuts between the guide wheel frame and the base frame, and can deform under the weight of the working device to change the height of the guide wheel assembly relative to the working device;

[0036] In the climbing state of the main body, the gravity compression elastic element can cause the guide wheel assembly to extend upward from the main body to reduce the impact of the main body's center of gravity deviation on the rope direction and the posture of the main body.

[0037] When the main body climbs to the vicinity of the high-altitude object, the hook structure pushes the guide wheel assembly to retract the guide wheel assembly back to the main body, so as to ensure that the high-altitude object or the working part can fit against the main body.

[0038] In some embodiments, the guide wheel frame includes a mating groove, and the hook structure includes a mating part that can be inserted into the mating groove to retract the guide wheel assembly into the main body.

[0039] In some embodiments, the main body includes a base frame, the base frame being equipped with support wheels for supporting high-voltage lines;

[0040] The working part includes a clamping mechanism, which is rotatably mounted on the base frame. The clamping mechanism includes a stop part and an upper hanging part. The upper hanging part is provided with a traveling wheel and a traveling wheel adjustment mechanism.

[0041] When the main body moves close to the high-altitude object, the high-altitude object or the hook structure can contact the stop part, causing the main body to be driven by the climbing rope assembly to continue to rise, causing the upper hanging part to rotate relative to the main body, so that the walking wheel rotates with the upper hanging part to above the high-voltage line, and the walking wheel adjustment mechanism can adjust the walking wheel so that it is opposite to the support wheel and presses against the high-voltage line.

[0042] In some embodiments, the upper part further includes:

[0043] Pressure adjustment mechanism;

[0044] The clamping block can be driven by the clamping adjustment mechanism to clamp the high-voltage line;

[0045] The clamping adjustment mechanism and the traveling wheel adjustment mechanism are arranged in the same linear mechanism so that the traveling wheel is positioned between the clamping block and the high-voltage line; the side of the clamping block facing the traveling wheel has a concave shape that matches the shape of the traveling wheel; the clamping adjustment mechanism also includes a fourth elastic element, which abuts against the traveling wheel and the clamping block; the linear mechanism has a first stroke and a second stroke, the first stroke corresponding to the traveling wheel adjustment mechanism and the second stroke corresponding to the clamping adjustment mechanism.

[0046] In some embodiments, the working unit further includes a vibration drive member connected to the clamping block to drive the high-voltage line to vibrate and break ice through the clamping block.

[0047] In some embodiments, the locking and unlocking mechanism further includes a limiting component for locking the upper hanging part when rotated to the hanging state to ensure that the working device can stably hang on the high-altitude object.

[0048] In some embodiments, the limiting component includes a limiting member, a slider, a fixed base, and a fifth elastic member; the fixed base is disposed on the base frame, and the fifth elastic member abuts between the limiting member and the fixed base, so that the limiting member is in a locked position;

[0049] The limiting member is connected to the slider. When the slider moves to the unlocked state, it can drive the limiting member to disengage from the locked position, so that the clamping adjustment mechanism can be rotated open and disengaged from the hanging state.

[0050] In some embodiments, the limiting component further includes a slider driver, which drives the slider into the unlocked state and drives the limiting component back to the unlocked position, thereby causing the clamping mechanism to rotate and open under its own weight.

[0051] The slider and the slide button have a limited sliding engagement. When the slider is unlocked in an emergency, the slider will drive the slide button into the unlocked state. When the slide button drives the slide button into the unlocked state, it does not affect the state of the slider.

[0052] On the other hand, this application also provides a method for high-altitude operations, which uses the above-mentioned high-altitude operations system in conjunction with a drone to perform high-altitude operations, including the following steps:

[0053] The locking and unlocking mechanism is reset.

[0054] The drone is controlled to lift the hook structure to the high-altitude object. The status of the locking and unlocking mechanism is remotely observed based on the information transmitted back by the vision module to determine when to stop the rope climbing, or the load status of the rope climbing drive component is used to determine that the hanging has been completed.

[0055] The operation unit includes a motion state sensing component, which includes a processing unit, a storage unit, and a motion state sensor. The storage unit stores motion state data corresponding to preset motion states, including resonance states and / or the hanging completion state during the lifting process. The processing unit processes the feedback data from the motion state sensor to obtain the positional change state of the operation device during lifting and / or operation, including vibration frequency and / or swaying and / or tilting during lifting.

[0056] In an emergency, the drone is controlled to pull the locking and unlocking mechanism to unlock the working device and allow it to slowly descend back to the ground. The preset motion state also includes the drone's operable state. Before controlling the drone to perform the pulling operation, the motion state sensing component confirms that the motion state of the working device is the drone's operable state.

[0057] The beneficial effects of the aerial work system and method provided in this application are as follows: A drone can be used to attach a hook to a high-altitude object, and through the cooperation of the climbing rope assembly and the hook structure, the working device can automatically ascend to the high-altitude object and automatically descend to the ground along the rope of the hook structure, without manual assistance, saving labor costs and ensuring operational safety. Simultaneously, the locking and unlocking mechanism and clutch assembly allow the locking and unlocking mechanism to be remotely controlled in an emergency to trigger the clutch assembly to unlock the climbing rope assembly, enabling the working device to descend slowly along the rope under its own weight, eliminating the need for manual climbing assistance and saving labor costs. Furthermore, the posture adjustment mechanism, in conjunction with the hook structure, can adjust the posture of the working device, thereby adjusting the center of gravity posture of the working device, allowing it to adapt to the process of climbing upwards and attaching to high-altitude objects, ensuring stable and reliable operation. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A three-dimensional schematic diagram of the climbing state of the aerial work system provided in the embodiments of this application;

[0060] Figure 2 A three-dimensional schematic diagram of the locking state of the aerial work system provided in the embodiments of this application;

[0061] Figure 3 An assembly diagram of the rope climbing component and posture adjustment mechanism of the aerial work system provided in the embodiments of this application;

[0062] Figure 4 An assembly diagram of the rope climbing assembly and clutch assembly in the high-altitude operation system provided in the embodiments of this application;

[0063] Figure 5 for Figure 4 A schematic diagram of the rear structure after removing the first mounting plate;

[0064] Figure 6 for Figure 4 A schematic diagram of the structure after removing the first mounting plate and the second mounting plate;

[0065] Figure 7 This is a schematic diagram of the locking and unlocking mechanism in the high-altitude operation system provided in the embodiments of this application;

[0066] Figure 8A schematic diagram of the structure of the emergency unlocking transmission component and the limiting assembly in the high-altitude operation system provided in the embodiments of this application;

[0067] Figure 9 for Figure 8 Cross-sectional schematic diagram of the emergency unlocking transmission component and limit assembly;

[0068] Figure 10 for Figure 8 A schematic diagram showing the connection range between the emergency unlock handle and the sliding frame;

[0069] Figure 11 for Figure 8 Cross-sectional view of the slider and the slider button;

[0070] Figure 12 This is a schematic diagram of the posture adjustment mechanism in the high-altitude operation system provided in the embodiments of this application;

[0071] Figure 13 This is a schematic diagram of the working unit in the high-altitude work system provided in the embodiments of this application;

[0072] Figure 14 This is a cross-sectional schematic diagram of the working section in the aerial work system provided in the embodiments of this application;

[0073] Figure 15 This is an enlarged schematic diagram of the support wheels and traveling wheels of the aerial work system provided in the embodiments of this application.

[0074] The following are the labeling elements in the figure:

[0075] 1. Working device; 101. Main body; 100. Base frame; 110. Support wheel; 200. Climbing rope assembly; 210. Climbing rope wheel; 211. Receiving cavity; 212. Clamping rib; 220. Climbing rope drive component; 230. Transmission assembly; 231. First gear; 232. Second gear; 240. Guide wheel assembly; 250. Guide wheel; 260. Rope retraction hook; 261. Guide surface; 270. Line cover; 280. 1. Mounting plate; 290. Second mounting plate; 300. Clutch assembly; 310. First elastic element; 320. First spring pin; 330. Rack; 340. Third gear; 350. Wrench; 400. Locking / unlocking mechanism; 410. Emergency unlocking handle; 411. Cam; 420. Emergency unlocking transmission element; 421. Mounting base; 422. Slide button; 4221. Long hole; 423. Second elastic element; 424. Two spring pins; 425, sliding frame; 4251, slide groove; 426, first drive line; 430, limiting assembly; 431, limiting element; 432, slider; 4321, mounting hole; 433, fixed base; 4331, sliding cavity; 434, fifth elastic element; 435, second drive line; 436, sliding drive element; 500, posture adjustment mechanism; 510, guide wheel frame; 511, mating groove; 520, gravity compression spring. 600. Operating part; 610. Stop part; 611. Insertion hole; 620. Hanging part; 621. Walking wheel; 622. Walking wheel adjustment mechanism; 623. Pressing block; 624. Pressing adjustment mechanism; 625. Fourth elastic element; 630. Vibration drive element; 700. Vision module; 2. Hook structure; 21. Connecting frame; 22. Hanging ear; 23. Hook; 24. Rope; 25. Fitting part; 3. High voltage line. Detailed Implementation

[0076] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0077] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0078] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and 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. Therefore, they should not be construed as limitations on this application.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0080] Please see Figures 1 to 3 The high-altitude operation system provided in the embodiments of this application will now be described. This high-altitude operation system is used in conjunction with drones to perform high-altitude operations, such as high-voltage ice breaking on high-voltage line 3, or wiping glass at a high altitude.

[0081] The aerial work system includes a hook structure 2 and a working device 1.

[0082] The hook structure 2 can be mounted on a drone, and can be carried by the drone and hung on a high-altitude object. The working device 1 includes a main body 101, a working part 600, a posture adjustment mechanism 500, and a locking and unlocking mechanism 400. The main body 101 includes a climbing rope assembly 200 and a clutch assembly 300. The climbing rope assembly 200 can be connected to the hook structure 2 via a rope 24. The climbing rope assembly 200 can drive the working device 1 to automatically climb up to a high-altitude object along the rope 24. The locking and unlocking mechanism 400 is connected to the clutch assembly 300. The locking and unlocking mechanism 400 can be remotely controlled to trigger the clutch assembly 300 to unlock the climbing rope assembly 200, so that the working device 1 can descend slowly along the rope 24 by its own weight. The working part 600 is installed on the main body 101 and is used to realize high-altitude operations. The posture adjustment mechanism 500 is used to cooperate with the hook structure 2 to adjust the posture of the working device 1 so that it can adapt to the process of climbing upward and hanging on a high-altitude object.

[0083] The hook structure 2 has the following functions: 1. The hook structure 2 can be connected with the drone, so that the drone can raise the hook ear 22 of the hook structure 2 to a high altitude and hang the hook 23 of the hook structure 2 on the high-altitude object, and the hook ear 22 of the hook structure 2 can be detached from the drone when the hanging is completed; 2. The hook structure 2 can be hung on the high-altitude object through the hook 23 to assist the operation device 1 in going online; 3. The hook structure 2 is connected to the climbing rope assembly 200 through the rope 24. Specifically, the hook structure 2 includes the rope 24, and the climbing rope assembly 200 can automatically rise or fall along the rope 24 after it is started.

[0084] Under normal conditions, the climbing rope assembly 200 can automatically climb up to the high-altitude object along the rope 24, and then perform high-altitude operations through the work unit 600. When the operation is completed, the climbing rope assembly 200 can automatically climb down to the ground along the rope 24. Under abnormal conditions, such as when the climbing rope assembly 200 loses power, the clutch assembly 300 can be remotely triggered to mechanically unlock the climbing rope assembly 200, so that the drive part of the climbing rope assembly 200 is disengaged from the climbing rope wheel 210, thereby allowing the working device 1 to descend slowly along the rope 24 by its own weight, realizing the automatic descent of the working device 1 without the need for manual climbing to assist in the descent.

[0085] Specifically, remote triggering can be achieved by controlling the locking and unlocking mechanism 400 via a drone, or by controlling the locking and unlocking mechanism 400 via a remote control device.

[0086] Furthermore, since the rope 24 is suspended and its position cannot be completely fixed, and the working device 1 has a certain weight, its center of gravity may become unstable when it rises along the rope 24. The position adjustment mechanism 500, in conjunction with the hook structure 2, can adjust the position of the working device 1 to ensure that it rises in a stable posture. When the working device 1 rises to a high-altitude object, the position adjustment mechanism 500 and the working device 1 can work together to adjust the position and center of gravity of the device to prevent instability.

[0087] The high-altitude work device provided in this application embodiment can use a drone to attach the hook 23 to a high-altitude object. Through the cooperation of the climbing rope assembly 200 and the hook structure 2, the work device 1 can automatically ascend to the high-altitude object and automatically descend to the ground along the rope 24 of the hook structure 2, without manual assistance, saving labor costs and ensuring safe operation. Simultaneously, the locking / unlocking mechanism 400 and the clutch assembly 300 allow the locking / unlocking mechanism 400 to be remotely controlled in an emergency to trigger the clutch assembly 300 to unlock the climbing rope assembly 200, allowing the work device 1 to descend slowly along the rope 24 under its own weight, eliminating the need for manual climbing assistance and saving labor costs. Furthermore, the posture adjustment mechanism 500, in conjunction with the hook structure 2, can adjust the posture of the work device 1, thereby adjusting the center of gravity posture of the work device 1, so that the work device 1 can adapt to the process of climbing upwards and attaching to high-altitude objects, ensuring stable and reliable operation.

[0088] In some embodiments, please refer to Figure 1 The hook structure 2 includes a hanging ear 22, at least one hook 23, and at least one rope 24. The hanging ear 22 can be mounted on a drone; at least one hook 23 is connected to the hanging ear 22 and is used to mount objects at height; each hook 23 is connected to a rope 24, and the working device 1 can automatically climb to the object at height along the rope 24.

[0089] The number of hooks 23 can be one, two, three or more, preferably two. The two hooks 23 are used to hang on objects at height. For example, the two hooks 23 are hung at different positions along the length extension of the high-voltage line 3 to smoothly hang the working device 1 on the high-voltage line 3.

[0090] The number of ropes 24 is the same as the number of hooks 23. Each hook 23 is connected to a rope 24 below it. Preferably, the hook structure 2 includes two lugs 22 and two ropes 24. The climbing assembly 200 climbs upwards along the two ropes 24 at the same time to ensure the climbing stability of the device.

[0091] In some embodiments, please refer to Figure 1 To facilitate the connection between the lug 22 and the hook 23, or to enable the subsequent linkage drive of the hook structure 2 to the clamping mechanism, the hook structure 2 also includes a connecting frame 21, on which both the hook 23 and the lug 22 are mounted. Specifically, the connecting frame 21 includes a first connecting plate and a second connecting plate that is bent and connected to the first connecting plate. The lug 22 is mounted on the first connecting plate, and the two hooks 23 are mounted on the second connecting plate. The orientation of the hooks 23 is opposite to that of the lug 22, thus facilitating the connection between the lug 22 and the hook 23 with the drone and the high-altitude object, respectively.

[0092] In some embodiments, please refer to Figures 3 to 6 The main body 101 also includes a base frame 100; the climbing rope assembly 200 includes a climbing rope wheel 210, a guide wheel assembly 240, a guide wheel 250, a climbing rope drive 220, and a transmission assembly 230; the climbing rope wheel 210 is mounted on the base frame 100 and is used to wind or clamp the rope 24; the guide wheel assembly 240 is located above the climbing rope wheel 210 and is used to guide the rope 24 into the climbing rope wheel 210; the guide wheel 250 is located beside the climbing rope wheel 210 and is used to guide the rope 24 out of the climbing rope wheel 210; the climbing rope drive 220 is mounted on the base frame 100. The frame 100 includes a climbing rope drive 220 that drives the climbing rope wheel 210 to rotate forward so that the climbing rope wheel 210 can climb upward along the rope 24, and also drives the climbing rope wheel 210 to rotate in the opposite direction so that the climbing rope wheel 210 can climb downward along the rope 24. A transmission assembly 230 is connected between the climbing rope drive 220 and the climbing rope wheel 210. The transmission assembly 230 is connected to a clutch assembly 300, which can be triggered to disengage the transmission assembly 230, thereby disconnecting the climbing rope drive 220 from the climbing rope wheel 210.

[0093] The arrangement of the climbing wheel 210, guide wheel assembly 240, and guide wheel 250 allows the rope 24 to be guided by the guide wheel assembly 240 and guide wheel 250 to contact the climbing wheel 210 in the direction of gravity. This allows the climbing wheel 210 to maintain a clamp on the rope 24 due to the gravity of the working device 1 itself, and to rotate under the drive of the climbing drive component 220, thereby changing its position on the rope 24 and thus changing the height of the working device 1.

[0094] Furthermore, the transmission assembly 230, under normal conditions, enables the transmission connection between the rope drive 220 and the rope wheel 210. That is, the forward and reverse rotation of the rope drive 220 drives the rope wheel 210 to rotate forward and reverse, allowing the rope wheel 210 to climb up or down the rope 24. In an emergency, the locking / unlocking mechanism 400 can be remotely controlled to trigger the clutch assembly 300 to unlock the transmission assembly 230, disengaging the rope drive 220 from the rope wheel 210. The rope drive 220 can neither drive nor prevent the rope wheel 210 from rotating, allowing the working device 1 to descend slowly along the rope 24 under its own weight.

[0095] In some embodiments, please refer to Figure 5 and Figure 6The transmission assembly 230 includes a first transmission component and a second transmission component. The first transmission component is connected to the climbing rope wheel 210. The second transmission component is connected to the climbing rope drive component 220 and is connected to the first transmission component. The clutch assembly 300 is located on the base frame 100 and can switch the transmission relationship between the first transmission component and the second transmission component to be connected or disconnected. The locking and unlocking mechanism 400 includes an emergency unlocking component, which is connected to the clutch assembly 300. The drone can pull the emergency unlocking component to disconnect the transmission connection between the second transmission component and the first transmission component.

[0096] Specifically, under normal conditions, the first and second transmission components are connected, enabling the rope drive 220 to drive the rope wheel 210 in both directions to climb along the rope 24. In an emergency, the drone pulls the emergency unlocking component, which disconnects the second and first transmission components, thus disengaging the rope drive 220 from the rope wheel 210. The rope drive 220 can neither drive nor prevent the rope wheel 210 from rotating, allowing the working device 1 to descend slowly along the rope 24 under its own weight. Understandably, in other embodiments of this application, the transmission component 230 may not be provided, and the climbing wheel 210 may be directly connected to the climbing drive component 220. In an emergency, the connection between the climbing wheel 210 and the climbing drive component 220 may be directly disconnected by the emergency unlocking component. In addition, in other embodiments, at least one third transmission component may be provided, which is sequentially connected to the first transmission component and the second transmission component. In an emergency, the connection between the climbing wheel 210 and the climbing drive component 220 may be disconnected by the emergency unlocking component. This is not the only possible embodiment.

[0097] In some embodiments, please refer to Figure 5 and Figure 6 The clutch assembly 300 includes a first elastic element 310 and a first spring pin 320. The first elastic element 310 abuts between the base frame 100 and the climbing rope drive 220 and / or the second transmission member. The elastic deformation of the first elastic element 310 is greater when the transmission relationship is connected than when it is disconnected. The first spring pin 320 can be inserted into the climbing rope drive 220 and / or the second transmission member to keep the second transmission member connected to the first transmission member. The first spring pin 320 is connected to the emergency unlocking assembly and can be driven by the emergency unlocking assembly to disengage from the climbing rope drive 220 and / or the second transmission member. The climbing rope drive 220 and / or the second transmission member can slide under the action of the first elastic element 310 and disconnect from the first transmission member.

[0098] The climbing rope drive component 220 is coaxially fixed to the second transmission component, meaning the second transmission component is mounted on the output shaft of the climbing rope drive component 220. The first elastic element 310 can abut against the climbing rope drive component 220, and the first spring pin 320 can be inserted into the climbing rope drive component 220; alternatively, the first elastic element 310 can abut against the second transmission component, and the first spring pin 320 can be inserted into the second transmission component; alternatively, the first elastic element 310 can abut against the climbing rope drive component 220 and the second transmission component, and the first spring pin 320 can be inserted into the climbing rope drive component 220 and the second transmission component; alternatively, the first elastic element 310 can abut against the second transmission component, and the first spring pin 320 can be inserted into the climbing rope drive component 220.

[0099] In this embodiment, the clutch assembly 300 is designed with a combination of a first elastic element 310 and a first spring pin 320. The extension and retraction direction of the first elastic element 310 is perpendicular to the insertion direction of the first spring pin 320. The first spring pin 320 holds the second transmission member in a first position where it is connected to the first transmission member. When the second transmission member is no longer restricted by the first spring pin 320, the first elastic element 310 moves the second transmission member from the first position to the second position, making it easy to disconnect the first transmission member. The structure is simple and easy to mechanically control.

[0100] Optionally, the first elastic element 310 is a cylindrical spring, which is used to push the second transmission element and / or the climbing rope drive element 220 to slide linearly. In other embodiments, the first elastic element 310 may also be a torsion spring, which is used to push the second transmission element and / or the climbing rope drive element 220 to swing.

[0101] In some embodiments, please refer to Figure 5 and Figure 6 The first transmission component includes a first gear 231, and the second transmission component includes a second gear 232. The first gear 231 and the second gear 232 mesh and transmit power. The first elastic element 310 is used to drive the second gear 232 to move away from the first gear 231, so that the first gear 231 and the second gear 232 disengage. The transmission between the rope drive component 220 and the rope wheel 210 is achieved through the meshing transmission of the first gear 231 and the second gear 232, resulting in stable transmission and high transmission accuracy. It is understood that in other embodiments of this application, the transmission between the rope drive component 220 and the rope wheel 210 can also be formed by a belt mechanism, chain mechanism, or ball screw structure. In this case, the transmission engagement and disengagement can also be achieved by one of the wheels in the sliding belt mechanism or chain mechanism; this is not a unique limitation.

[0102] In some embodiments, please refer to Figures 4 to 6The clutch assembly 300 also includes a rack 330, a third gear 340, and a wrench 350; the rack 330 is fixedly connected to the rope drive 220 and / or the second transmission component; a first spring pin 320 can be inserted into the rack 330 to keep the second transmission component connected to the first transmission component; the first spring pin 320 is connected to the emergency unlocking assembly and can be driven by the emergency unlocking assembly to disengage from the rack 330; the rack 330 can drive the second transmission component to slide away from the first transmission component under the action of the first elastic member 310; the rack 330 meshes with the third gear 340 for transmission, and the wrench 350 is connected to the third gear 340; by rotating the wrench 350, the third gear 340 can be rotated to move the rack 330.

[0103] In normal rope climbing mode, the second gear 232 is in the first position, the first gear 231 is meshed with the second gear 232, the first spring pin 320 is inserted into the rack 330 to hold the second gear 232 in the first position, the first elastic element 310 abuts between the rack 330 and the base frame 100, and the first elastic element 310 is in a state of compressive elastic potential energy.

[0104] In an emergency, the drone pulls the first spring pin 320 through the emergency unlocking component, causing the first spring pin 320 to disengage from the rack 330. Under the elastic action of the first elastic element 310, the rack 330 drives the second gear 232 to slide from the first position to the second position. The second gear 232 disengages from the first gear 231, and the working device 1 slowly slides down the rope 24 under its own weight.

[0105] When the rope 24 is reconnected to the climbing assembly 200, the wrench 350 needs to be manually driven to rotate the third gear 340. The third gear 340 drives the rack 330 to move, thereby driving the second gear 232 to reset from the second position to the first position. At this time, the first spring pin 320 resets and inserts into the rack 330 under its own elastic force, so that the second gear 232 remains engaged with the first gear 231.

[0106] For some specific embodiments, please refer to Figures 3 to 6 The main body 101 includes two sets of rope climbing assemblies 200. The clutch assembly 300 includes two racks 330. The two racks 330 are respectively engaged with the third gear 340 for transmission. The two racks 330 are respectively connected to two second transmission components. The first spring pin 320 is inserted into one of the racks 330.

[0107] The arrangement of two sets of climbing rope components 200 allows the working device 1 to climb smoothly. Furthermore, the third gear 340 is connected to two racks 330 respectively, meaning that only one rack 330 needs to be restricted by the first spring pin 320 to keep both sets of transmission components 230 connected. Moreover, the transmission state of the two transmission components 230 can be changed via the third gear 340 using only a wrench 350. This not only achieves synchronous engagement and disengagement of the two sets of climbing rope components 200 but also ensures stable clutch transmission on both sides, resulting in a simple clutch structure. It is understood that in other embodiments of this application, the number of climbing rope components 200 can be one, three, or more. The clutch components 300 of the two sets of climbing rope components 200 can be synchronized, or the clutch components 300 of each climbing rope component 200 can be controlled individually; no single limitation is made here.

[0108] In some embodiments, please refer to Figure 4 and Figure 5 The main body 101 also includes a first mounting plate 280 and a second mounting plate 290, which are parallel to each other and respectively mounted on the base frame 100. Two second gears 232 and two first gears 231 are rotatably mounted on the first mounting plate 280, and two rope pulleys 210 are coaxially connected to the two first gears 231 respectively. Two rope driving components 220 are respectively mounted on the two second mounting plates 290, and the two second gears 232 and two first gears 231 mesh and transmit power between the first mounting plate 280 and the second mounting plate 290. A third gear 340 and a wrench 350 are mounted on the second mounting plate 290, two racks 330 are slidably disposed on the second mounting plate 290, a first elastic element 310 is mounted on the second mounting plate 290 and abuts against the racks 330, and a first spring pin 320 is mounted on the second mounting plate 290 and inserted into the racks 330.

[0109] In some embodiments, please refer to Figure 4 The rope reel 210 has a receiving cavity 211 for accommodating the rope 24. The opposite side wall of the receiving cavity 211 is provided with a clamping rib 212. The clamping rib 212 is set at an angle to the radial direction of the rope reel 210 and its axial height gradually decreases from the center outward.

[0110] Specifically, the receiving cavity 211 is radially recessed from the outer circumferential surface of the rope wheel 210, allowing the rope 24 to be inserted into the receiving cavity 211 from the outer circumferential surface of the rope wheel 210. The clamping ribs 212 are at an angle to the radial direction of the rope wheel 210. Specifically, the direction of extension of the clamping ribs 212 from the center of the rope wheel 210 to the outer edge forms an angle with the radial direction of the rope wheel 210. Furthermore, each clamping rib 212 is spirally distributed along the circumference of the rope wheel 210. In this way, the rope 24 can be clamped by the clamping ribs 212, and the clamping ribs 212 can also push the rope 24 forward, enabling the rope wheel 210 to climb along the rope 24.

[0111] In addition, the axial height of the clamping rib 212 gradually decreases from the center of the rope pulley 210 outwards, which makes it easier to pull the rope 24 out of the rope pulley 210.

[0112] In some embodiments, please refer to Figure 4 and Figure 6 The main body 101 also includes a rope release hook 260, which is mounted on the base frame 100 and at least partially extends into the rope reel 210 to guide the rope 24 out of the rope reel 210. The guide reel 250 is located beside the rope reel 210 and is used to telescopically guide the rope release hook 260 out of the rope reel 210.

[0113] For details, please refer to Figure 4 and Figure 6 The unwind hook 260 and the guide wheel 250 are spaced apart to form a guide channel for guiding the rope 24. The unwind hook 260 has a guide surface 261 spaced apart from the guide wheel 250. The guide surface 261 is composed of at least one arc-shaped surface for gently drawing out the rope 24.

[0114] In addition, a line cover 270 is installed on the outer periphery of the part of the rope 24 that is wound around the rope reel 210. The line cover 270 limits the rope 24 so that the rope 24 remains wound around the rope reel 210.

[0115] In some embodiments, please refer to Figures 7 to 9 The locking and unlocking mechanism 400 includes an emergency unlocking component, which includes an emergency unlocking handle 410 and an emergency unlocking transmission component 420. The emergency unlocking transmission component 420 is connected between the emergency unlocking handle 410 and the clutch component 300. The emergency unlocking handle 410 can be pulled by a drone to drive the emergency unlocking transmission component 420 to trigger the clutch component 300. In this embodiment, by setting up the emergency unlocking handle 410 and the emergency unlocking transmission component 420, in an emergency, only the emergency unlocking handle 410 needs to be pulled by a drone to trigger the clutch component 300 through the emergency unlocking transmission component 420 to unlock the climbing rope component 200, thereby allowing the working device 1 to descend slowly along the rope 24 by its own weight.

[0116] Specifically, in an embodiment where the clutch assembly 300 has a first spring pin 320, the emergency unlocking transmission member 420 is connected to the first spring pin 320. By pulling the first spring pin 320 through the emergency unlocking transmission member 420, the rope driving member 220 and the rope wheel 210 are disconnected.

[0117] In some embodiments, please refer to Figure 8 and Figure 9 The emergency unlocking transmission component 420 includes a mounting base 421, a sliding button 422, a second elastic element 423, and a second spring pin 424. The mounting base 421 is mounted on the base frame 100, and the sliding button 422 is slidably disposed on the mounting base 421. The sliding button 422 is connected to the clutch assembly 300 via a first drive line 426. The second spring pin 424 can be inserted into the sliding button 422 to limit the sliding button 422 to a third position, so that the clutch assembly 300 remains connected. The second elastic element 423... 23 is located between the slide button 422 and the mounting base 421. The elastic deformation of the second elastic element 423 is less when the climbing rope assembly 200 is in the unlocked state than when it is in the locked state. The second spring pin 424 is connected to the emergency unlock handle 410. The emergency unlock handle 410 can be pulled by the drone to lift the second spring pin 424 upward to disengage from the slide button 422. The second elastic element 423 can drive the slide button 422 to slide from the third position to the fourth position to trigger the clutch assembly 300.

[0118] It should be noted that the slider 422 slides in the mounting base 421 and has a third position and a fourth position. When the slider 422 is in the third position, the first drive line 426 is in a relaxed state; when the torsion spring is in the fourth position, the first drive member is in a taut state.

[0119] In normal rope climbing state, the second spring pin 424 is inserted into the slide button 422 to limit the slide button 422 to the third position, the second elastic element 423 is in a state of compression and accumulating elastic potential energy, and the slide button 422 is connected to the clutch assembly 300 through the first drive line 426. At this time, the clutch assembly 300 remains connected, that is, the rope climbing assembly 200 remains in normal rope climbing state.

[0120] In an emergency, the drone pulls the emergency unlock handle 410, which causes the second spring pin 424 to lift upward to disengage from the slide button 422. Under the elastic action of the second elastic element 423, the slide button 422 slides from the third position to the fourth position. The slide button 422 pulls the first drive line 426, which tauts to trigger the clutch assembly 300, thereby unlocking the climbing rope assembly 200 and allowing the working device 1 to descend slowly along the rope 24 by its own weight.

[0121] Specifically, in embodiments where the clutch assembly 300 includes a first spring pin 320, the first drive line 426 is connected to the first spring pin 320. When the slider 422 is in the third position, the first drive line 426 exerts no pulling force on the first spring pin 320; when the slider 422 is in the fourth position, the first drive line 426 pulls the first spring pin 320 to unlock the clutch assembly 300.

[0122] In some embodiments, please refer to Figure 7 and Figure 10 The emergency unlock handle 410 is connected to the second spring pin 424 via a sliding frame 425. The emergency unlock handle 410 and the sliding frame 425 are connected by a cam 411 structure. The emergency unlock handle 410 can be pulled and swung by the unmanned frame. The swing of the emergency unlock handle 410 can drive the sliding frame 425 to rise and fall to pull the second spring pin 424.

[0123] For details, please refer to Figure 7 and Figure 10 The emergency unlock handle 410 is a frame-shaped sheet structure, and the sliding frame 425 is a closed frame-shaped sheet structure. A cam 411 protrudes from the side of the emergency unlock handle 410 facing the sliding frame 425. A groove 4251 is provided on the sliding frame 425 corresponding to the position of the cam 411. The cam 411 slides within the groove 4251 and is rotatably mounted on the base frame 100 via a pin. The sliding frame 425 slides vertically on the base frame 100. When the drone pulls the emergency unlock handle 410, the emergency unlock handle 410 rotates around the pin, and the cam 411 rotates eccentrically around the pin to drive the sliding frame 425 to slide vertically. The sliding frame 425 is connected to the second spring pin 424, and the sliding frame 425 rises and pulls the second spring pin 424 upwards.

[0124] In some embodiments, please refer to Figure 3 and Figure 12 The posture adjustment mechanism 500 includes a guide wheel frame 510 and a gravity compression elastic element 520; the guide wheel assembly 240 is disposed on the guide wheel frame 510, and the guide wheel frame 510 is slidably connected to the base frame 100 in the vertical direction; the gravity compression elastic element 520 abuts between the guide wheel frame 510 and the base frame 100, and the gravity compression elastic element 520 can deform under the weight of the working device 1 to change the height of the guide wheel assembly 240 relative to the working device 1;

[0125] When the main body 101 is in the climbing state, the gravity compression elastic member 520 is not under force and is in a naturally stretched state. The gravity compression elastic member 520 can make the guide wheel assembly 240 extend upward from the main body 101 so that the center of gravity of the main body 101 is as close as possible to the connection position between the rope 24 and the main body 101, so as to reduce the impact of the center of gravity of the main body 101 deviating from the connection position of the rope 24 on the direction of the rope 24 and the posture of the main body 101.

[0126] When the main body 101 climbs to the vicinity of the high-altitude object, the guide wheel assembly 240 is elastically suspended due to the action of the gravity-compressed elastic element 520. This allows the hook structure 2 to push the guide wheel assembly 240 back to the main body 101, ensuring that the high-altitude object or the working part 600 can adhere to the main body 101. When the high-altitude object adheres to the main body 101, the connection stability between the high-altitude object and the working device 1 is achieved. When the working part 600 adheres to the main body 101, it can be driven upwards by the hook structure 2 to begin operation.

[0127] It should be noted that when the main body 101 climbs to the vicinity of the high-altitude object, the main body 101 rises along the rope 24 due to the drive of the climbing rope assembly 200, thereby enabling the hook structure 2 to push the guide wheel assembly 240 to retract into the main body 101. In other words, the power comes from the climbing rope assembly 200, and no additional driving force is required.

[0128] In some embodiments, please refer to Figure 12 The guide wheel frame 510 includes a mating groove 511, and the hook structure 2 includes a mating part 25. The mating part 25 can be inserted into the mating groove 511 to retract the guide wheel assembly 240 into the main body 101.

[0129] Specifically, the mating part 25 is formed at the connection between the hook 23 and the rope 24. The mating part 25 is conical. As the main body 101 climbs up the rope 24, the distance between the mating part 25 and the mating groove 511 gradually tightens until the mating part 25 is inserted into the mating groove 511. The force of the two moving closer together causes the mating part 25 to push the mating groove 511 to drive the guide wheel assembly 240 to retract into the main body 101. It can be understood that in other embodiments of this application, the mating part 25 may also be formed on the guide wheel frame, and the mating groove 511 may be formed on the hook structure 2. This is not a unique limitation.

[0130] In some embodiments, please refer to Figures 13 to 15 The main body 101 includes a base frame 100, which is equipped with support wheels 110 for supporting the high-voltage line 3. The working part 600 includes a clamping mechanism, which is rotatably mounted on the base frame 100. The clamping mechanism includes a stop part 610 and an upper hanging part 620. The upper hanging part 620 is provided with a traveling wheel 621 and a traveling wheel adjustment mechanism 622. When the main body 101 moves close to the high-altitude object, the high-altitude object or the hook structure 2 can contact the stop part 610, so that the main body 101 is driven by the climbing rope assembly 200 to continue to rise until the upper hanging part 620 rotates relative to the main body 101, so that the traveling wheel 621 rotates with the upper hanging part 620 to the top of the high-voltage line 3. The traveling wheel adjustment mechanism 622 can adjust the traveling wheel 621 so that it is opposite to the support wheel 110 and presses the high-voltage line 3.

[0131] The clamping mechanism is divided into a stop part 610 and an upper hanging part 620. When the main body 101 rises to a preset height, the stop part 610 can be rotated by the hook structure 2 or a high-altitude object, thereby causing the upper hanging part 620 to rotate relative to the main body 101. This causes the traveling wheel 621 to rotate above the high-voltage line 3, thus clamping the high-voltage line 3 together with the support wheel 110. This configuration ensures that the rotation of the clamping mechanism and the rise of the main body 101 are linked actions, both driven by the climbing rope assembly 200. No additional driving force or control structure is required, resulting in a simple and low-cost structure.

[0132] In some embodiments, please refer to Figure 13 and Figure 14 The upper part 620 also includes a clamping adjustment mechanism 624 and a clamping block 623; the clamping block 623 can be driven by the clamping adjustment mechanism 624 to clamp the high-voltage line 3; the clamping adjustment mechanism 624 and the traveling wheel adjustment mechanism 622 are arranged in the same linear mechanism so that the traveling wheel 621 is arranged between the clamping block 623 and the high-voltage line 3, the side of the clamping block 623 facing the traveling wheel 621 has a concave shape that matches the shape of the traveling wheel 621, the clamping adjustment mechanism 624 also includes a fourth elastic member 625, the fourth elastic member 625 abuts between the traveling wheel 621 and the clamping block 623, the linear mechanism has a first stroke and a second stroke, the first stroke corresponds to the traveling wheel adjustment mechanism 622, and the second stroke corresponds to the clamping adjustment mechanism 624.

[0133] Specifically, the walking wheel adjustment mechanism 622 can adjust the walking wheel 621 so that it is opposite to the support wheel 110 and presses against the high-voltage line 3, thereby enabling the walking wheel 621 to move along the high-voltage line 3. The clamping adjustment mechanism 624 can drive the clamping block 623 to clamp the high-voltage line 3, so that the working unit 600 can start working, such as starting to vibrate and crush ice.

[0134] In this embodiment, by placing the clamping adjustment mechanism 624 and the walking wheel adjustment mechanism 622 in the same linear mechanism, and providing a fourth elastic element 625 between the walking wheel 621 and the clamping block 623, the same linear mechanism can simultaneously drive the walking wheel 621 and the clamping block 623. Specifically, when the linear mechanism has a first stroke, it corresponds to the walking wheel adjustment mechanism 622, that is, the linear mechanism synchronously lowers the walking wheel 621 and the clamping block 623 by a first stroke. At this time, the walking wheel 621 presses against the high-voltage line 3 to achieve movement, while the clamping block 623 has not yet contacted the high-voltage line 3 due to the action of the fourth elastic element 625. When the linear mechanism continues to descend and has a second stroke, it corresponds to the clamping adjustment mechanism 624, that is, the clamping block 623 presses against the high-voltage line 3, and the walking wheel 621 presses against the high-voltage line 3. The fourth elastic element 625 is in a compressed state, and the working unit 600 begins operation. Overall, the first stroke is shorter than the second stroke. During the first stroke, the clamping mechanism is in a semi-clamped state with the high-voltage wire 3, while during the second stroke, the clamping mechanism is in a fully clamped state with the high-voltage wire 3.

[0135] For some specific embodiments, please refer to Figure 14 The linear mechanism is a ball screw mechanism. In addition, the clamping mechanism is equipped with a motor and a bevel gear transmission mechanism, and the ball screw mechanism is connected to the bevel gear transmission mechanism.

[0136] In some embodiments, please refer to Figure 3 The operating unit 600 also includes a vibration drive 630, which is connected to a clamping block 623 to drive the high-voltage wire 3 to vibrate and break the ice. Specifically, when the linear mechanism has a second stroke, the clamping block 623 clamps the high-voltage wire 3, and then the vibration drive 633 drives the clamping block 623 to vibrate to break the ice.

[0137] In some embodiments, please refer to Figures 7 to 9 The locking and unlocking mechanism 400 also includes a limiting component 430, which is used to lock the upper hanging part 620 rotated to the hanging state to ensure that the working device 1 can stably hang objects at high altitudes.

[0138] In some embodiments, please refer to Figure 8 and Figure 9 The limiting component 430 includes a limiting member 431, a slider 432, a fixed base 433, and a fifth elastic member 434. The fixed base 433 is located on the base frame 100, and the fifth elastic member 434 abuts between the limiting member 431 and the fixed base 433, so that the limiting member 431 is in the locked position. The limiting member 431 is connected to the slider 432. When the slider 432 moves to the unlocked state, it can drive the limiting member 431 to disengage from the locked position, so that the clamping adjustment mechanism 624 can be rotated open and disengaged from the hanging state.

[0139] Specifically, the fixed base 433 has a sliding cavity 4331, the limiting member 431 is slidably disposed in the sliding cavity 4331, and the fifth elastic member 434 is disposed in the sliding cavity 4331. The fifth elastic member 434 abuts between the fixed base 433 and the limiting member 431, and a second drive line 435 connects the limiting member 431 and the slider 432. When the slider 432 is in the locked position, the second drive line 435 is in a relaxed state, and the slider 432 has no pulling force on the limiting member 431. Under the elastic force of the fifth elastic member 434, the limiting member 431 extends out of the sliding cavity 4331 and locks the upper hanging part 620. Specifically, the upper hanging part 620 has an insertion hole, and the limiting member 431 is inserted into the insertion hole to lock the upper hanging part 620 in a vertical state. When the slider 432 is in the unlocked state, the slider 432 has a pulling force on the second drive line 435, the second drive line 435 is in a taut state, the second drive member pulls the limit member 431 from the locked position back to the unlocked position to release the upper hanging part 620, and at this time the fifth elastic member 434 is in a state of compression and accumulating elastic potential energy.

[0140] In some embodiments, please refer to Figure 8 and Figure 9 The limiting assembly 430 also includes a slider drive 436, which is connected to the slider 432. The slider drive 436 drives the slider 432 into the unlocked state, causing the limiting member 431 to return to the unlocked position, thereby allowing the clamping mechanism to rotate and open under its own weight. Specifically, the slider drive 436 is a linear push rod. The linear push rod can retract to slide the slider 432 from the unlocked state to the locked state, thereby slackening the second drive line 435 and allowing the limiting member 431 to slide to the locked position under the action of the fifth elastic member 434. The linear push rod can also extend to push the slider 432 from the locked state to the unlocked state, tautening the second drive line 435 and causing the limiting member 431 to retract into the sliding cavity 4331. In other words, the slider drive 436 is used to realize the automatic locking and unlocking of the limiting member 431.

[0141] In some embodiments, please refer to Figure 9 and Figure 11 The slider 422 and the slider 432 have a limited sliding engagement. When the slider 422 is unlocked in an emergency, it will drive the slider 432 into the unlocked state. When the slider driver 436 drives the slider 432 into the unlocked state, it does not affect the state of the slider 422.

[0142] By forming a limited sliding engagement between the sliding buttons 422 and 422, in an emergency, the emergency unlocking component can drive the sliding button 422 to unlock, simultaneously causing the slider 432 to enter the unlocked state. Furthermore, in normal use, when the sliding drive component 436 drives the slider 432 into the unlocked state, it does not affect the state of the sliding button 422; that is, the sliding button 422 can still remain locked.

[0143] For some specific embodiments, please refer to Figure 11 The slider 432 has a mounting hole 4321, and the button 422 has an elongated hole 4221 extending along the sliding direction of the button 422. The elongated hole 4221 has a first end and a second end. A limiting pin is installed in the mounting hole 4321 and is slidably disposed in the elongated hole 4221. When both the button 422 and the slider 432 are in the locked state, the limiting pin is located at the first end. In an emergency, when the emergency unlocking component drives the button 422 to slide from the locked state to the unlocked state, the pin slides from the first end to the second end and pushes the slider 432 from the locked position to the unlocked position. When the sliding drive component 436 drives the slider 432 to slide from the locked position to the unlocked position, the limiting pin just slides from the first end to the second end and will not affect the button 422.

[0144] On the other hand, this application also provides a method for high-altitude operations, which uses the above-mentioned high-altitude operations system in conjunction with a drone to perform high-altitude operations, including the following steps:

[0145] This puts the locking / unlocking mechanism 400 in a reset state;

[0146] The locking and unlocking mechanism 400 is in a reset state, specifically by setting the slider 422 to the locked state so that the working device 1 can climb along the rope 24. The slider 432 is set to the unlocked state so that the limit member 431 will not obstruct the rotating and flipping action of the working part 600.

[0147] The drone is controlled to lift the hook structure 2 to the high-altitude object. The status of the locking and unlocking mechanism 400 is remotely observed based on the information transmitted back by the vision module 700 to determine when to stop the rope climbing, or the load status of the rope climbing drive component 220 is used to determine that the hanging has been completed.

[0148] Specifically, the vision module 700 can be installed on the main body 100, a drone, or other external equipment. The vision module 700 can obtain the status of the locking and unlocking mechanism 400. Specifically, it can obtain the position status of the limit member 431. For example, if the limit member 431 is in the locked position, the rope climbing can be stopped. Alternatively, it can determine whether the rope climbing has been completed by the load status of the rope climbing drive 220. For example, if the rope climbing drive 220 is a motor, the load current of the motor can be monitored. When it is greater than the current value for completing the rope climbing, it is determined that the rope climbing has been completed and the driving can be stopped.

[0149] The operation unit 600 includes a motion state sensing component, which includes a processing unit, a storage unit, and a motion state sensor. The storage unit stores motion state data corresponding to preset motion states, including resonance state and / or the hanging completion state during the lifting process. The processing unit processes the feedback data from the motion state sensor to obtain the positional change state of the operation device during the lifting and / or operation process. The positional change state includes vibration frequency (maximum amplitude during resonance) and / or swaying and / or tilting during the lifting and / or operation process.

[0150] In an emergency, the drone is controlled to pull the locking and unlocking mechanism to unlock the working device and allow it to slowly descend back to the ground. The preset motion states also include the drone's operable state. Before controlling the drone to perform the pulling operation, the motion state sensing component confirms that the motion state of the working device is the drone's operable state (the motion state is relatively calm and controllable).

[0151] In some embodiments, the motion state sensor may include an accelerometer and / or a gyroscope.

[0152] Specifically, by pulling the emergency unlock handle 410 via the drone, the emergency unlock transmission component 420 is activated to trigger the clutch assembly 300, thereby unlocking the climbing rope assembly 200 and allowing the device to slowly descend back to the ground under its own gravity.

[0153] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A high-altitude work system, used in conjunction with a drone for high-altitude operations, characterized in that: include: A hook structure that can be mounted on a drone, and can be carried by the drone and attached to objects at high altitudes; The working device includes a main body, a working part, a posture adjustment mechanism, and a locking / unlocking mechanism. The main body includes a climbing rope assembly and a clutch assembly. The climbing rope assembly is connected to the hook structure via a rope, enabling the working device to automatically climb up the rope to the high-altitude object. The locking / unlocking mechanism is connected to the clutch assembly and can be remotely controlled to trigger the clutch assembly to unlock the climbing rope assembly, allowing the working device to descend slowly along the rope under its own weight. The working part is installed on the main body and is used for high-altitude operations. The posture adjustment mechanism cooperates with the hook structure to adjust the posture of the working device so that it can adapt to the process of climbing upwards and hanging onto the high-altitude object.

2. The aerial work system as described in claim 1, characterized in that, The hook structure includes: The ear-like attachment allows it to be mounted on the aforementioned drone; At least one hook is connected to the hanging ear, and the hook is used to hang objects at height; At least one rope, each hook being connected to one of the ropes, the working device being able to automatically climb along the ropes to the high-altitude object; The main body includes a base frame; the climbing rope assembly includes: A rope reel, installed on the base frame, is used to wind or clamp the rope; A guide wheel assembly, located above the climbing rope wheel, is used to guide the rope into the climbing rope wheel; A guide wheel, located beside the rope reel, is used to guide the rope out of the rope reel; A rope-climbing drive unit is installed on the base frame. The rope-climbing drive unit is used to drive the rope-climbing wheel to rotate forward so that the rope-climbing wheel can climb upward along the rope, and the rope-climbing drive unit is also used to drive the rope-climbing wheel to rotate in the opposite direction so that the rope-climbing wheel can climb downward along the rope. A transmission assembly is connected between the climbing rope drive and the climbing rope wheel. The transmission assembly is connected to the clutch assembly, which can be triggered to disengage the transmission assembly, thereby disconnecting the climbing rope drive from the climbing rope wheel. The rope is guided by the guide wheel assembly and the guide wheel to contact the climbing rope wheel in the direction of gravity, so that the climbing rope wheel can keep clamping the rope due to the gravity of the working device itself and rotate under the drive of the climbing rope drive to change its position on the rope and thus change the height of the working device.

3. The aerial work system as described in claim 2, characterized in that, The transmission assembly includes: A first transmission component, which is connected to the climbing rope wheel; The second transmission component is connected to the climbing rope drive component and is also connected to the first transmission component in a transmission connection. The clutch assembly is located on the base frame and can switch the transmission relationship between the first transmission member and the second transmission member to be connected or disconnected; the locking and unlocking mechanism includes an emergency unlocking assembly, which is connected to the clutch assembly, and the drone can pull the emergency unlocking assembly to disconnect the transmission connection between the second transmission member and the first transmission member.

4. The aerial work system as described in claim 3, characterized in that, The clutch assembly includes: The first elastic element abuts between the base frame and the climbing rope drive and / or the second transmission element, and the degree of elastic deformation of the first elastic element is greater when the transmission relationship is in the connected state than when it is in the disconnected state. A first spring pin can be inserted into the climbing rope drive and / or the second transmission component to keep the second transmission component connected to the first transmission component; the first spring pin is connected to the emergency unlocking component and can be driven by the emergency unlocking component to disengage from the climbing rope drive and / or the second transmission component, and the climbing rope drive and / or the second transmission component can slide under the action of the first elastic element and disconnect from the first transmission component.

5. The aerial work system as described in claim 4, characterized in that, The first transmission component includes a first gear, and the second transmission component includes a second gear. The first gear and the second gear mesh and transmit power. The first elastic element is used to drive the second gear to move away from the first gear, so that the first gear and the second gear disengage.

6. The aerial work system as described in claim 5, characterized in that, The clutch assembly also includes a rack, a third gear, and a wrench; The rack is fixedly connected to the rope-climbing drive and / or the second transmission component; the first spring pin can be inserted into the rack to keep the second transmission component connected to the first transmission component; the first spring pin is connected to the emergency unlocking component and can be driven by the emergency unlocking component to disengage from the rack, and the rack can drive the second transmission component to slide away from the first transmission component under the action of the first elastic element. The rack meshes with the third gear, and the wrench is connected to the third gear. By rotating the wrench, the third gear can be rotated, thereby moving the rack.

7. The aerial work system as described in claim 6, characterized in that, The main body includes two sets of climbing rope assemblies. The clutch assembly includes two racks, which mesh with the third gear and are connected to the two second transmission components. The first spring pin is inserted into one of the racks.

8. The aerial work system as described in claim 2, characterized in that, The climbing reel has a receiving cavity for accommodating the rope, and the opposite sidewalls of the receiving cavity are provided with clamping ribs. The clamping ribs are arranged at an angle to the radial direction of the climbing reel and the axial height gradually decreases from the center outward. The main body also includes a rope release hook, which is installed on the base frame and at least partially raised into the interior of the climbing reel to release the rope from the climbing reel.

9. The aerial work system as described in any one of claims 1 to 8, characterized in that, The locking and unlocking mechanism includes an emergency unlocking component, which includes an emergency unlocking handle and an emergency unlocking transmission component. The emergency unlocking transmission component is connected between the emergency unlocking handle and the clutch component. The emergency unlocking handle can be pulled by the drone to drive the emergency unlocking transmission component to trigger the clutch component.

10. The aerial work system as described in claim 9, characterized in that, The emergency unlocking transmission component includes a mounting base, a sliding button, a second elastic element, and a second spring pin; the mounting base is mounted on the main body, the sliding button is slidably disposed on the mounting base, and the sliding button is connected to the clutch assembly via a first drive line; The second spring pin can be inserted into the slide button to restrict the slide button to a third position so that the clutch assembly remains engaged; the second elastic element is disposed between the slide button and the mounting base, and the elastic deformation of the second elastic element is less when the climbing rope assembly is in the unlocked state than when it is in the locked state; The second spring pin is connected to the emergency unlock handle, which can be pulled by the drone to lift the second spring pin upward to disengage it from the sliding button. The second elastic element can drive the sliding button to slide from the third position to the fourth position to trigger the clutch assembly.

11. The aerial work system as described in any one of claims 2 to 8, characterized in that, The posture adjustment mechanism includes a guide wheel frame and a gravity compression elastic element; the guide wheel assembly is disposed on the guide wheel frame, and the guide wheel frame is slidably connected to the base frame in the vertical direction; the gravity compression elastic element abuts between the guide wheel frame and the base frame, and can deform under the weight of the working device to change the height of the guide wheel assembly relative to the working device; In the climbing state of the main body, the gravity compression elastic element can cause the guide wheel assembly to extend upward from the main body to reduce the impact of the main body's center of gravity deviation on the rope direction and the posture of the main body. When the main body climbs to the vicinity of the high-altitude object, the hook structure pushes the guide wheel assembly to retract the guide wheel assembly back to the main body, so as to ensure that the high-altitude object or the working part can fit against the main body.

12. The aerial work system as described in claim 11, characterized in that, The guide wheel frame includes a mating groove, and the hook structure includes a mating part, which can be inserted into the mating groove to retract the guide wheel assembly into the main body.

13. The aerial work system as described in claim 10, characterized in that, The main body includes a base frame, and the base frame is equipped with support wheels for supporting the high-voltage line; The working part includes a clamping mechanism, which is rotatably mounted on the base frame. The clamping mechanism includes a stop part and an upper hanging part. The upper hanging part is provided with a traveling wheel and a traveling wheel adjustment mechanism. When the main body moves close to the high-altitude object, the high-altitude object or the hook structure can contact the stop part, causing the main body to be driven by the climbing rope assembly to continue to rise, causing the upper hanging part to rotate relative to the main body, so that the walking wheel rotates with the upper hanging part to above the high-voltage line, and the walking wheel adjustment mechanism can adjust the walking wheel so that it is opposite to the support wheel and presses against the high-voltage line.

14. The aerial work system as described in claim 13, characterized in that, The upper part also includes: Pressure adjustment mechanism; The clamping block can be driven by the clamping adjustment mechanism to clamp the high-voltage line; The clamping adjustment mechanism and the traveling wheel adjustment mechanism are arranged in the same linear mechanism so that the traveling wheel is positioned between the clamping block and the high-voltage line; the side of the clamping block facing the traveling wheel has a concave shape that matches the shape of the traveling wheel; the clamping adjustment mechanism also includes a fourth elastic element, which abuts against the traveling wheel and the clamping block; the linear mechanism has a first stroke and a second stroke, the first stroke corresponding to the traveling wheel adjustment mechanism and the second stroke corresponding to the clamping adjustment mechanism.

15. The aerial work system as described in claim 14, characterized in that, The working unit also includes a vibration drive component, which is connected to the clamping block to drive the high-voltage line to vibrate and break the ice through the clamping block.

16. The aerial work system as described in claim 14, characterized in that, The locking and unlocking mechanism also includes a limiting component, which is used to lock the upper hanging part when it is rotated to the hanging state to ensure that the working device can stably hang on the high-altitude object.

17. The aerial work system as described in claim 16, characterized in that, The limiting component includes a limiting member, a slider, a fixed base, and a fifth elastic member; the fixed base is disposed on the base frame, and the fifth elastic member abuts between the limiting member and the fixed base, so that the limiting member is in a locked position; The limiting member is connected to the slider. When the slider moves to the unlocked state, it can drive the limiting member to disengage from the locked position, so that the clamping adjustment mechanism can be rotated open and disengaged from the hanging state.

18. The aerial work system as described in claim 17, characterized in that, The limiting component also includes a slider driver, which drives the slider to enter the unlocked state and drives the limiting component back to the unlocked position, thereby causing the clamping mechanism to rotate and open under its own weight. The slider and the slide button have a limited sliding engagement. When the slider is unlocked in an emergency, the slider will drive the slide button into the unlocked state. When the slide button drives the slide button into the unlocked state, it does not affect the state of the slider.

19. A method for working at heights, characterized in that, Using the aerial work system as described in any one of claims 1 to 18 in conjunction with a drone to perform aerial work includes the following steps: The locking and unlocking mechanism is reset. The drone is controlled to lift the hook structure to the high-altitude object. The status of the locking and unlocking mechanism is remotely observed based on the information transmitted back by the vision module to determine when to stop the rope climbing, or the load status of the rope climbing drive component is used to determine that the hanging has been completed. The operation unit includes a motion state sensing component, which includes a processing unit, a storage unit, and a motion state sensor. The storage unit stores motion state data corresponding to preset motion states, including resonance states and / or the hanging completion state during the lifting process. The processing unit processes the feedback data from the motion state sensor to obtain the positional change state of the operation device during lifting and / or operation, including vibration frequency and / or swaying and / or tilting during lifting. In an emergency, the drone is controlled to pull the locking and unlocking mechanism to unlock the working device and allow it to slowly descend back to the ground. The preset motion state also includes the drone's operable state. Before controlling the drone to perform the pulling operation, the motion state sensing component confirms that the motion state of the working device is the drone's operable state.

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