Docking and separating device of unmanned aerial vehicle hoisting robot, overhead line inspection robot and inspection method

Abstract

According to the docking and separating device of the unmanned aerial vehicle hoisting robot, the hoisting process is stable, operation is convenient, and meanwhile the robot adopting the docking and separating device is further provided. The butt-joint separation device comprises a main body suspender assembly and a butt-joint separation assembly. The butt-joint separation assembly comprises a first steering engine, a steering engine connecting rod, a second steering engine, an unlocking connecting rod, a framework structure, a butt-joint separator shell and a butt-joint rod. The butt-joint rods can be driven by the first steering engine to be closed or opened, when the butt-joint rods at the two ends are closed, the maximum distance between the butt-joint rods is smaller than the diameter of a butt-joint ring at the top of the robot, and when the butt-joint rods at the two ends are opened, the maximum distance between the butt-joint rods is larger than the diameter of the butt-joint ring at the top of the robot; the second steering engine is connected with the unlocking connecting rod and can control the unlocking connecting rod to stretch out and draw back, and the unlocking connecting rod is used for stretching into the butt joint groove of the hoisting rod and limiting movement of the robot in the hoisting process.

Description

Technical Field

[0001] This invention relates to the field of drone hoisting technology, specifically to a docking and separation device for a drone hoisting robot, the robot itself, and a method for inspecting overhead power lines. Background Technology

[0002] In the field of live-line working, especially in the inspection and maintenance of transmission lines, the application of drones and robots is becoming increasingly widespread. Traditional manual inspection and operation methods have many limitations, such as low efficiency, high safety risks, and high labor intensity. Therefore, using drones and robots for live-line working has become an important development trend.

[0003] In power transmission line inspections, drones can quickly reach designated locations to take high-definition photos and collect data, greatly improving inspection efficiency. In scenarios requiring close-range operations, such as line maintenance and component replacement, robots play a crucial role. However, how to hoist robots to designated work locations and how to design maintenance robots have always been technical challenges in live-line work during overhead line maintenance.

[0004] Currently, drone-based lifting robots primarily use hook suspension for hoisting to their designated work locations. While simple, this method has several drawbacks in practice: Hook suspension is susceptible to external factors like wind, causing the robot to sway and affecting stability. This swaying can be particularly dangerous at heights, endangering operator safety. Pilots need to repeatedly calibrate the hook, a complex and time-consuming process. A lengthy alignment process is required when delivering the robot to the work site, especially in poor weather conditions, further reducing efficiency and increasing costs. Traditional hoisting methods demand highly skilled and experienced pilots. Pilots need exceptional flying skills and precise control to successfully complete the task, limiting its widespread adoption. Furthermore, traditional methods rely heavily on on-site pilot operation, lacking remote control capabilities. In complex or hazardous environments, pilot control may be limited, hindering successful operations.

[0005] As for the design of inspection robots, the patent (publication number CN120414346A) designed an overhead line robot that can autonomously cross obstacles. Although it can adapt to different specifications of conductors and has a certain obstacle-crossing ability, its main body is always suspended under the conductor, resulting in a limited operating range and complex structure with high operating difficulty. Summary of the Invention

[0006] To address the aforementioned issues, this invention provides a docking and separation device for a drone-mounted robot, which offers stable and convenient operation during the hoisting process. It also provides a robot employing this docking and separation device, as well as a method for inspecting overhead power lines using this robot. This method is suitable for obstacle-crossing maintenance of overhead power lines and is easy to operate, especially for multi-splitter overhead power lines with polygonal distributions. Furthermore, it solves the problems of robot slippage, insufficient stability, and limited operating range during its movement along power transmission lines.

[0007] The technical solution is as follows: a docking and separation device for a drone lifting robot, comprising a main lifting rod assembly and a docking and separation assembly. The main lifting rod assembly includes a drone connecting rod, a rotating connecting structure, and a lifting rod. The main lifting rod assembly is further equipped with a visual monitoring device. The docking and separation assembly is installed at the bottom end of the lifting rod. The docking and separation assembly includes a first servo motor, a servo motor connecting rod, a second servo motor, an unlocking connecting rod, a frame structure, a docking separator housing, and a docking rod. The first and second servo motors are installed inside the docking separator housing via the frame structure. Both ends of the first servo motor are connected to the docking rod via the servo motor connecting rod. The docking rod separates from the docking... Both ends of the outer shell of the device extend out of the docking separator outer shell and can be driven by the first servo motor to make the docking rods close or open. When the docking rods at both ends are close, the maximum distance between the docking rods is less than the diameter of the docking ring at the top of the robot. When the docking rods at both ends are open, the maximum distance between the docking rods is greater than the diameter of the docking ring at the top of the robot. The bottom of the docking separation assembly is provided with a locking notch. The locking notch is used for the robot's top lifting rod to extend into and restrict the robot's rotation during the lifting process. The second servo motor is connected to the unlocking link and can control the extension and retraction of the unlocking link. The unlocking link is used to extend into the docking groove of the lifting rod and restrict the robot's movement during the lifting process.

[0008] Furthermore, the boom is provided with one or more of the rotating connection structures, the rotating connection structures including a first connecting shaft and a second connecting shaft, the UAV connecting rod being fixedly connected to the first connecting shaft, and the first connecting shaft being rotatably connected to the second connecting shaft;

[0009] The visual monitoring device includes a battery holder, a camera housing body, a camera housing cover, and a camera. The battery holder is used to power the camera, and the camera is connected to the boom through the camera housing body and the camera housing cover.

[0010] Furthermore, the docking and separation assembly also includes a connecting crank, a boom connecting shaft, and a servo mounting plate. The docking separator housing is connected to the boom via the boom connecting shaft. The frame structure includes frame one and frame two. The connecting crank is equipped with servo one via frame one. The servo connecting rods are respectively connected to the discs of servo one. The docking rod is rotatably connected to both ends of the connecting crank in an upward inclined position. As servo one rotates, it can drive the servo connecting rods to move and control the rotation of the docking rod. The connecting crank is also connected to the servo mounting plate via frame two, and servo two is mounted on the servo mounting plate.

[0011] An overhead power line inspection robot is characterized in that it is connected to a drone via the aforementioned docking and separation device.

[0012] Furthermore, the robot includes a base module on which a vision inspection device is mounted;

[0013] The walking module includes an outer shell, a walking motor, and walking wheels. The walking wheels are respectively installed at the front and rear ends of the outer shell. The walking module can drive the base module to walk on the conductor of the overhead line.

[0014] A robotic arm, mounted on the base module, is used for the maintenance of overhead lines;

[0015] A lifting rod, on which the docking ring and the docking groove are installed;

[0016] Depending on whether the conductor is a single conductor or a multi-split conductor, the walking module is mounted on one or both sides of the base module via a swing arm mechanism. The swing arm mechanism enables the base module to move in the vertical direction. The swing arm mechanism includes a swing arm and a swing arm motor. The swing arm motor is mounted on the walking module and connected to one end of the swing arm. The other end of the swing arm is connected to the base module.

[0017] The walking module also includes a clamping mechanism, which is positioned corresponding to the walking wheel. The clamping mechanism includes a push rod assembly, a clamping seat, and a clamping driven wheel. One end of the clamping seat is rotatably connected to the outer casing, and the other end is connected to the clamping driven wheel. The push rod assembly is used to drive the clamping seat to rotate and to put the clamping driven wheel into an open or closed state. When the clamping driven wheel is closed, the clamping driven wheel rotates toward the wire that is in contact with the corresponding walking wheel, and after contacting the bottom of the wire, the push rod assembly continuously applies a pushing force to increase the pressure applied by the walking wheel to the top of the wire. When the clamping driven wheel is open, the clamping driven wheel moves away from the wire that is engaged with the corresponding walking wheel and disengages from directly below the wire.

[0018] Furthermore, the base module includes a control base, pads, and a rotating shaft. The side of the control base is connected to one end of the swing arm via the rotating shaft, and the other end of the swing arm is connected to the swing arm motor via the pads. Multiple pads are provided and can be joined together to form a single unit, used to adjust the horizontal distance between the walking modules on both sides of the base module.

[0019] Furthermore, the base module is connected to the robotic arm via a rotation adjustment mechanism. The rotation adjustment mechanism includes a slewing bearing, a rotary motor, a rotary connecting seat, a driven rotary seat, a connecting rod, a connecting rod connecting seat, and a robotic arm fixing seat. The rotary connecting seat and the driven rotary seat are rotatably connected to the base module via the rotary motor and the slewing bearing, respectively. The connecting rod is also connected to the rotary connecting seat and the driven rotary seat, respectively. The two connecting rods are rotatably connected to the robotic arm fixing seat via the connecting rod connecting seat, respectively.

[0020] Furthermore, the single-sided swing arm has two arms, and the two swing arms, the walking module, and the base module form a parallelogram structure so that the base module and the walking module remain parallel during relative movement; the two connecting rods, the robotic arm fixing seat, and the base module form a parallelogram structure so that the robotic arm fixing seat and the base module remain parallel during relative movement.

[0021] An inspection method is characterized by using the above-mentioned robot to inspect overhead lines with single conductors, and specifically includes the following steps: Step 1: Connect the UAV to the docking and separation device, and control the servo motor 2 to extend the unlocking linkage and insert it into the docking slot on the top of the robot to lock the robot.

[0022] Step 2: Use a drone to lift the robot above a single wire, observe through the visual monitoring device on the boom and align the front and rear wheels on one side of the robot with the wire, place the robot directly on the surface of the wire, then control the servo motor 2 to retract the unlocking link and disengage it from the robot's docking slot, and control the drone to rise so that the docking separation device separates from the robot.

[0023] Step 3: Control the push rod assembly to drive the clamping driven wheel to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel clamp the wire;

[0024] Step 4: Observe the overhead line through the vision inspection device on the base module, drive the walking wheels to move the robot on the wire, and adjust the up and down position of the base module by controlling the swing arm motor.

[0025] Step 5: When encountering an obstacle on the conductor, control the front push rod assembly to open the front clamping driven wheel, and the traveling wheel continues to move forward until the front traveling wheel passes the obstacle. After the front traveling wheel passes the obstacle, control the front clamping driven wheel to close and continue clamping the conductor. When the rear traveling wheel approaches the obstacle, control the rear push rod assembly to open the rear clamping driven wheel, and the traveling wheel continues to move forward until the rear traveling wheel passes the obstacle. After the rear traveling wheel passes the obstacle, control the rear clamping driven wheel to close and continue clamping the conductor.

[0026] Step 6: Once the target position is reached, adjust the position of the swing arm and robotic arm by controlling the swing arm and robotic arm to bring the end of the robotic arm to a suitable working position to complete the task;

[0027] Step 7: Control the drone to fly above the docking ring of the robot. At this time, the docking rod is in a closed state. As the drone descends, the docking rod passes through the docking ring. Then, control the servo motor to open the docking rod. As the drone rises, the docking rod can hook the docking ring and lift the robot to the designated position.

[0028] An inspection method is characterized by using the above-mentioned robot to inspect overhead lines with multiple split conductors, and specifically includes the following steps: Step 1: Adjust the spacing of the walking wheels on both sides of the base module according to the spacing between the two uppermost conductors.

[0029] Step 2: Connect the drone to the docking and separation device, and control the servo motor 2 to extend the unlocking link and insert it into the docking slot on the top of the robot to lock the robot;

[0030] Step 3: Use a drone to lift the robot above the multi-split wire, observe through the visual monitoring device on the boom and align the front and rear wheels on both sides of the robot with the wire, place the robot directly on the surface of the wire, then control the servo motor 2 to retract the unlocking link and disengage it from the robot's docking slot, and control the drone to rise so that the docking separation device separates from the robot.

[0031] Step 4: Control the push rod assembly to drive the clamping driven wheel to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel clamp the wire;

[0032] Step 5: Lower the base module to the center of the split conductor by controlling the swing arm motor, observe the overhead line through the vision detection device on the base module, and move the robot on the conductor by driving the walking wheels.

[0033] Step 6: When encountering obstacles on the conductor, including spacers, control the swing arm motor to drive the swing arm so that the base module is higher than the obstacle. Then, control the front push rod assembly to open the front clamping driven wheel. The traveling wheel continues to move forward until the front traveling wheel passes the obstacle. After the front traveling wheel passes the obstacle, control the front clamping driven wheel to close and continue clamping the conductor. When the rear traveling wheel approaches the obstacle, control the rear push rod assembly to open the rear clamping driven wheel. The traveling wheel continues to move forward until the rear traveling wheel passes the obstacle. After the rear traveling wheel passes the obstacle, control the rear clamping driven wheel to close and continue clamping the conductor.

[0034] Step 7: Once the target position is reached, adjust the position of the swing arm and robotic arm by controlling the swing arm and robotic arm to bring the end of the robotic arm to a suitable working position and complete the task.

[0035] Step 8: Control the drone to fly above the docking ring of the robot. At this time, the docking rod is in a closed state. As the drone descends, the docking rod passes through the docking ring. Then, control the servo motor to open the docking rod. As the drone rises, the docking rod can hook the docking ring and lift the robot to the designated position.

[0036] Main benefits: 1. Improved hoisting stability; Through the carefully designed main hoisting rod assembly and docking and separation assembly, the present invention can significantly reduce the swaying of the robot during hoisting, improve the stability of hoisting, and maintain a stable hoisting state even in complex environments or severe weather conditions, avoiding the swaying of hoisted items caused by factors such as wind, thereby significantly improving the safety and reliability of hoisting.

[0037] 2. Improved lifting efficiency: The coordinated operation of the visual monitoring device and the electric control system enables rapid and precise docking and disengagement. The drone eliminates the need for multiple calibrations of the hook on the robot, significantly reducing lifting preparation time. Simultaneously, when delivering the robot to the work site, the precise positioning of the visual monitoring device and the rapid adjustment of the electric control system enable quick alignment and attachment operations, reducing the time required for lengthy calibration and significantly improving lifting efficiency and shortening the overall operation time.

[0038] 3. Enhanced operational flexibility and safety: The remote control function enabled by the electric control system reduces reliance on the pilot's skills and improves operational flexibility and safety. Operators can work in a safer environment, avoiding the risks associated with close-range operation, and it also facilitates hoisting operations in complex environments.

[0039] 4. Enhance the diversity of hanging methods; Through the carefully designed walking module, the present invention can be applied to hanging and walking of single or multiple conductors. Furthermore, for different specifications of split conductors with different spans, the distance between the walking mechanisms on both sides can be adjusted to improve the stability of the device walking on the conductor.

[0040] 5. Enhanced obstacle-crossing ability and stability: The swing arm mechanism of this invention allows the main body of the device to pass over the conductor, enabling it to overcome complex obstacles such as vibration dampers and spacers. The clamping mechanism of this invention clamps the conductor by rotating from the outside to the inside, avoiding obstacles on the inside of the conductor. Simultaneously, the position of the clamping driven wheel is adjustable, providing more stable clamping for conductors of different diameters, significantly improving the device's obstacle-crossing ability and stability. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the front structure of the docking and separation device;

[0042] Figure 2 This is a schematic diagram of the rear structure of the docking and separation device;

[0043] Figure 3 This is a schematic diagram of the exploded structure of the docking and separation device;

[0044] Figure 4 A front view of the docking separation assembly with the docking separator housing omitted;

[0045] Figure 5 A schematic diagram of the rear structure of the docking separation assembly with the docking separator housing omitted;

[0046] Figure 6 This is a schematic diagram of the top boom structure of the robot;

[0047] Figure 7 This is a schematic diagram of the robot's structure (with a dual-sided walking module).

[0048] Figure 8 This is a schematic diagram of the robot's structure (with a single-sided walking module).

[0049] Figure 9 This is a schematic diagram of the exploded structure of the walking module;

[0050] Figure 10 This is a schematic diagram of the exploded structure of the clamping mechanism;

[0051] Figure 11 This is an exploded view of the base module.

[0052] Reference numerals in the attached drawings: 1. Main boom assembly; 1.1. Connecting shaft one; 1.2. Connecting shaft two; 2. UAV connecting rod; 3. Battery holder; 4. Visual monitoring device; 4.1. Camera controller; 4.2. Camera housing body; 4.3. Camera housing cover; 4.4. Camera; 5. Docking and separation assembly; 5.1. Servo two; 5.2. Servo linkage; 5.3. Servo one; 5.4. Unlocking linkage; 6. Servo fixing plate; 7. Control board; 8. Boom; 9. Connecting crank; 10. Boom connecting shaft; 11. Frame one; 12. Docking rod; 13.1. Docking separator housing one; 13.2. Docking separator housing two; 14. Frame two;

[0053] 100. Walking module; 200. Base module; 300. Working robotic arm; 400. Lifting rod; 101. Power supply top cover; 102. Hinge; 103. Battery; 104. Buckle; 105. Power supply bottom cover; 106. Outer casing; 201. Side plate; 202. Swing arm motor; 203. Support plate; 204. Wheel side plate; 205. Walking wheel; 206. Guide plate; 207. Drive shaft; 208. Walking synchronous pulley; 209. Driven shaft; 210. Synchronous belt; 211. Tensioner pulley; 212. Walking motor; 213. Motor synchronous pulley; 2 14. Motor mounting base; 301. Push rod mounting base; 302. Push rod drive; 303. Push rod shaft; 304. Clamping seat; 305. Clamping driven wheel; 306. Rotary seat; 401. Swing arm; 402. Pad; 403. Rotary shaft; 404. Control base; 405. Slewing bearing; 406. Rotary motor; 407. Rotary connecting seat; 408. Driven rotary seat; 409. Connecting rod; 410. Connecting rod connecting seat; 411. Connecting flange; 412. Robotic arm mounting base; 413. Camera device; 414. Docking ring; 415. Docking groove. Detailed Implementation

[0054] like Figures 1-5The docking and separation device for the drone lifting robot shown includes a main boom assembly 1 and a docking and separation assembly 5. The main boom assembly 1 includes a drone connecting rod 2, a rotating connection structure, and a boom 8. A visual monitoring device 4 is also installed on the main boom assembly 1. The docking and separation assembly 5 is installed at the bottom of the boom 8. The docking and separation assembly 5 includes a first servo motor 5.3, a servo motor connecting rod 5.2, a second servo motor 5.1, an unlocking connecting rod 5.4, a first frame 11, a second frame 14, a control board 7, and a docking and separation mechanism. The assembly comprises a first housing 13.1, a second housing 13.2, and a docking rod 12. Servo motors 5.3 and 5.1 are mounted within the docking separator housing via a frame structure. Both ends of servo motor 5.3 are connected to the docking rod 12 via servo motor connecting rods 5.2. The docking rod 12 extends from both ends of the docking separator housing and can be driven by servo motor 5.3 to either close or open. When the docking rods 12 are closed, the maximum distance between them is less than... Figure 6 The diameter of the docking ring 414 at the top of the robot is such that when the docking rods 12 at both ends are open, the maximum distance between the docking rods 12 is greater than the diameter of the docking ring 414 at the top of the robot. The docking separation assembly 5 has a locking notch at the bottom, which is used for the robot top hoisting rod 400 to extend into and restrict the rotation of the robot. The servo motor 5.1 is connected to the unlocking link 5.4 and can control the extension and retraction of the unlocking link 5.4. The unlocking link 5.4 is used to extend into the docking groove 415 of the hoisting rod 400 and restrict the movement of the robot.

[0055] Specifically, the boom 8 is equipped with one or more rotating connection structures, which include connecting shaft 1.1 and connecting shaft 1.2. The UAV connecting rod 2 is fixedly connected to connecting shaft 1.1, and connecting shaft 1.1 is rotatably connected to connecting shaft 1.2. This allows the components below the UAV connecting rod 2 to lie flat for easy connection when the docking and separation device is connected to the UAV.

[0056] The visual monitoring device 4 includes a battery holder 3, a camera controller 4.1, a camera housing body 4.2, a camera housing cover 4.3, and a camera 4.4. The battery holder 3 is used to power the camera 4.4. The camera 4.4 is connected to the boom 8 through the camera housing body 4.2 and the camera housing cover 4.3, so that the robot can be monitored through the camera 4.4 when it is placed on the wire.

[0057] The docking and separation assembly 5 also includes a connecting crank 9, a boom connecting shaft 10, and a servo mounting plate 6. The docking separator housing is connected to the boom 8 via the boom connecting shaft 10. The connecting crank 9 is equipped with a servo motor 5.3 via a frame 11. The servo motor connecting rods 5.2 are respectively connected to the discs of the servo motor 5.3. The docking rod 12 is rotatably connected to both ends of the connecting crank 9 in an upward tilting position. As the servo motor 5.3 rotates, it can drive the servo motor connecting rods 5.2 to move and control the rotation of the docking rod 12. The connecting crank 9 is also connected to the servo mounting plate 6 via a frame 2 14. The servo motor 5.1 is mounted on the servo mounting plate 6.

[0058] When hoisting the robot onto the guide wire, the top of the hoisting rod 400 on top of the robot is inserted into the locking notch at the bottom of the docking and separation assembly 5. The two can be non-circular in shape to prevent the hoisting rod 400 from rotating after being inserted into the locking notch. Figure 6 The AA section is a pin hole for inserting a connecting pin. The mating groove 415 can be formed by this connecting pin and the two side supports. The unlocking link 5.4 is inserted into the bottom of the connecting pin, thereby applying force to the connecting pin to lift the robot. Of course, it can also be used directly. Figure 7 The square slot on the top of the robot, as shown, restricts the robot's movement during hoisting when the unlocking link 5.4 is inserted into the docking slot 415. When it is necessary to lift the robot away from the guide wire, the docking link 12 is brought together to descend through the docking ring 414, and then opened and raised again. The docking link 12 can hook onto the docking ring 414 to lift the robot, making it convenient to use.

[0059] The above-mentioned docking and separation device has the following beneficial effects: 1. Improved lifting stability; Through the carefully designed main lifting rod assembly and docking and separation assembly, the present invention can significantly reduce the swaying of the robot during lifting and improve the stability of lifting. Even in complex environments or severe weather conditions, it can maintain a stable lifting state and avoid the swaying of the lifted items caused by wind and other factors, thereby significantly improving the safety and reliability of lifting.

[0060] 2. Improved lifting efficiency: The coordinated operation of the visual observation system and the electric control system enables rapid and precise docking and disengagement. The drone eliminates the need for multiple calibrations of the hook on the robot, significantly reducing lifting preparation time. Simultaneously, when delivering the robot to the work site, the precise positioning of the visual observation system and the rapid adjustment of the electric control system enable quick alignment and attachment operations, reducing the time required for lengthy calibration and significantly improving lifting efficiency and shortening the overall operation time.

[0061] 3. Enhanced operational flexibility and safety: The remote control function enabled by the electric control system reduces reliance on the pilot's skills and improves operational flexibility and safety. Operators can work in a safer environment, avoiding the risks associated with close-range operation, and it also facilitates hoisting operations in complex environments.

[0062] 4. Rapid lifting and release: The rapid unlocking and locking mechanism enables the drone to quickly complete lifting and releasing actions when operating the lifting robot, improving operational efficiency. Compared to traditional methods that require manual unlocking or locking, the mechanism of this invention can significantly shorten lifting and releasing time and improve operational smoothness.

[0063] 5. Ensuring stable operation of the equipment: The design of the stable power supply system ensures the stable operation of key components such as cameras during the hoisting process, providing clear image information for the visual observation system. This design guarantees the stable operation of the entire hoisting equipment under various working conditions, improving the reliability of the hoisting.

[0064] 6. Improved reliability and durability of the equipment; optimized installation and connection methods not only improve assembly efficiency but also enhance the connection strength and stability between components. This makes the entire equipment more robust and reliable, capable of withstanding various stresses and external forces during hoisting, thus improving its reliability and durability.

[0065] like Figure 7 , Figure 8 The above-described obstacle-crossing and maintenance robot for overhead power lines mainly includes, as shown, the following components. Figure 11 The base module 200 shown has a vision inspection device (e.g., camera 413) mounted on it; as shown Figure 9 The walking module 100 shown includes an outer shell consisting of a side plate 201, a support plate 203, and an outer shell cover 106; a walking motor 212; and walking wheels 205. The front and rear ends of the outer shell are respectively equipped with walking wheels 205. The walking module 100 can drive the base module 200 to walk on the conductor of the overhead line; a robotic arm 300 is mounted on the base module 200 and is used for maintenance of the overhead line; and a hoisting rod 400 is equipped with a docking ring 414 and a docking groove 415.

[0066] Based on the above, depending on whether the conductor is a single conductor or a multi-split conductor, a walking module 100 is mounted on one or both sides of the base module 200 via a swing arm mechanism. The swing arm mechanism enables the base module 200 to move in the vertical direction. The swing arm mechanism includes a swing arm 401 ( Figure 11 ), swing arm motor 202 ( Figure 9The swing arm motor 202 is mounted on the walking module 100 and connected to one end of the swing arm 401. The other end of the swing arm 401 is connected to the base module 200. This configuration allows the swing arm motor 202 to drive the base module 200 to move up and down, thereby adjusting the vertical position of the base module 200.

[0067] The walking module 100 also includes, for example, Figure 10 The clamping mechanism shown is positioned corresponding to the travel wheel 205. The clamping mechanism includes a push rod assembly consisting of a push rod drive 302 and a push rod shaft 303, a clamping seat 304, and a clamping driven wheel 305. One end of the clamping seat 304 is rotatably connected to the outer casing via a rotating seat 306, and the other end is connected to the clamping driven wheel 305. The push rod assembly is mounted on the outer casing via a push rod fixing seat 301, used to drive the clamping seat 304 to rotate and to keep the clamping driven wheel 305 in an open or closed state. When the clamping driven wheel 305 is closed, it rotates towards the wire that contacts its corresponding travel wheel 205. After contacting the bottom of the wire, the push rod assembly continuously applies a pushing force to increase the pressure applied by the travel wheel 205 to the top of the wire. When the clamping driven wheel 305 is open, it moves away from the wire meshed with its corresponding travel wheel 205 and disengages directly below the wire. By employing a clamping mechanism, the wire can be clamped to ensure the robot moves stably on the wire. The clamping base 304 has multiple mounting holes, and the driven wheel is mounted in the mounting holes. When mounted in different mounting holes, the distance between the driven wheel and the traveling wheel is different.

[0068] Specifically, in combination Figure 11 The base module 200 includes a control base 404, a pad 402, and a rotating shaft 403. The side of the control base 404 is connected to one end of the swing arm 401 via the rotating shaft 403. The other end of the swing arm 401 is connected to the swing arm motor 202 via the pad 402. The mounting surface features of the pad 402 are consistent with the output flange features of the swing arm motor 202. Several pads 402 can be installed between the swing arm 401 and the swing arm motor 202, thereby arbitrarily adjusting the horizontal distance between the two walking modules 100 and further changing the horizontal distance between the walking wheels 205, thus accommodating two wires with different distances.

[0069] The base module is also connected to the robotic arm 300 via a rotation adjustment mechanism. This mechanism includes a slewing bearing 405, a rotary motor 406, a rotary connecting seat 407, a driven rotary seat 408, a connecting rod 409 (carbon fiber tube), a connecting rod connecting seat 410, a connecting flange 411, and a robotic arm mounting base 412. The rotary connecting seat 407 and the driven rotary seat 408 are rotatably connected to the control base 404 of the base module 2 via the rotary motor 406 and the slewing bearing 405, respectively (i.e., the rotary motor 406 is bolted to the control base 404, and the rotary connecting seat 407 is bolted to the rotary motor 406). On the output flange of machine 406, the outer ring of the slewing bearing 405 is fixed to the control base 404 by bolts, and the driven rotary seat 408 is fixed to the inner ring of the slewing bearing 405 by bolts. The rotary connecting seat 407 and the driven rotary seat 408 are also connected to the connecting rod 409 by metal rivets. The two connecting rods 409 are connected to the connecting rod connecting seat 410 by metal rivets. The connecting flange 411 is fixed to the robotic arm fixing seat 412 by bolts. The connecting rod connecting seat 410 and the connecting flange 411 are connected by pins. In this way, the coverage range of the robotic arm 300 can be increased by rotating the adjustment mechanism.

[0070] In addition, there are two swing arms 401 on one side, and the two swing arms 401, the walking module 100, and the base module 200 form a parallelogram structure to keep the base module 200 and the walking module 100 parallel during relative movement. Similarly, the two connecting rods 409, the robotic arm mounting base 412, and the base module 200 form a parallelogram structure to keep the robotic arm mounting base 412 and the base module 200 parallel during relative movement. The working robotic arm 300 is fixed to the robotic arm mounting base 412 with bolts. The swing arm motor 202 drives the working robotic arm 300 to move up and down, and the rotary motor 406 drives the working robotic arm 300 to move left and right. During any movement, the frontal orientation of the robotic arm mounting base 412 remains unchanged, keeping the reference coordinate axis direction of the working robotic arm 300 constant, thus easily controlling the movement of the end effector of the working robotic arm 300.

[0071] As for the walking module 100, combined with Figure 9 It also includes a transmission mechanism, which is installed inside the housing and includes a drive shaft 207, a travel synchronous pulley 208, a driven shaft 209, a tension pulley 211, a synchronous belt 210, a motor synchronous pulley 213, and a motor mounting base 214. The travel motor 212 is fixed to the inner wall of the housing through the motor mounting base 214 and drives the synchronous belt 210 to move through the motor synchronous pulley 213. After the synchronous belt 210 is tensioned by the tension pulley 211 installed on the driven shaft 209, it is connected to the travel synchronous pulleys 208 at the front and rear ends of the travel module 100 and drives them to rotate. The travel synchronous pulleys 208 drive the drive shaft 207 to rotate through a metal key, thereby driving the travel wheel 205 to rotate.

[0072] Meanwhile, the walking module 100 is also equipped with a power assembly, which includes a power upper cover 101, a power lower cover 105, a battery 103, and a buckle 104. The power upper cover 101 is connected to the power lower cover 105 via a hinge 102. A buckle 104 is also provided between the power upper cover 101 and the power lower cover 105. When the power upper cover 101 and the power lower cover 105 are closed, they form a complete metal shell for electromagnetic protection of the battery 103 and control circuit inside.

[0073] In addition, the walking wheel 205 is connected to the outer shell through the wheel side plate 204. The walking wheel 205 is a U-shaped wheel, and the wire can be embedded inside the U-shaped wheel. The outer shell is also connected to a guide plate 206 that extends downward at an angle to guide the wire to the bottom of the walking wheel 205. In this way, when approaching the wire, it can easily lean against the inclined surface of the guide plates 206 on both sides, so that the walking wheel 205 can fall onto the wire.

[0074] An overhead line inspection method, which uses the above-mentioned robot to inspect an overhead line with a single conductor, specifically includes the following steps: Step 1, connect the UAV to the docking and separation device, and control the servo motor 2 5.1 to make the unlocking link 5.4 extend and insert into the docking slot 415 on the top of the robot and lock the robot.

[0075] Step 2: Use a drone to lift the robot above a single wire. Use the visual monitoring device 4 on the boom to observe and align the front and rear wheels 205 on one side of the robot with the wire. Place the robot directly on the surface of the wire. During the robot's descent, guide the wire with the guide plate 206 so that the wire is accurately embedded into the groove at the bottom of the wheel 205.

[0076] Step 3: Control the push rod assembly to drive the clamping driven wheel 305 to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel 305 clamp the wire.

[0077] Step 4: Observe the overhead line through the vision inspection device on the base module 200, drive the walking wheel 205 to move the robot on the wire, and adjust the vertical position of the base module 200 by controlling the swing arm motor 202.

[0078] Step 5: When an obstacle is encountered on the conductor, the front clamping driven wheel 305 is opened by controlling the front push rod assembly, and the traveling wheel 205 continues to move forward until the front traveling wheel 205 passes the obstacle. After the front traveling wheel 205 passes the obstacle, the front clamping driven wheel 305 is closed and continues to clamp the conductor. When the rear traveling wheel 205 approaches the obstacle, the rear clamping driven wheel 305 is opened by controlling the rear push rod assembly, and the traveling wheel 205 continues to move forward until the rear traveling wheel 205 passes the obstacle. After the rear traveling wheel 205 passes the obstacle, the rear clamping driven wheel 305 is closed and continues to clamp the conductor.

[0079] Step 6: After reaching the target position, adjust the position of the swing arm 401 and the robotic arm 300 by controlling the swing arm 401, so that the end of the robotic arm 300 reaches the suitable working position and completes the work.

[0080] Step 7: Control the drone to fly above the docking ring 414 of the robot. At this time, the docking rod 12 is in a closed state. As the drone descends, the docking rod 12 passes through the docking ring 414. Then, control the servo motor 5.3 to open the docking rod 12. As the drone rises, the docking rod 12 can hook the docking ring 414 and lift the robot to the designated position.

[0081] An overhead line inspection method, which uses the above-mentioned robot to inspect overhead lines with multiple split conductors, specifically includes the following steps: Step 1, adjust the spacing of the walking wheels 205 on both sides of the base module 200 according to the spacing of the two uppermost conductors.

[0082] Step 2: Connect the drone to the docking and separation device, and use the control servo motor 2 5.1 to extend the unlocking link 5.4 and insert it into the docking slot 415 on the top of the robot to lock the robot.

[0083] Step 3: Use a drone to lift the robot above the multi-split wire. Use the visual monitoring device 4 on the boom to observe and align the front and rear wheels 205 on both sides of the robot with the wire. Place the robot directly on the surface of the wire from above. During the fall, guide the robot with the guide plate 206 to accurately embed the wire into the groove at the bottom of the wheel 205.

[0084] Step 4: Control the push rod assembly to drive the clamping driven wheel 305 to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel 305 clamp the wire.

[0085] Step 5: Control the swing arm motor 202 to lower the base module 200 to the center of the split conductor, observe the overhead line through the vision detection device on the base module 200, and drive the walking wheels 205 to make the robot move on the conductor.

[0086] Step 6: When encountering obstacles on the conductor, including spacers, control the swing arm motor 202 to drive the swing arm 401 to raise the base module 200 above the obstacle. Then, control the front push rod assembly to open the front clamping driven wheel 305. The traveling wheel 205 continues to move forward until the front traveling wheel 205 crosses the obstacle. After the front traveling wheel 205 crosses the obstacle, control the front clamping driven wheel 305 to close and continue clamping the conductor. When the rear traveling wheel 205 approaches the obstacle, control the rear push rod assembly to open the rear clamping driven wheel 305. The traveling wheel 205 continues to move forward until the rear traveling wheel 205 crosses the obstacle. After the rear traveling wheel 205 crosses the obstacle, control the rear clamping driven wheel 305 to close and continue clamping the conductor.

[0087] Step 7: After reaching the target position, adjust the position of the swing arm 401 and the robotic arm 300 by controlling the swing arm 401, so that the end of the robotic arm 300 reaches the suitable working position and completes the work.

[0088] Step 8: Control the drone to fly above the docking ring 414 of the robot. At this time, the docking rod 12 is in a closed state. As the drone descends, the docking rod 12 passes through the docking ring 414. Then, control the servo motor 5.3 to open the docking rod 12. As the drone rises, the docking rod 12 can hook the docking ring 414 and lift the robot to the designated position.

[0089] By adopting the above structure and method, 1. the problem of applicable conductor specifications and models is solved; the present invention, through a multi-posture installation structure, adopts advanced mechanical structure design and electric control system, which can be used for the mounting of single conductors and multiple conductors, and can adjust the distance between the walking wheels to adapt to the conductor span of different specifications of lines. According to different auxiliary wheel clamping angles, it is suitable for conductors of various diameter specifications. Compared with existing overhead line robots, it has a wider range of applications, more flexible operation, and more stable high-altitude operation posture.

[0090] 2. This invention solves the problem of insufficient obstacle-crossing ability. The obstacle-crossing device of this invention achieves obstacle recognition and autonomous obstacle crossing through a vision and electronic control system. The multi-joint motor-driven swing arm ensures that the main body of the device is completely above the overhead power line, thus avoiding obstruction from obstacles such as vibration dampers and spacers. U-shaped wheels and an auxiliary clamping mechanism ensure the smoothness and reliability of the obstacle-crossing process, while avoiding the common problem of robot slippage on power lines.

[0091] 3. The invention solves the problem of the robotic arm's working range. The device utilizes a multi-degree-of-freedom jointed robotic arm and a dedicated rotating base, enabling a larger, more flexible, and lighter working range. The multi-link swing arm mechanism increases the vertical and horizontal movement range, allowing the robotic arm to fully extend beyond the split conductor for operation, further enhancing its effectiveness in complex environments. Compared to existing robotic arms, this design features a simpler structure, lower manufacturing and maintenance costs, and more flexible and convenient operation, effectively solving the problem of collisions or hooking with various obstacles on the conductor during robotic arm operation.

[0092] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A docking and separation device for a drone lifting robot, comprising a main lifting rod assembly and a docking and separation assembly, wherein the main lifting rod assembly includes a drone connecting rod, a rotating connection structure, and a lifting rod, characterized in that: A visual monitoring device is also installed on the main boom assembly. The docking and separation assembly is installed at the bottom of the boom. The docking and separation assembly includes a first servo motor, a servo motor linkage, a second servo motor, an unlocking linkage, a frame structure, a docking separator housing, and a docking rod. The first servo motor and the second servo motor are installed inside the docking separator housing via the frame structure. The two ends of the first servo motor are respectively connected to the docking rod via the servo motor linkage. The docking rod extends out of the docking separator housing from both ends and can be driven by the first servo motor to bring the docking rod together or... When the docking rods at both ends are closed, the maximum distance between the docking rods is less than the diameter of the docking ring at the top of the robot. When the docking rods at both ends are open, the maximum distance between the docking rods is greater than the diameter of the docking ring at the top of the robot. The bottom of the docking separation assembly is provided with a locking notch. The locking notch is used for the robot's top lifting rod to extend into and restrict the robot's rotation during the lifting process. The servo motor 2 is connected to the unlocking link and can control the extension and retraction of the unlocking link. The unlocking link is used to extend into the docking slot of the lifting rod and restrict the robot's movement during the lifting process.

2. The docking and separation device for the unmanned aerial vehicle (UAV) hoisting robot according to claim 1, characterized in that: The boom is provided with one or more of the rotating connection structures, each of which includes a first connecting shaft and a second connecting shaft. The UAV connecting rod is fixedly connected to the first connecting shaft, and the first connecting shaft is rotatably connected to the second connecting shaft. The visual monitoring device includes a battery holder, a camera housing body, a camera housing cover, and a camera. The battery holder is used to power the camera, and the camera is connected to the boom through the camera housing body and the camera housing cover.

3. The docking and separation device for the UAV hoisting robot according to claim 1, characterized in that: The docking and separation assembly further includes a connecting crank, a boom connecting shaft, and a servo mounting plate. The docking separator housing is connected to the boom via the boom connecting shaft. The frame structure includes frame one and frame two. The connecting crank is equipped with servo one via frame one. The servo connecting rods are respectively connected to the discs of servo one. The docking rod is rotatably connected to both ends of the connecting crank in an upward inclined position. As servo one rotates, it can drive the servo connecting rods to move and control the rotation of the docking rod. The connecting crank is also connected to the servo mounting plate via frame two, and servo two is mounted on the servo mounting plate.

4. An overhead power line inspection robot, characterized in that: It is connected to the UAV via the docking and separation device described in any one of claims 1-3.

5. The docking and separation device for the unmanned aerial vehicle (UAV) hoisting robot according to claim 4, characterized in that: The robot includes a base module on which a vision inspection device is installed; The walking module includes an outer shell, a walking motor, and walking wheels. The walking wheels are respectively installed at the front and rear ends of the outer shell. The walking module can drive the base module to walk on the conductor of the overhead line. A robotic arm, mounted on the base module, is used for the maintenance of overhead lines; A lifting rod, on which the docking ring and the docking groove are installed; Depending on whether the conductor is a single conductor or a multi-split conductor, the walking module is mounted on one or both sides of the base module via a swing arm mechanism. The swing arm mechanism enables the base module to move in the vertical direction. The swing arm mechanism includes a swing arm and a swing arm motor. The swing arm motor is mounted on the walking module and connected to one end of the swing arm. The other end of the swing arm is connected to the base module. The walking module also includes a clamping mechanism, which is positioned corresponding to the walking wheel. The clamping mechanism includes a push rod assembly, a clamping seat, and a clamping driven wheel. One end of the clamping seat is rotatably connected to the outer casing, and the other end is connected to the clamping driven wheel. The push rod assembly is used to drive the clamping seat to rotate and to put the clamping driven wheel into an open or closed state. When the clamping driven wheel is closed, the clamping driven wheel rotates toward the wire that is in contact with the corresponding walking wheel, and after contacting the bottom of the wire, the push rod assembly continuously applies a pushing force to increase the pressure applied by the walking wheel to the top of the wire. When the clamping driven wheel is open, the clamping driven wheel moves away from the wire that is engaged with the corresponding walking wheel and disengages from directly below the wire.

6. The docking and separation device for the unmanned aerial vehicle (UAV) hoisting robot according to claim 5, characterized in that: The base module includes a control base, pads, and a rotating shaft. The side of the control base is connected to one end of the swing arm via the rotating shaft. The other end of the swing arm is connected to the swing arm motor via the pads. There are multiple pads that can be spliced ​​together to form a whole, used to adjust the horizontal distance between the walking modules on both sides of the base module.

7. The docking and separation device for the unmanned aerial vehicle (UAV) hoisting robot according to claim 5, characterized in that: The base module is connected to the robotic arm via a rotation adjustment mechanism. The rotation adjustment mechanism includes a slewing bearing, a rotary motor, a rotary connecting seat, a driven rotary seat, a connecting rod, a connecting rod connecting seat, and a robotic arm fixing seat. The rotary connecting seat and the driven rotary seat are rotatably connected to the base module via the rotary motor and the slewing bearing, respectively. The rotary connecting seat and the driven rotary seat are also respectively connected to the connecting rod. The two connecting rods are rotatably connected to the robotic arm fixing seat via the connecting rod connecting seat, respectively.

8. The docking and separation device for the unmanned aerial vehicle (UAV) hoisting robot according to claim 7, characterized in that: The single-sided swing arm has two arms, and the two swing arms, the walking module, and the base module form a parallelogram structure so that the base module and the walking module remain parallel during relative movement; the two connecting rods, the robotic arm fixing seat, and the base module form a parallelogram structure so that the robotic arm fixing seat and the base module remain parallel during relative movement.

9. An inspection method, characterized in that: It uses the inspection robot described in any one of claims 4-8 to inspect overhead lines with single conductors, and specifically includes the following steps: Step 1: Connect the UAV to the docking and separation device, and control the servo motor 2 to extend the unlocking linkage and insert it into the docking slot on the top of the robot to lock the robot. Step 2: Use a drone to lift the robot above a single wire, observe through the visual monitoring device on the boom and align the front and rear wheels on one side of the robot with the wire, place the robot directly on the surface of the wire, then control the servo motor 2 to retract the unlocking link and disengage it from the robot's docking slot, and control the drone to rise so that the docking separation device separates from the robot. Step 3: Control the push rod assembly to drive the clamping driven wheel to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel clamp the wire; Step 4: Observe the overhead line through the vision inspection device on the base module, drive the walking wheels to move the robot on the wire, and adjust the up and down position of the base module by controlling the swing arm motor. Step 5: When encountering an obstacle on the conductor, control the front push rod assembly to open the front clamping driven wheel, and the traveling wheel continues to move forward until the front traveling wheel passes the obstacle. After the front traveling wheel passes the obstacle, control the front clamping driven wheel to close and continue clamping the conductor. When the rear traveling wheel approaches the obstacle, control the rear push rod assembly to open the rear clamping driven wheel, and the traveling wheel continues to move forward until the rear traveling wheel passes the obstacle. After the rear traveling wheel passes the obstacle, control the rear clamping driven wheel to close and continue clamping the conductor. Step 6: Once the target position is reached, adjust the position of the swing arm and robotic arm by controlling the swing arm and robotic arm to bring the end of the robotic arm to a suitable working position and complete the task. Step 7: Control the drone to fly above the docking ring of the robot. At this time, the docking rod is in a closed state. As the drone descends, the docking rod passes through the docking ring. Then, control the servo motor to open the docking rod. As the drone rises, the docking rod can hook the docking ring and lift the robot to the designated position.

10. An inspection method, characterized in that: It uses the inspection robot described in any one of claims 4-8 to inspect overhead lines with multiple split conductors, and specifically includes the following steps: Step 1: Adjust the distance between the walking wheels on both sides of the base module according to the distance between the two uppermost conductors. Step 2: Connect the drone to the docking and separation device, and control the servo motor 2 to extend the unlocking linkage and insert it into the docking slot on the top of the robot to lock the robot; Step 3: Use a drone to lift the robot above the multi-split wire, observe through the visual monitoring device on the boom and align the front and rear wheels on both sides of the robot with the wire, place the robot directly on the surface of the wire, then control the servo motor 2 to retract the unlocking link and disengage it from the robot's docking slot, and control the drone to rise so that the docking separation device separates from the robot. Step 4: Control the push rod assembly to drive the clamping driven wheel to rotate so that it contacts the lower surface of the wire, and continuously apply the pushing force to make the clamping driven wheel clamp the wire; Step 5: Lower the base module to the center of the split conductor by controlling the swing arm motor, observe the overhead line through the vision detection device on the base module, and move the robot on the conductor by driving the walking wheels. Step 6: When encountering obstacles on the conductor, including spacers, control the swing arm motor to drive the swing arm so that the base module is higher than the obstacle. Then, control the front push rod assembly to open the front clamping driven wheel. The traveling wheel continues to move forward until the front traveling wheel passes the obstacle. After the front traveling wheel passes the obstacle, control the front clamping driven wheel to close and continue clamping the conductor. When the rear traveling wheel approaches the obstacle, control the rear push rod assembly to open the rear clamping driven wheel. The traveling wheel continues to move forward until the rear traveling wheel passes the obstacle. After the rear traveling wheel passes the obstacle, control the rear clamping driven wheel to close and continue clamping the conductor. Step 7: Once the target position is reached, adjust the position of the swing arm and robotic arm by controlling the swing arm and robotic arm to bring the end of the robotic arm to a suitable working position and complete the task. Step 8: Control the drone to fly above the docking ring of the robot. At this time, the docking rod is in a closed state. As the drone descends, the docking rod passes through the docking ring. Then, control the servo motor to open the docking rod. As the drone rises, the docking rod can hook the docking ring and lift the robot to the designated position.

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