Electric pole glue injection device operated by remote control mechanical arm carried by unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle carrying remote control mechanical arm operation electric pole glue injection device which comprises a mounting frame, a control box is arranged at the bottom of the mounting frame, a supporting seat is arranged at the bottom of the control box, a hanging frame is arranged at the top of the mounting frame, a first camera is connected with the upper portion of the mounting frame, and an electromagnet is arranged at the right end of the mounting frame. The mechanical rocker arm is connected with the top of the control box, the second camera is arranged at the right end of the mechanical rocker arm, the glue injector and the mechanical clamping jaw are arranged on the right side of the mechanical rocker arm, the mechanical clamping jaw is arranged above the glue injector, and the mechanical rocker arm is controlled through wireless remote control and drives the glue injector and the mechanical clamping jaw to move. The device can keep rigid connection and stability during high-altitude hovering operation, and shaking caused by external factors during suspension is avoided; on the basis, the glue injection nozzle can stably extend into the gap of the electric pole for filling the insulating glue by matching with the movement of the mechanical rocker arm, so that the gap is effectively blocked, birds are prevented from nesting at the position, and the safe operation of a power transmission line is ensured.

Description

Technical Field

[0001] This invention relates to the field of power transmission and distribution technology, specifically to a device for injecting glue into utility poles using a remote-controlled robotic arm mounted on a drone. Background Technology

[0002] In power transmission and distribution systems, overhead transmission line poles serve as crucial supports for conductors, and their operational safety directly impacts the stability of the power grid. Due to the pole's structural design and hardware installation requirements, various open holes and gaps exist on the pole. These gaps, while structurally stable, easily become nesting sites for birds. Once birds nest in these gaps, the twigs, wires, and other nesting materials they use can easily cause short circuits, power outages, and other faults, threatening the safe operation of the power grid.

[0003] Current bird protection maintenance primarily relies on manual patrols, physically removing nests upon discovery, or installing bird spikes and windmills on pole crossarms and other locations. However, these methods are mainly passive defenses or reactive measures, failing to address the fact that suitable nesting spaces exist on utility poles. As long as these physical spaces remain, birds will habitually rebuild in the same locations after nest removal, leading maintenance personnel into a cycle of repeated cleaning, resulting in a large workload and low efficiency. Therefore, this invention proposes a drone-mounted electromagnetic remote-controlled robotic arm-operated pole gluing device to address the shortcomings of existing technologies. Summary of the Invention

[0004] The purpose of this invention is to provide a device for injecting glue into utility poles using a drone-mounted remote-controlled robotic arm. This device solves the problem that existing bird-prevention measures cannot eliminate the root cause of nesting in the gaps of utility poles, leading to repeated nesting by birds and low maintenance efficiency.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a device for injecting glue onto a remote-controlled robotic arm operating pole of a drone, the structure of which includes a mounting frame, a control box at the bottom of the mounting frame, a support base at the bottom of the control box, a mounting bracket at the top of the mounting frame, a lifting component outside the support base or mounting bracket, and an actuator at the top of the control box.

[0006] Furthermore, the actuator includes a first camera, an electromagnet, a mechanical rocker arm, a second camera, a glue injector, and a mechanical gripper. The first camera is connected to the upper part of the mounting bracket, the electromagnet is located at the right end of the mounting bracket, the mechanical rocker arm is connected to the top of the control box, the second camera is located at the right end of the mechanical rocker arm, the glue injector and the mechanical gripper are located on the right side of the mechanical rocker arm, the mechanical gripper is located above the glue injector, and the mechanical rocker arm is controlled by wireless remote control to move the glue injector and the mechanical gripper.

[0007] Furthermore, a cleaning component is also provided on the right side of the mechanical rocker arm.

[0008] Furthermore, the cleaning assembly includes two flip motors, which are externally mounted on the right side of the mechanical rocker arm. The output end of one flip motor is connected to the side of the dispensing device, and the output end of the other flip motor is connected to the side of the mechanical gripper. The two flip motors control the dispensing device and the mechanical gripper to flip back and forth, respectively.

[0009] Furthermore, the lifting component is a drone device or a telescopic pole.

[0010] Furthermore, the dispensing device includes a remote control push rod, which is externally mounted on the right side of the mechanical rocker arm. The output end of the remote control push rod is provided with a push plate, and the right side of the remote control push rod is provided with a fixing ring. The fixing ring is externally provided with a first baffle and a support rod. The right side of the support rod is provided with a second baffle, and the right side of the second baffle is provided with a dispensing nozzle. The right side of the support rod is connected to the outside of the dispensing nozzle. Both the first baffle and the second baffle are externally provided with cover plates, and a replacement mechanism is provided between adjacent sides of the first baffle and the second baffle.

[0011] Furthermore, the replacement mechanism includes a servo motor, which is externally connected to the remote control push rod. The output end of the servo motor is provided with a central shaft, and multiple fixing plates are provided outside the central shaft. Multiple glue boxes are provided between the multiple fixing plates, and the servo motor drives the glue boxes to rotate.

[0012] Furthermore, the push plate is externally slidably connected to the inner wall of the fixed ring, which restricts the direction of movement of the push plate.

[0013] Furthermore, the central shaft is externally rotatably connected to the inside of the first baffle, and the right end of the central shaft is rotatably connected to the left side of the second baffle, so that the central shaft remains stable.

[0014] Furthermore, the left end of the glue cartridge is slidably connected to the right side of the first baffle, and the right end of the glue cartridge is slidably connected to the left side of the second baffle.

[0015] The beneficial effects of this invention are: 1. This invention, by setting an electromagnet at the end of the mounting frame, can directly attach to the metal parts of the pole, enabling the actuator to maintain a rigid connection and stability when hovering at high altitudes, avoiding swaying caused by external factors when suspended in the air; based on this, in conjunction with the movement of the mechanical rocker arm, the glue injection nozzle can be stably extended into the gaps of the pole to fill with insulating glue, effectively sealing the gaps, thereby preventing birds from nesting there and ensuring the safe operation of the power transmission line.

[0016] 2. This invention features an automatic replacement mechanism that uses a servo motor to drive the central shaft and fixed plate to rotate, enabling rapid switching of multiple glue cartridges that are equidistantly distributed in concentric circles. When a single tube of insulating glue is exhausted or a large amount of glue needs to be injected into a large gap, the device does not need to be lowered to the ground for manual replacement. It only needs to control the motor to rotate to the set angle to align the spare glue cartridge with the glue injection station, reducing the number of times the equipment is raised and lowered and effectively improving the efficiency of continuous high-altitude operations.

[0017] 3. The present invention integrates a cleaning component at the end of the mechanical rocker arm, realizing the switching between the mechanical gripper and the glue injector. Before the glue injection operation, the mechanical gripper can be adjusted to the working position by flipping the motor to clean the existing bird nests or debris in the gap. After the cleaning is thorough, it can be flipped to switch to the glue injector for filling, ensuring that the insulating glue can adhere tightly to the surface of the pole and avoid sealing failure due to debris. Attached Figure Description

[0018] Figure 1 This is a perspective view of the drone-mounted glue injection device of the present invention; Figure 2 This is a perspective view of the telescopic rod type glue injection device of the present invention; Figure 3 This is a perspective view of the robotic arm glue dispensing device of the present invention; Figure 4 This is a perspective view of the mounting bracket of the present invention; Figure 5 This is a perspective view of the mechanical rocker arm of the present invention; Figure 6 This is a partial perspective view of the actuator of the present invention; Figure 7 This is an exploded view of the dispensing device of the present invention; Figure 8 This is a cross-sectional view of the dispensing device of the present invention; Figure 9 This is a longitudinal cross-sectional view of the dispensing device of the present invention; Figure 10 This is a perspective view of the mechanical gripper of the present invention.

[0019] In the picture: 1. Mounting bracket; 2. Control box; 3. Mounting frame; 4. Support base; 5. UAV equipment; 6. Telescopic pole; 7. First camera; 8. Electromagnet; 9. Battery; 10. Mechanical rocker arm; 11. Second camera; 12. Tilting motor; 13. Glue dispenser; 14. Mechanical gripper; 1301. Remote control push rod; 1302. Push plate; 1303. Fixing ring; 1304. First baffle; 1305. Support rod; 1306. Second baffle; 1307. Glue nozzle; 1308. Cover plate; 1309. Servo motor; 1310. Central shaft; 1311. Fixing plate; 1312. Glue cartridge. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 10 As shown, this invention discloses a drone-mounted remote-controlled robotic arm operating pole glue-applying device, comprising a mounting frame 1, a control box 2 at the bottom of the mounting frame, a support base 4 at the bottom of the control box, and a mounting bracket 3 at the top of the mounting frame. A lifting component is provided on the outside of the support base or mounting bracket. The lifting component is selected from either a drone device 5 or a telescopic pole 6, allowing for different lifting methods to be freely chosen in different scenarios. The drone device is existing technology and will not be elaborated upon further. If drone device 5 is used, its bottom is detachably mounted on the top of the mounting bracket 3, suitable for high-level gaps. If telescopic pole 6 is used, its top is detachably mounted on the bottom of the support base 4, suitable for lower-level gaps. An actuator is provided on the top of the control box 2, and a battery 9 is detachably installed inside the control box 2. Mounting bracket 1 is used to connect and support other parts, control box 2 is used to receive instructions from wireless remote control and control the actuator to make corresponding work instructions, battery 9 is used to provide power to the actuator, support base 4 is used to facilitate the installation of telescopic rod 6 to support the actuator, and mounting bracket 3 is used to facilitate the connection with drone equipment 5 to move the actuator.

[0022] The actuator includes a first camera 7, an electromagnet 8, a mechanical rocker arm 10, a second camera 11, a glue injector 13, and a mechanical gripper 14. The first camera 7 is connected to the upper part of the mounting frame. The electromagnet 8 is located at the right end of the mounting frame. The mechanical rocker arm 10 is connected to the top of the control box. The second camera 11 is located at the right end of the mechanical rocker arm. The glue injector and the mechanical gripper 14 are located on the right side of the mechanical rocker arm 10, with the mechanical gripper 14 positioned above the glue injector. The mechanical rocker arm 10 is controlled wirelessly. The first camera 7 is used to monitor the movement of the actuator in real time for easy control. The electromagnet 8 is used to attach to the metal parts of the pole to keep the actuator stable. The mechanical rocker arm 10 is used for wireless remote control to move the glue injector 13 and the mechanical gripper 14. The second camera 11 is used to monitor the working status of the glue injector 13 and the mechanical gripper 14 in the gaps of the pole in real time for timely adjustment. The glue injector 13 is used to squeeze insulating glue into the gaps of the pole.

[0023] A cleaning component is also provided on the right side of the mechanical rocker arm 10. For example... Figure 6 As shown, the cleaning assembly includes two rotating motors 12, which are externally mounted on the right side of the mechanical rocker arm 10. The output end of one rotating motor 12 is connected to the side of the glue dispenser, and the output end of the other rotating motor 12 is connected to the side of the mechanical gripper 14. The maximum stroke of the rotating motor 12 is 180°. The rotating motor 12 is used to control the glue dispenser 13 and the mechanical gripper 14 to rotate back and forth, so as to avoid the other causing obstruction and interference when one is working. The stroke of the rotating motor 12 is only 180° to prevent the wires connected to the glue dispenser 13 and the mechanical gripper 14 from getting tangled and knotted due to random rotation. The mechanical gripper 14 is used to grab bird nests and debris in the gaps of the utility pole.

[0024] like Figure 7 , Figure 8 As shown, the dispensing device includes a remote control push rod 1301, which is externally mounted on the right side of the mechanical rocker arm 10. A push plate 1302 is provided at the output end of the remote control push rod 1301. The push plate 1302 is externally slidably connected to the inner wall of a fixing ring 1303, restricting the movement direction of the push plate 1302. A fixing ring 1303 is provided on the right side of the remote control push rod 1301. A first baffle 1304 and a support rod 1305 are provided externally to the fixing ring 1303. A second baffle 1306 is provided on the right side of the support rod 1305. A dispensing nozzle 1307 is provided on the right side of the second baffle 1306. The right side of the support rod 1305 is connected to the outside of the dispensing nozzle 1307 to keep the dispensing nozzle 1307 stable. A cover plate 1308 is provided externally to both the first baffle 1304 and the second baffle 1306. A replacement mechanism is provided between adjacent sides of the first baffle 1304 and the second baffle 1306. The remote control push rod 1301 is used to drive the push plate 1302 to move left and right, thereby squeezing the insulating glue. The fixing ring 1303 is used to support the first baffle 1304 and the support rod 1305. The first baffle 1304 is used to cover the left end of the glue box 1312 to prevent the insulating glue from falling off. The support rod 1305 is used to support the second baffle 1306. The second baffle 1306 is used to cover the right end of the glue box 1312 to prevent the insulating glue from falling off. The glue nozzle 1307 is used to accurately inject the insulating glue into the gaps of the pole to block the gaps and prevent birds from nesting on the pole. The cover plate 1308 is used to facilitate the removal and placement of insulating glue in the glue box 1312.

[0025] like Figure 9As shown, the replacement mechanism includes a servo motor 1309, which is externally connected to a remote control push rod 1301. The output end of the servo motor 1309 has a central shaft 1310. Multiple fixing plates 1311 are located outside the central shaft 1310, and multiple glue cartridges 1312 are located between the fixing plates 1311. The servo motor 1309 drives the glue cartridges 1312 to rotate. Each rotation angle is precisely controlled by the control box 2, ensuring that the glue cartridges 1312 are aligned with the fixing ring 1303 and the glue nozzle 1307 on the same axis. The central shaft 1310 drives the fixing plates 1311 to rotate synchronously, and the fixing plates 1311 fix the multiple glue cartridges 1312 together. The glue cartridges 1312 store insulating glue. Therefore, when encountering large gaps, only the fixing plates 1311 need to be rotated to replace a glue cartridge 1312 to continue glue dispensing, without needing to repeatedly remove the device to replace the insulating glue.

[0026] The central shaft 1310 is externally rotatably connected to the inside of the first baffle 1304, and the right end of the central shaft 1310 is rotatably connected to the left side of the second baffle 1306, so that the central shaft 1310 remains stable.

[0027] The left end of the glue box 1312 is slidably connected to the right side of the first baffle 1304, and the right end of the glue box 1312 is slidably connected to the left side of the second baffle 1306, thereby blocking the openings at both ends of the glue box 1312 and preventing the insulating glue from falling out.

[0028] The battery 9 is electrically connected to the mechanical rocker arm 10, the flip motor 12, the first camera 7, the second camera 11, the electromagnet 8, the remote control push rod 1301, the servo motor 1309, and the mechanical gripper 14, thereby providing power to these parts.

[0029] Working principle: When using this device, first open one of the cover plates 1308 and place insulating glue into the glue box 1312 through the opened hole. After placing one, control the servo motor 1309 to rotate once to align the other glue box 1312 with the hole, and so on, until all glue boxes 1312 are filled with insulating glue. Then, put the cover plate 1308 back in place. Then, select the lifting method according to the height of the gap of the pole. When the height is low, select the telescopic rod 6, fix the telescopic rod 6 to the bottom of the support base 4, extend the telescopic rod 6, and manually lift the actuator to the gap. When the gap is high, drone equipment 5 is selected as the lifting method. The mounting frame 3 is attached to the bottom of drone equipment 5, and then the controller of drone equipment 5 controls drone equipment 5 to fly upward, pulling the actuator to lift it until it flies to the vicinity of the gap. Then, the drone equipment 5 is controlled to slowly approach the gap of the utility pole, and the electromagnet 8 is controlled to work to generate magnetic force until the electromagnet 8 is attracted to the metal part of the utility pole. At this time, the drone equipment 5 is controlled to stop working, and drone equipment 5 and actuator will be firmly attached to the utility pole and will not fall. Then, the wireless controller simultaneously observes the perspective of the first camera 7 and the second camera 11 to check the state of the gap of the utility pole. If bird nests or debris are found in the gap, the flip motor 12 is controlled to flip the glue injector 13 in the opposite direction of the second camera 11, and the mechanical gripper 14 is flipped to the perspective of the second camera 11. Then, the mechanical rocker arm 10 is controlled to drive the mechanical gripper 14 to move, and the mechanical gripper 14 is inserted into the gap to grab the bird nests or debris until the gap is cleaned.

[0030] Next, control the flip motor 12 to flip in the opposite direction, flipping the glue dispenser 13 to the viewing angle of the second camera 11. At this time, control the mechanical rocker arm 10 to move, insert the glue nozzle 1307 into the gap, and control the remote control push rod 1301 to work, driving the push plate 1302 to slide in the glue box 1312, squeezing the insulating glue in the glue box 1312, and injecting the insulating glue into the gap through the glue nozzle 1307 to block the gap, thereby preventing birds from nesting here.

[0031] If the current gap is large and one tube of insulating glue cannot fill it completely, the insulating glue needs to be replaced. After the remote control push rod 1301 controls the push plate 1302 to reset, it controls the servo motor 1309 to rotate at a specified angle, so that the central shaft 1310 drives the fixed plate 1311 to rotate synchronously, thereby making the glue cartridge 1312 rotate. The glue cartridge 1312 with insulating glue is then aligned with the fixed ring 1303 and the glue nozzle 1307. At this time, the remote control push rod 1301 can continue to be controlled to push the push plate 1302 to squeeze the insulating glue until the gap is completely filled, thereby avoiding the need to repeatedly pick up and put in the equipment to add insulating glue and effectively improving work efficiency.

[0032] Finally, control the drone device 5 to start working again and control the electromagnet 8 to cut off the power. The electromagnet 8 will immediately lose its magnetism. At this time, the actuator is unlocked. Then control the drone device 5 to fly to the next pole to continue working or fly to the ground to complete the filling of the gap.

[0033] The above description is merely an illustration of some principles of the present invention. This specification is not intended to limit the present invention to the specific structures and applicable scope shown. Therefore, all possible modifications and equivalents that may be used fall within the scope of the patent application of this invention.

[0034] Except for the technical features described in the specification, all other technical features are known to those skilled in the art.

Claims

1. A device for dispensing glue onto a pole operated by a remote-controlled robotic arm on a drone, characterized in that, The device includes a mounting frame, a control box at the bottom of the mounting frame, a support base at the bottom of the control box, a mounting bracket at the top of the mounting frame, a lifting assembly on the outside of the support base or mounting bracket, and an actuator at the top of the control box.

2. The adhesive injection device for a drone equipped with a remote-controlled robotic arm operating pole according to claim 1, characterized in that, The actuator includes a first camera, an electromagnet, a mechanical rocker arm, a second camera, a glue injector, and a mechanical gripper. The first camera is connected to the upper part of the mounting bracket, the electromagnet is located at the right end of the mounting bracket, the mechanical rocker arm is connected to the top of the control box, the second camera is located at the right end of the mechanical rocker arm, the glue injector and the mechanical gripper are located on the right side of the mechanical rocker arm, and the mechanical gripper is located above the glue injector. The mechanical rocker arm is controlled by wireless remote control to move the glue injector and the mechanical gripper.

3. The adhesive injection device for a drone equipped with a remote-controlled robotic arm operating pole according to claim 2, characterized in that, The right side of the mechanical rocker arm is also equipped with a cleaning component.

4. The adhesive injection device for a drone equipped with a remote-controlled robotic arm operating pole according to claim 3, characterized in that, The cleaning assembly includes two flip motors, which are externally mounted on the right side of the mechanical rocker arm. The output of one flip motor is connected to the side of the dispensing device, and the output of the other flip motor is connected to the side of the mechanical gripper. The two flip motors control the dispensing device and the mechanical gripper to flip back and forth, respectively.

5. The adhesive injection device for a drone equipped with a remote-controlled robotic arm operating pole according to claim 1, characterized in that, The lifting component is a drone device or a telescopic pole.

6. The adhesive injection device for a drone equipped with a remote-controlled robotic arm operating pole according to claim 2, characterized in that, The dispensing device includes a remote control push rod, which is externally mounted on the right side of the mechanical rocker arm. The output end of the remote control push rod is provided with a push plate. A fixing ring is provided on the right side of the remote control push rod. A first baffle and a support rod are provided on the outside of the fixing ring. A second baffle is provided on the right side of the support rod. A dispensing nozzle is provided on the right side of the second baffle. The right side of the support rod is connected to the outside of the dispensing nozzle. Both the first baffle and the second baffle are provided with cover plates. A replacement mechanism is provided between adjacent sides of the first baffle and the second baffle.

7. A device for injecting glue onto a remote-controlled robotic arm operating pole as described in claim 6, characterized in that, The replacement mechanism includes a servo motor, which is externally connected to the remote control push rod. The output end of the servo motor is provided with a central shaft, and multiple fixing plates are provided outside the central shaft. Multiple glue boxes are provided between the multiple fixing plates, and the servo motor drives the glue boxes to rotate.

8. A device for injecting glue onto a remote-controlled robotic arm operating pole as described in claim 6, characterized in that, The push plate is externally slidably connected to the inner wall of the fixed ring, which restricts the direction of movement of the push plate.

9. A device for injecting glue onto a remote-controlled robotic arm-mounted pole as described in claim 7, characterized in that, The central shaft is externally rotatably connected to the inside of the first baffle, and the right end of the central shaft is rotatably connected to the left side of the second baffle, so that the central shaft remains stable.

10. A device for injecting glue onto a remote-controlled robotic arm operating pole as described in claim 7, characterized in that, The left end of the glue cartridge is slidably connected to the right side of the first baffle, and the right end of the glue cartridge is slidably connected to the left side of the second baffle.

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