Unmanned aerial vehicle method and apparatus for handling spacer bars

Abstract

The application discloses an unmanned aerial vehicle loading and unloading method and device for spacer rods, and belongs to the technical field of spacer rods, which comprises an unmanned aerial vehicle and a mounting assembly arranged below the unmanned aerial vehicle and used for mounting the spacer rod to the unmanned aerial vehicle; wherein the mounting assembly comprises a spacer rod clamp arranged at the end of the spacer rod body; the mounting assembly is arranged on the spacer rod clamp and comprises a base plate horizontally arranged above the spacer rod clamp, an adjusting assembly arranged below the base plate and used for adjusting the state of the wire relative to the spacer rod clamp, and a clamp assembly used for controlling the mounting and dismounting of the spacer rod clamp; the spacer rod is transported by the unmanned aerial vehicle carrying the mounting assembly, the precise positioning of the wire and the stable mounting of the spacer rod are realized through the synergistic effect of the adjusting assembly and the clamp assembly, the safety hidden danger and the low efficiency of manual mounting of the spacer rod are effectively solved, the problems that the positioning of the two wires is difficult and the alignment and mounting are difficult during the mounting of the unmanned aerial vehicle are solved, the dismounting operation of the spacer rod is adapted, and the operation is safe and convenient.

Description

Technical Field

[0001] This invention relates to the field of spacer technology, and more specifically to a method and apparatus for loading and unloading spacers using a drone. Background Technology

[0002] With the expansion of my country's power distribution network overhead lines and technological upgrades, the mass per unit length of conductors, the mass of fittings, and the diameter have increased significantly, leading to a substantial increase in the risk of line galloping. This can cause conductor cross-contact, resulting in serious accidents such as conductor wear, fitting damage, and even line breakage, threatening the safe and stable operation of the power grid. To prevent cross-contact, spacers are needed to fix the distance between conductors. Due to their good insulation and mechanical strength, spacers can effectively support conductors of different phases and constrain each other, making them highly effective in suppressing conductor galloping and a routine anti-galloping measure for power companies.

[0003] In the existing technology, there is a lack of suitable intelligent and remote operation solutions for the installation of anti-flying devices and spacers for overhead power distribution lines. Manual installation is dangerous and inefficient, and it is necessary to use drones to hoist the spacers between the two lines. However, due to the problems of high-altitude wind force and different conductor directions, it is difficult to position the two conductors during the installation of overhead power distribution lines by drones, and the alignment installation is difficult. Summary of the Invention

[0004] The technical problem to be solved by this invention is that the installation of spacers is dangerous and inefficient when done manually, and difficult to position the two wires and align them when installed by drone. The purpose is to design a drone installation and disassembly method for spacers and a device for applying the method to solve the above-mentioned technical problems.

[0005] The present invention provides the following apparatus:

[0006] A spacer bar-based unmanned aerial vehicle (UAV) loading and unloading device, comprising:

[0007] Spacer clamps are used to connect spacers to conductors;

[0008] The mounting assembly is used to mount the spacer bar to the drone for movement; it includes an adjustment assembly for adjusting the state of the conductor axis and a clamping assembly for controlling the installation and removal of the spacer bar clamp.

[0009] Furthermore, the spacer clamp includes a fixed clamp, a rotating clamp, and a connecting shaft. One end of the rotating clamp is rotatably mounted on one end of the fixed clamp about the connecting shaft. The rotating clamp can rotate around the connecting shaft to fit against one side of the fixed clamp. The contact surface of the fixed clamp is recessed and has a first arc-shaped opening for wrapping the periphery of the conductor. The rotating clamp is matched with the first arc-shaped opening and has a second arc-shaped opening. The first arc-shaped opening and the second arc-shaped opening form a clamping opening that fits against the circular periphery of the conductor.

[0010] Furthermore, the adjustment assembly includes a limiting clamp and a base plate horizontally disposed above the spacer bar clamp. The limiting clamp is vertically disposed on the bottom surface of the base plate. The limiting clamp is recessed in the direction away from the spacer bar clamp to limit the direction of the conductor. The limiting clamp is provided with guide slopes on both sides of the limiting slope. The top of the guide slope is close to the limiting slope, and the bottom is disposed away from the limiting slope.

[0011] Furthermore, the adjusting component is provided with two clamps at each of the left and right ends of the spacer bar clamp; the line connecting the limiting ports of the two limiting clamps is aligned with the central axis of the clamping port; the limiting clamps are fixedly connected to the base plate by screws.

[0012] Furthermore, the clamping assembly includes two clamping arms respectively disposed at the left and right ends of the spacer clamp and a first telescopic rod for controlling the opening and closing of the two clamping arms; the clamping arms include a rotating block for connecting and controlling the opening and closing of the spacer clamp and a movable plate for controlling the connection and disconnection between the rotating block and the spacer clamp; the first telescopic rod is disposed between the movable plates of the two control clamping arms, and the two ends of the first telescopic rod are respectively fixedly connected to the two movable plates one by one; the movable plate is disposed on the side of the spacer clamp, and the moving direction of the movable plate is horizontal to the direction of the conductor; the rotating block is disposed between the movable plate and the spacer clamp, and the rotating block rotates coaxially with the rotating clamping plate.

[0013] Furthermore, a guide rail is provided on the side of the substrate near the moving plate along the direction horizontal to the wire, and a slide is provided above the moving plate relative to the guide rail. The slide forms a clamping guide for the guide rail through its internal structure, and the slide is slidably connected to the guide rail.

[0014] Furthermore, the first telescopic rod is disposed above the base plate, and an extension block for connecting the transmission of the first telescopic rod is disposed above the moving plate. The base plate is provided with a moving strip hole adapted to the moving trajectory of the moving plate. One end of the extension block is fixedly screwed to the moving plate, and the other end passes through the moving strip hole to the top of the base plate and is fixedly connected to the first telescopic rod.

[0015] Furthermore, the clamping arm also includes a second telescopic rod for driving the rotating block to rotate and a joint bearing, the joint bearing being fixedly mounted on the telescopic end of the second telescopic rod; the rotating block has a rotating shaft protruding along the rotation axis, and the moving plate has a rotating hole rotatably mounted relative to the rotating shaft, the rotating block being inserted into the rotating hole to rotate; one end of the rotating block has a driving post protruding, and the joint bearing is rotatably mounted on the driving post; a connecting pin is provided on the side of the rotating block near the spacer bar clamp, and a connecting hole is provided on the side of the rotating clamp of the spacer bar clamp, the rotating block being inserted into the connecting hole through the connecting pin and connected to the rotating clamp via transmission.

[0016] Furthermore, the second telescopic rod is located on the side of the moving plate away from the spacer clamp. The side of the moving plate has an arc-shaped hole that matches the rotation trajectory of the drive column. The drive column passes through the arc-shaped hole and is fixedly connected to the telescopic end of the second telescopic rod and the joint bearing.

[0017] Furthermore, spacer clamps are installed at both ends of the spacer, and two mounting components are installed in a one-to-one correspondence with the spacer clamps, with the two mounting components being parallel to each other; a support beam is installed between the two mounting components to fix the mounting components at both ends of the spacer as a whole.

[0018] Furthermore, a method for installing a spacer bar on a drone, employing any of the aforementioned spacer bar drone loading and unloading devices, includes the following steps:

[0019] Step 1: Connect the spacers with spacer clamps at both ends to the mounting components at both ends of the connection device, and control the drone to transport the drone installation and disassembly device, which includes the adjustment component, clamp component, and spacers with spacer clamps, onto the guide wire.

[0020] Step 2: Align the adjustment components with the wire and hang them on the wire; align the limit port with the wire and hang it on the wire.

[0021] Step 3: Control the rotating block of the clamp assembly to rotate, so that the rotating clamp of the spacer bar clamp connected to the rotating block rotates, so that the rotating clamp rotates to the bottom of the fixed clamp and is fixed. The spacer bar clamp clamps the wire, thus completing the fixing of the spacer bar.

[0022] Step 4: Control the moving plate of the clamping assembly to move away from the spacer clamp, so that the clamping assembly is released away from the spacer. The drone transports and removes the mounting assembly to complete the installation of the spacer.

[0023] Furthermore, a method for disassembling a spacer-type drone, employing any of the aforementioned spacer-type drone loading and unloading devices, includes the following steps:

[0024] Step 1: Control the drone to move the drone disassembly device, which only has the spacer bar for mounting components, onto the guide wire. Move the mounting components by the drone so that the limit clamp of the adjustment component is attached to the guide wire.

[0025] Step 2: Activate the first telescopic rod of the clamp assembly to retract, so that the moving plate is close to the spacer clamp. The clamp assembly clamps the spacer clamp, forming a combination structure of the mounting assembly and the spacer. At the same time, activate the second telescopic rod of the clamp assembly to retract, so that the rotating block rotates and opens the spacer clamp.

[0026] Step 3: Control the drone to remove the combined structure of the mounting components and spacers from the guide wire and transport it back to the ground, completing the drone disassembly of the spacers.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] 1. This invention uses a drone and a mounting component below the drone to mount a spacer to the wire position where the spacer needs to be installed, and combines an adjustment component for adjusting the wire's state relative to the spacer clamp and a clamping component for controlling the installation and removal of the spacer clamp. The invention automatically aligns and fixes the wire into the clamping jaws of the spacer clamp, and controls the spacer clamp to fix the wire, thus completing the installation of the spacer. This solves the problems of difficult positioning and alignment between two wires.

[0029] 2. This invention is also applicable to the disassembly of spacers. When it is necessary to replace aging spacers, the spacers can be separated from the wires by a drone and a mounting component without spacers, and then transported back to the ground for inspection and maintenance. This is convenient, quick, and reduces the danger of manual disassembly. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is a perspective view of a drone loading and unloading device with spacers according to the present invention;

[0032] Figure 2 for Figure 1 A magnified view of point A;

[0033] Figure 3 This is a perspective view of the mounting component of a spacer bar-based unmanned aerial vehicle (UAV) loading and unloading device according to the present invention.

[0034] Figure 4 This is a perspective view from the front axis, showing the mounting component of a spacer bar-based unmanned aerial vehicle loading and unloading device according to the present invention.

[0035] Figure 5 This is a perspective view of a spacer clamp in a drone loading and unloading device for spacers according to the present invention.

[0036] Figure 6 This is a flowchart of a method for installing spacer bars on a drone according to the present invention;

[0037] Figure 7 This is a flowchart of a method for disassembling a spacer bar in an unmanned aerial vehicle according to the present invention;

[0038] The attached diagram shows the markings and corresponding component names:

[0039] 1-Hanging assembly; 2-Spacer clamp; 3-Adjustment assembly; 4-Clamping assembly; 5-Limiting port; 6-Base plate; 7-Limiting clamp; 8-Spacer body; 9-Fixing clamp; 10-Rotating clamp; 11-Connecting shaft; 12-First arc-shaped opening; 13-Second arc-shaped opening; 14-Clamping opening; 15-Guide inclined surface; 16-First telescopic rod; 17-Second telescopic rod; 18-Clamping arm; 19-Rotating block; 20-Moving plate; 21-Guide rail; 22-Slide table; 23-Extension block; 24-Moving strip hole; 25-Joint bearing; 26-Rotating shaft; 27-Rotating hole; 28-Drive column; 29-Connecting insertion column; 30-Connecting insertion hole; 31-Arc-shaped hole; 32-Supporting beam. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0042] Example 1:

[0043] Reference Figure 1 and Figure 2 A drone loading and unloading device for spacer bars includes a drone and a mounting component 1 mounted below the drone. The mounting component is used to connect with the spacer bar body 8, enabling the drone to transport the spacer bar to a designated installation position. Since the spacer bar body 8 is a long, straight rod-shaped structure, mounting components 1 are provided at both ends, and the mounting components 1 at both ends are connected by a support beam 32, so that the overall device presents a structure parallel to the spacer bar body 8. The connection between the two ends of the mounting component 1 and the drone is a detachable connection using hanging rope hooks, and the hanging rope hooks are respectively connected to the mounting components 1 at both ends.

[0044] The mounting assembly 1 includes a spacer clamp 2 for connecting the spacer clamp 2, an adjustment assembly 3 for adjusting the state of the conductor relative to the spacer clamp 2, and a clamp assembly 4 for controlling the installation and removal of the spacer clamp 2. The spacer clamp 2 is located at the end of the spacer body 8, and the spacer body 8 and the spacer clamp 2 are fixedly connected by bolts. The adjustment assembly 3 and the clamp assembly 4 are symmetrically distributed on the base plate 6. The symmetrical adjustment assemblies 3 at both ends are used to adjust the conductor posture to a state parallel to the axis of the clamp 14, and the clamp assemblies 4 at both ends are used to control the opening and closing of the spacer clamp 2, working together to accurately install the spacer body 8.

[0045] Reference Figure 5 Preferably, the spacer clamp 2 includes a fixed clamp 9, a rotating clamp 10, and a connecting shaft 11. The bottom of the fixed clamp 9 is fixedly connected to the end of the spacer body 8 by bolts. One end of the rotating clamp 10 is rotatably mounted on one end of the fixed clamp 9 about the connecting shaft 11. The connecting shaft 11 is a cylindrical shaft with its two ends respectively passing through and fixed to the close ends of the fixed clamp 9 and the rotating clamp 10. The connecting shaft 11 is interference-fitted with the fixed clamp 9 and clearance-fitted with the rotating clamp 10, ensuring that the rotating clamp 10 can rotate flexibly around the connecting shaft 11. The rotating clamp 10 can rotate around the connecting shaft 11 to fit against one side of the fixed clamp 9. In the fitted state, the sides of the two completely overlap, ensuring the sealing of the clamp 14 after it is closed. The contact surface of the fixing clip 9 is recessed and has a first arc-shaped opening 12 for wrapping the periphery of the wire. The arc of the first arc-shaped opening 12 is consistent with the arc of the circular periphery of the wire. The rotating clip 10 is matched with the first arc-shaped opening 12 and has a second arc-shaped opening 13. The arc of the second arc-shaped opening 13 is the same as the arc of the first arc-shaped opening 12, and the centers of the two are on the same axis. The first arc-shaped opening 12 and the second arc-shaped opening 13 form a clamping opening 14. The clamping opening 14 fits the circular periphery of the wire. When the wire is in the clamping opening 14, the inner walls of the first arc-shaped opening 12 and the second arc-shaped opening 13 fit against the outer wall of the wire, realizing a ring-shaped fixation of the wire and preventing the wire from shifting during operation.

[0046] Reference Figure 3 and Figure 4Specifically, the adjusting component 3 includes a limiting clamp 7 and a base plate 6 horizontally positioned above the spacer clamp 2. The base plate 6 is a rectangular flat plate with its plane parallel to the top surface of the spacer clamp 2. The limiting clamp 7 is a plate-shaped structure, vertically positioned on the bottom surface of the base plate 6. The limiting clamp 7 has a recessed limiting opening 5 for limiting the direction of the wire, located away from the spacer clamp 2. The limiting opening 5 is an arc-shaped groove structure, the curvature of which matches the outer diameter of the wire, allowing the wire to be inserted into the limiting opening 5 for position limitation. The limiting clamp 7 has guide ramps 15 on both sides of the limiting opening 5. The guide ramps 15 are inclined planes, with their top ends close to the limiting opening 5 and their bottom ends extending obliquely away from the limiting opening 5. The inclination angle of the guide ramps 15 is 0 to 45 degrees, serving as guides during the wire's entry into the limiting opening 5, ensuring accurate guidance of the wire into the limiting opening 5 and preventing positional deviation due to wire displacement. Precise positioning is not possible; two limit clamps 7 are respectively provided at the left and right ends of the adjustment component 3 relative to the spacer bar clamp 2. The two limit clamps 7 are symmetrically distributed on the bottom surface of the substrate 6, and the line connecting the limit openings 5 ​​of the two limit clamps 7 is aligned with the central axis of the clamp opening 14. In terms of positional relationship, it is ensured that after the wire is positioned by the limit clamp 7, its axis can coincide with the central axis of the clamp opening 14, which provides a guarantee for the precise docking of the clamp opening 14 and the wire. The top of the limit clamp 7 is fixedly connected to the substrate 6 by screws. The screws are used as a connecting structure to fix the substrate 6 and the limit clamp 7. Here, a rivet structure, adhesive, or welding connection process can be used instead, which will not be elaborated here. There are four screws, with two screws as a group, symmetrically arranged on both sides of the top of the limit clamp 7, which further enhances the stability of the connection between the limit clamp 7 and the substrate 6 and prevents the limit clamp 7 from loosening due to external forces such as wind during high-altitude operations.

[0047] Preferably, the clamp assembly 4 includes two clamping arms 18 respectively disposed at the left and right ends of the spacer clamp 2, and a first telescopic rod 16 for controlling the opening and closing of the two clamping arms 18. The two clamping arms 18 are symmetrically distributed on both sides of the spacer clamp 2 to ensure that the spacer clamp 2 does not shift during installation and to prevent slippage from the wire. The clamping arms 18 include a rotating block 19 for connecting and controlling the opening and closing of the spacer clamp 2, and a movable plate 20 for movably controlling the connection and disconnection between the rotating block 19 and the spacer clamp 2. The rotating block 19 is disposed between the movable plate 20 and the spacer clamp 2. The movable plate 20 is a rectangular flat plate structure and is disposed parallel to the side of the spacer clamp 2. The first telescopic rod 16 is disposed at... Between the two control clamping arms 18 and the movable plates 20, the two ends of the first telescopic rod 16 are respectively fixedly connected to the two movable plates 20 one by one, and the connection method is bolt fixing, so as to ensure that the extension and retraction movement of the first telescopic rod 16 can directly drive the two movable plates 20 to move in opposite directions; the movable plates 20 are set on the side of the spacer bar clamp 2, and the moving direction of the movable plates 20 is set horizontally to the direction of the wire, so as to ensure that the movement of the movable plates 20 will not affect the position of the wire; the rotating block 19 and the rotating clamp 10 rotate coaxially, and the rotation axis of the rotating block 19 coincides with the rotation axis of the rotating clamp 10, so as to ensure that the rotation of the rotating block 19 can be directly transmitted to the rotating clamp 10 to realize the opening and closing of the clamp 14.

[0048] Reference Figure 4 Specifically, a guide rail 21 is provided on the side of the substrate 6 near the moving plate 20 along a direction horizontal to the conductor. The upper side of the guide rail 21 is attached to the lower side of the substrate 6 and is fixedly connected to the substrate 6 by bolts. The axis of the guide rail 21 is parallel to the moving direction of the moving plate 20. A slide table 22 is provided above the moving plate 20 relative to the guide rail 21. The upper side of the slide table 22 is recessed and has a through hole that matches the guide rail 21. The slide table 22 forms a clamping guide for the guide rail 21 through the through hole. The slide table 22 and the guide rail 21 are slidably connected and are fitted with a clearance to ensure that the slide table 22 can slide smoothly along the guide rail 21. The mating structure of the guide rail 21 and the slide table 22 provides guidance and support for the movement of the moving plate 20, ensuring the straightness and stability of the movement of the moving plate 20.

[0049] Specifically, the first telescopic rod 16 is disposed above the base plate 6, and the axis of the first telescopic rod 16 is parallel to the moving direction of the moving plate 20. An extension block 23 for connecting the transmission of the first telescopic rod 16 is disposed above the moving plate 20. The extension block 23 is vertically disposed above the moving plate 20, and its bottom end is fixedly connected to the top surface of the moving plate 20 by bolts. The base plate 6 is provided with a long strip-shaped moving slot 24 adapted to the moving trajectory of the moving plate 20 along the extension block 23. The length direction is consistent with the moving direction of the moving plate 20, and the width is adapted to the width of the extension block 23. One end of the extension block 23 is fixedly screwed to the moving plate 20, and the other end passes through the moving slot 24 to the top of the base plate 6 and is fixedly connected to the first telescopic rod 16. The telescopic movement of the first telescopic rod 16 is transmitted to the moving plate 20 through the extension block 23, so that the moving plate 20 moves along the telescopic direction of the first telescopic rod 16. At the same time, the moving slot 24 plays a limiting role in the movement of the extension block 23, preventing the moving plate 20 from deviating during the movement.

[0050] Preferably, the clamping arm 18 further includes a second telescopic rod 17 for driving the rotation of the rotating block 19 and a joint bearing 25. The second telescopic rod 17 is a linear drive component, and its axis is perpendicular to the side of the moving plate 20. The joint bearing 25 is fixedly mounted on the telescopic end of the second telescopic rod 17. The inner ring of the joint bearing 25 and the telescopic end of the second telescopic rod 17 are interference-fitted to ensure the stability of the connection. The rotating block 19 has a rotating shaft 26 protruding along the rotation axis. The rotating shaft 26 is a cylindrical shaft and is integrally formed with the rotating block 19. The moving plate 20 rotates relative to the rotating shaft 26. A rotating hole 27 is provided, which is a cylindrical through hole. Its inner diameter is adapted to the outer diameter of the rotating shaft 26. The rotating block 19 is inserted into the rotating hole 27 through the rotating shaft 26 and rotates. The rotating shaft 26 and the rotating hole 27 are fitted with a clearance to ensure that the rotating block 19 can rotate flexibly. One end of the rotating block 19 is provided with a drive column 28, which is integrally formed with the rotating block 19. The second telescopic rod 17 is sleeved on the drive column 28 through a joint bearing 25 to form a crank rocker mechanism. The horizontal movement of the telescopic rod is converted into the rotation drive of the rotating block 19 through the joint bearing 25. The spherical bearing 25 is rotatably sleeved on the drive column 28. The inner ring of the spherical bearing 25 and the drive column 28 are clearance-fitted, allowing the drive column 28 to rotate within the spherical bearing 25. A connecting pin 29 is provided on the side of the rotating block 19 near the spacer bar clamp 2. A connecting hole 30 is provided on the side of the rotating clamp 10 of the spacer bar clamp 2. The inner diameter of the hole is adapted to the outer diameter of the connecting pin 29. The rotating block 19 is inserted into the connecting hole 30 through the connecting pin 29 and is connected to the rotating clamp 10 for transmission. The rotational motion of the rotating block 19 can be directly transmitted to the rotating clamp 10, realizing the synchronous rotation of the rotating clamp 10 around the connecting shaft 11.

[0051] Preferably, the second telescopic rod 17 is located on the side of the moving plate 20 away from the spacer clamp 2. The cylinder of the second telescopic rod 17 is fixedly connected to the side of the moving plate 20 through a bracket. The bracket and the moving plate 20 are fixed with bolts to ensure the overall stability of the second telescopic rod 17. The side of the moving plate 20 is provided with an arc-shaped hole 31 to match the rotation trajectory of the drive column 28. The center of the arc-shaped hole 31 coincides with the axis of the rotating shaft 26, and the radius is equal to the distance from the drive column 28 to the axis of the rotating shaft 26. The drive column 28 passes through the arc-shaped hole 31 and is fixedly connected to the telescopic end of the second telescopic rod 17 and the joint bearing 25. At the same time, it limits the rotation trajectory of the drive column 28 to ensure that the telescopic movement of the second telescopic rod 17 can be accurately converted into the rotational movement of the rotating block 19.

[0052] Specifically, spacer clamps 2 are set at both ends of the spacer, and the two spacer clamps 2 are symmetrically distributed at both ends of the spacer body 8 to ensure that the spacer is subjected to balanced forces at both ends. There are two mounting components 1 on each side of the spacer clamps 2. The two mounting components 1 are set opposite each other and have the same structure. The base plates 6 of the two mounting components 1 are on the same horizontal plane to ensure the synchronicity of their movement. A support beam 32 is set between the two mounting components 1. The support beam 32 is a rectangular rod structure. Its two ends are fixedly connected to the base plates 6 of the two mounting components 1 by bolts. The axis of the support beam 32 coincides with the axis of symmetry of the two base plates 6. It is used to fix the mounting components 1 at both ends of the spacer as a whole, enhance the structural integrity and stability of the entire device, and prevent the two mounting components 1 from being displaced relative to each other due to external forces during high-altitude operations.

[0053] Example 2,

[0054] Reference Figure 6 A method for installing spacer bars on a drone, comprising:

[0055] Step 1: Control the drone to transport the drone loading and unloading device, which includes the adjustment component, clamp component, and spacer with spacer clamp, onto the guide rail, so that the limit clamps at both ends of the adjustment component are aligned and hung on the guide rail, and the limit port is fitted and locked onto the guide rail.

[0056] Step 2: The second telescopic rod of the clamp assembly extends, and through the crank rocker structure, the rotating block rotates. Then, the rotating clamp of the spacer bar clamp connected to the rotating block rotates, so that the clamp rotates to the bottom of the fixed clamp and is fixed. The spacer bar clamp clamps the wire, thus completing the fixing of the spacer bar.

[0057] Step 3: Activate the extension of the first telescopic rod of the clamping assembly to move the moving plate away from the spacer clamp, so that the clamping assembly releases the spacer and the mounting assembly separates from the spacer clamp;

[0058] Step 4: Control the drone to transport and remove the mounting components to complete the installation of the spacer bars.

[0059] Before installing the spacer bars, the device is first assembled. The spacer bar body 8, with spacer bar clamps 2 attached to both ends, is connected to the mounting components 1 at both ends of the device. The two ends of the spacer bar body 8 are fixedly connected to the two spacer bar clamps 2 respectively, and the connection between the spacer bar body 8 and the spacer bar clamps 2 is firm. After assembly, the initial state of the spacer bar clamps 2 is adjusted so that the clamping opening 14 for connecting wires is facing downward. At this time, the rotating clamp 10 is in the open state, and the first arc-shaped opening 12 is fully exposed. The moving plate 20 of the clamping component 4 of the mounting component 1 is fixedly clamped on both sides of the spacer bar clamp 2 through the connecting structure. Specifically, the clamping arms 18 on both sides are inserted into the connecting insertion holes 30 on the side of the rotating clamp 10 through the connecting pins 29 on the rotating block 19. During transportation, the spacer bar clamp 2 and the mounting component 1 are kept relatively fixed.

[0060] Step 1: Control the drone to move the drone loading / unloading device, which includes the adjustment component 3, clamping component 4, and spacer clamp 2, onto the guide rail; the drone transports the drone loading / unloading device holding the spacer clamp to the designated position on the guide rail where the spacer is to be installed. The adjustment component 3 is attached to the guide rail through the limiting port 5, so that both limiting clamps 7 are attached to the same guide rail through the limiting port 5. The two guide rails on which the two mounting components 1 are respectively attached are in a horizontal state, and the first arc-shaped opening 12 of the spacer clamp 2 is aligned with the guide rail; the operator controls the drone's flight attitude and flight trajectory through the ground remote control equipment, and the drone carrying the drone loading / unloading device holding the spacer clamp flies towards the designated position on the guide rail where the spacer is to be installed; during the flight, the operator observes the relative position of the device and the guide rail in real time through the camera on the drone, and adjusts the drone's flight altitude and horizontal position according to the image feedback to ensure that the device can accurately reach the work area;

[0061] Step 2: After the drone flies to the designated position, adjust the drone's attitude so that the two mounting components 1 are aligned with the two wires to be installed spacers. At this time, the limiting clamp 7 of the adjusting component 3 is directly above the wire. The operator controls the drone to descend slowly so that the adjusting component 3 is hung on the wire through the limiting port 5. During the hanging process, the wire slides smoothly into the limiting port 5 of the limiting clamp 7 under the guidance of the guide slope 15. The limiting ports 5 of the two limiting clamps 7 are both hung on the same wire. Through the joint action of the two limiting clamps 7, the position of the wire is limited so that the two wires hung on the corresponding two mounting components 1 are in a horizontal state. At the same time, the first arc-shaped opening 12 of the spacer clamp 2 is aligned with the wire to ensure that the axis of the wire coincides with the central axis of the clamp 14, which is in preparation for the subsequent closing of the clamp 14.

[0062] Step 3: Start the rotation of the rotating block 19 of the clamp assembly 4 to complete the fixed closure of the spacer clamp 2; specifically, the second telescopic rod 17 extends, causing the rotating block 19 to rotate, which in turn drives the rotating clamp 10 of the spacer clamp 2 to rotate. The rotating clamp 10 gradually approaches the fixed clamp 9 until the first arc-shaped opening 12 and the second arc-shaped opening 13 close to form a clamp 14. The clamp 14 fits against the circular circumference of the wire, thereby completing the fixation of the spacer clamp 2 and the wire; after the adjustment assembly 3 completes the positioning of the wire, the operator sends a command through the remote control device to start the second telescopic rod 17 and control the extension of the second telescopic rod 17. The telescopic end of the second telescopic rod 17 pushes the joint bearing 25 to move. The joint bearing 25 drives the drive column 28 to move along the trajectory of the arc-shaped hole 31. The drive column 28 drives the rotating block 19 to rotate around the rotating shaft 26. Since the rotating block 19 is connected to the connecting hole 30 of the rotating clamp 10 through the connecting pin 29, the rotational motion of the rotating block 19 is transmitted to the rotating clamp 10 of the spacer bar clamp 2, causing the rotating clamp 10 to rotate around the connecting shaft 11. During the rotation, the rotating clamp 10 gradually approaches the fixed clamp 9, and the second arc-shaped opening 13 gradually aligns with the first arc-shaped opening 12 until the first arc-shaped opening 12 and the second arc-shaped opening 13 are completely closed to form a clamping opening 14. The inner wall of the clamping opening 14 is completely fitted with the circular circumference of the wire, realizing the fixed clamping of the wire by the spacer bar clamp 2. At this time, the spacer bar body 8 is fixedly connected to the two wires through the two spacer bar clamps 2 respectively, completing the initial installation of the spacer bar.

[0063] Step 4: Control the moving plate 20 of the clamp assembly 4 to move away from the spacer bar clamp 2, so that the clamp assembly 4 is released. Specifically, the first telescopic rod 16 is activated to extend, so that the moving plate 20 moves away from the spacer bar clamp 2. The clamp assembly 4 loses its clamping effect on the spacer bar clamp 2. Subsequently, the drone will be used to detach the mounting assembly 1 from the wire and transport it back to the ground. After the spacer bar clamp 2 has completed the fixation of the wire, the operator sends a command through the remote control device to activate the first telescopic rod 16 and control the extension of the first telescopic rod 16. The two ends of the first telescopic rod 16 push the corresponding moving plate 20 respectively. The moving plate 20 moves away from the spacer clamp 2 along the guide rail 21 via the slide table 22. During the movement of the moving plate 20, the connecting pin 29 on the rotating block 19 is gradually pulled out from the connecting hole 30 of the rotating clamp 10. When the first telescopic rod 16 extends to its maximum stroke, the connecting pin 29 is completely disengaged from the connecting hole 30. The clamp assembly 4 loses its clamping function and transmission connection to the spacer clamp 2. At this time, the operator controls the drone to rise and move. The drone drives the mounting assembly 1 to detach from the spacer clamp 2 and the spacer body 8. The mounting assembly 1 is completely separated from the spacer. The drone transports the mounting assembly 1 back to the ground, completing the entire installation process of the spacer.

[0064] Example 3:

[0065] Reference Figure 7 A method for disassembling a spacer bar in a drone, comprising:

[0066] Step 1: Control the drone to move the drone disassembly device with the spacer bar containing the adjustment component and clamping component to the guide wire. Move the mounting component by the drone so that the limit clamp of the adjustment component is attached to the guide wire.

[0067] Step 2: Activate the first telescopic rod of the clamp assembly to retract, so that the moving plate is close to the spacer clamp, the clamp assembly clamps the spacer clamp, and the mounting assembly is combined with the spacer.

[0068] Step 3: Activate the second telescopic rod of the clamping assembly to retract, causing the rotating block to rotate and open the spacer bar clamp;

[0069] The drone is controlled to remove the assembly of the mounting components and spacers from the wire position and transport them back to the ground, thus completing the drone disassembly of the spacers.

[0070] Specifically, before operation, the equipment is inspected to ensure that the drone, mounting component 1, adjustment component 3, clamping component 4 and other structures are in normal working condition and that there are no damaged parts or loose connections. The operator connects and fixes the mounting component 1 without the spacer bar to the drone. After ensuring a firm connection, the disassembly process is carried out.

[0071] Step 1: Start the drone and control it to fly with the mounting components 1 to the location of the spacer to be removed. During the flight, observe the position and status of the spacer in real time through the camera on the drone and adjust the drone's flight attitude so that the two mounting components 1 are aligned with the spacer clamps 2 at both ends of the spacer. When the drone reaches the designated position, control the drone to descend slowly so that the moving plate 20 moves to both sides of the spacer clamp 2. At this time, the first telescopic rod 16 is in the retracted state, and the two moving plates 20 move closer to each other until the connecting pin 29 on the rotating block 19 is aligned with the connecting hole 30 of the rotating clamp 10.

[0072] Step 2: The operator controls the first telescopic rod 16 to remain in the retracted state, ensuring that the connecting pin 29 is stably inserted into the connecting hole 30, thus achieving the transmission connection between the moving plate 20 and the spacer clamp 2. Then, the second telescopic rod 17 is activated to retract. The telescopic end of the second telescopic rod 17 drives the joint bearing 25 to move in the opposite direction. The joint bearing 25 pulls the drive column 28 to move along the reverse trajectory of the arc-shaped hole 31. The drive column 28 drives the rotating block 19 to rotate in the opposite direction around the rotating shaft 26. The reverse rotation of the rotating block 19 is transmitted to the rotating clamp 10, causing the rotating clamp 10 to rotate in the opposite direction around the connecting shaft 11. The rotating clamp 10 gradually moves away from the fixed clamp 9, the second arc-shaped opening 13 separates from the first arc-shaped opening 12, the clamp 14 opens, and the spacer clamp 2 releases its fixing effect on the wire.

[0073] Step 3: Once the clamp 14 is fully open, the operator controls the drone to ascend, and the mounting component 1 pulls the spacer clamp 2 and spacer body 8 away from the wire. During the ascent, it is necessary to ensure that the spacer body 8 is completely separated from the wire without any entanglement or jamming. Subsequently, the operator controls the drone to return to the ground carrying the mounting component 1, spacer clamp 2, and spacer body 8. After reaching the ground, the operator controls the first telescopic rod 16 to extend, causing the moving plate 20 to move away from the spacer clamp 2. The connecting pin 29 disengages from the connecting socket 30, and the operator removes the spacer body 8 and spacer clamp 2 from the mounting component 1, completing the disassembly and retrieval of the spacer. The spacer can then be transported to a designated location for inspection, repair, or replacement. The entire disassembly process does not require manual high-altitude work, effectively reducing operational risks and improving operational efficiency.

[0074] Throughout the installation and disassembly process, the limiting clamp 7 of the adjusting component 3, through the cooperation of the limiting port 5 and the guide inclined surface 15, achieves precise positioning and attitude adjustment of the wire, ensuring that the wire can accurately align with the clamping mouth 14 of the spacer clamp 2; the clamp component 4, through the coordinated action of the first telescopic rod 16, the second telescopic rod 17, the rotating block 19, the moving plate 20, etc., achieves the opening and closing control of the spacer clamp 2 and the connection and separation with the mounting component 1; the supporting beam 32 enhances the structural integrity of the two mounting components 1, ensuring the stability of the device during operation; the cooperation between the guide rail 21 and the slide table 22 ensures the accuracy of the movement of the moving plate 20; the setting of the joint bearing 25 allows the linear movement of the second telescopic rod 17 to be smoothly converted into the rotational movement of the rotating block 19. The positional relationship, connection structure and purpose of each structure cooperate with each other to form a complete operating system, realizing intelligent and remote operation of spacer installation and disassembly, solving the technical problems of dangerous and inefficient manual installation and disassembly, as well as the difficulty in positioning and aligning the wire during drone installation.

[0075] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A spacer bar-based unmanned aerial vehicle (UAV) loading and unloading device, Its features are, It includes a mounting assembly (1) and a spacer clamp (2) for connecting the spacer bar and the conductor; the mounting assembly (1) is disposed on the spacer clamp (2); the mounting assembly (1) includes an adjustment assembly (3) for adjusting the direction of the conductor axis and a clamp assembly (4) for controlling the disconnection of the spacer clamp (2) and the conductor. The clamp assembly (4) includes two clamping arms (18) respectively disposed at the left and right ends of the spacer clamp (2) and a first telescopic rod (16) for controlling the opening and closing of the two clamping arms (18); the clamping arms (18) include a rotating block (19) for connecting and controlling the opening and closing of the spacer clamp (2) and a movable plate (20) for controlling the connection and disconnection between the rotating block (19) and the spacer clamp (2); the first telescopic rod (16) is disposed between the movable plate (20) of the two clamping arms (18), and the two ends of the first telescopic rod (16) are respectively fixedly connected to the two movable plates (20) one by one; the movable plate (20) is disposed on the side of the spacer clamp (2), and the moving direction of the movable plate (20) is horizontal to the direction of the conductor; the rotating block (19) is disposed between the movable plate (20) and the spacer clamp, and the rotating block (19) and the rotating clamp (10) rotate coaxially; The spacer bar clamp (2) includes a fixed clamp (9), a rotating clamp (10), and a connecting shaft (11). One end of the rotating clamp (10) is rotatably mounted on one end of the fixed clamp (9) about the connecting shaft (11). The rotating clamp (10) can rotate around the connecting shaft (11) to fit against one side of the fixed clamp (9). The contact surface of the fixed clamp (9) is recessed and has a first arc-shaped opening (12) for wrapping the periphery of the conductor. The rotating clamp (10) matches the first arc-shaped opening (12) and has a second arc-shaped opening (13). The first arc-shaped opening (12) and the second arc-shaped opening (13) form a clamping opening (14). When the spacer bar is connected to the conductor, the clamping opening (14) fits against the circumferential side of the conductor. The clamping arm (18) also includes a second telescopic rod (17) for driving the rotating block (19) to rotate and a joint bearing (25). The joint bearing (25) is fixedly installed at the telescopic end of the second telescopic rod (17). The rotating block (19) has a rotating shaft (26) protruding along the rotation axis. The moving plate (20) has a rotating hole (27) rotatably provided relative to the rotating shaft (26). The rotating block (19) is inserted into the rotating hole (27) through the rotating shaft (26) and rotates. One end of the rotating block (19) has a driving column (28) protruding. The joint bearing (25) is rotatably sleeved on the driving column (28). The rotating block (19) has a connecting pin (29) on the side near the spacer bar clamp (2). The side of the rotating clamp (10) of the spacer bar clamp (2) is matched with a connecting hole (30). The rotating block (19) is inserted into the connecting hole (30) through the connecting pin (29) and is connected to the rotating clamp (10) in a transmission manner. The second telescopic rod (17) is located on the side of the moving plate (20) away from the spacer clamp (2). The side of the moving plate (20) is provided with an arc-shaped hole (31) to match the rotation trajectory of the drive column (28). The drive column (28) passes through the arc-shaped hole (31) and is fixedly connected to the telescopic end of the second telescopic rod (17) and the joint bearing (25).

2. The UAV loading and unloading device with spacers according to claim 1, characterized in that, The adjustment assembly (3) includes a limiting clamp (7) and a base plate (6) horizontally disposed above the spacer clamp (2). The limiting clamp (7) is vertically disposed on the bottom surface of the base plate (6). The limiting clamp (7) is recessed in the direction away from the spacer clamp (2) to limit the direction of the conductor. The limiting clamp (7) is provided with guide slopes (15) on both sides of the limiting slopes (5). The top of the guide slopes (15) is close to the limiting slopes (5), and the bottom extends obliquely in the direction away from the limiting slopes (5). The adjustment assembly (3) is provided with two clamps at the left and right ends of the spacer clamp (2). The line connecting the limiting slopes (5) of the two clamps (7) is aligned with the central axis of the clamp (14). The top of the limiting clamp (7) is fixedly connected to the base plate (6) by screws.

3. The UAV loading and unloading device with spacers according to claim 1, characterized in that, The first telescopic rod (16) is disposed above the base plate (6). An extension block (23) for connecting the first telescopic rod (16) is disposed above the moving plate (20). The base plate (6) is provided with a moving slot (24) adapted to the moving trajectory of the moving plate (20). One end of the extension block (23) is fixedly screwed to the moving plate (20), and the other end passes through the moving slot (24) to the top of the base plate (6) and is fixedly connected to the first telescopic rod (16).

4. The UAV loading and unloading device with spacers according to claim 1, characterized in that, Spacer clamps (2) are set at both ends of the spacer. There are two mounting components (1) corresponding to the spacer clamps (2), and the two mounting components (1) are parallel to each other. A support beam (32) is set between the two mounting components (1) to fix the mounting components (1) at both ends of the spacer as a whole.

5. A method for installing a spacer bar on a drone, based on the drone loading and unloading device with a spacer bar as described in claim 1, characterized in that... Includes the following steps: S1: Control the drone to move the drone loading and unloading device with the mounting assembly (1) and the spacer with the spacer clamp (2) onto the guide wire; S2: The adjustment component (3) is hung on the wire; S3: Start the rotation of the rotating block (19) of the clamp assembly (4) to complete the fixed closure of the spacer clamp (2); S4: Control the moving plate (20) of the clamp assembly (4) to move away from the spacer clamp (2), so that the clamp assembly (4) is released and the spacer installation is completed.

6. A method for disassembling a drone with spacers, based on the drone loading and unloading device with spacers as described in claim 1, characterized in that... Includes the following steps: S1: Control the drone to move the device of the mounting component (1) consisting only of the adjustment component (3) and the clamp component (4) to the top of the spacer clamp that has been installed on the wire, until the adjustment component (3) is mounted on the wire. S2: Start the clamp assembly (4) to form a combined structure of the mounting assembly and the spacer bar; S3: Move the mounting assembly and spacer assembly together until they are disconnected from the conductor, thus completing the removal of the spacer.

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