Unmanned aerial vehicle-mounted four-bundle conductor positioning, clamping and supporting device and method

Abstract

The invention relates to the field of four-bundle conductor auxiliary positioning, in particular to an unmanned aerial vehicle-mounted four-bundle conductor positioning, clamping and supporting device and method. According to the wire supporting device, the efficiency and safety of wire supporting operation are improved, descending of the height adjusting plate and ascending of the lower mounting piece can be achieved by rotating the bidirectional threaded screw, the upper clamping jaw set and the lower clamping jaw set are clamped, the technical effects of positioning, clamping and wire supporting are achieved, the mounting process is effectively simplified, the mounting complexity is remarkably reduced, and the wire supporting efficiency is improved. And the installation efficiency is improved. Meanwhile, the wire supporting device is compact in overall structure, unmanned aerial vehicle mounting and air transportation are facilitated, and manual climbing or using of auxiliary equipment such as a crane is not needed; in the whole process, control of the unmanned aerial vehicle and mechanical response of the device are tightly combined, continuous automatic operation from alignment, guiding, pre-tightening to final clamping and wire supporting is achieved, the manual intervention difficulty and the operation risk are greatly reduced, and the operation efficiency and safety are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of four-split conductor auxiliary positioning, and specifically to an unmanned aerial vehicle (UAV)-borne four-split conductor positioning clamping and support device and method. Background Technology

[0002] In power transmission line construction, the installation of four-split conductor spacers is a crucial step. Traditional installation methods mainly rely on manual climbing or using cranes for high-altitude operations, which is not only inefficient but also poses significant safety risks. This is especially true in high-voltage, long-span line construction, where manual operation is difficult, dangerous, and struggles to guarantee installation accuracy. With the rapid development of drone and robotic technologies, automated methods for power transmission line maintenance and installation have become a research hotspot. However, existing drone technology still suffers from complex operation, low positioning accuracy, and poor reliability in conductor support and fixing, making it difficult to meet the needs of automated installation of four-split conductor spacers.

[0003] Current automated installation methods for spacers mainly include two types: flying drones and on-line robots. When installing four-split spacers, because the conductors are divided into upper and lower layers, drones have difficulty entering and completing complex installation actions. On-line robots, on the other hand, have a large load capacity, which can cause conductor displacement during installation and even lead to overlap of the upper and lower layers of conductors.

[0004] Therefore, there is a need in this field to propose a four-split conductor positioning and clamping support device and method, so that the support device can be installed using only drones, thereby assisting in the subsequent spacer installation work. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the prior art by providing an unmanned aerial vehicle (UAV)-borne four-split conductor positioning, clamping, and support device and method. The support device provided by this invention improves the efficiency and safety of conductor support operations. Rotating the bidirectional threaded screw lowers the height adjustment plate and raises the lower mounting component, clamping the upper and lower jaw assemblies to achieve positioning, clamping, and support of the conductor. This effectively simplifies the installation process, significantly reduces installation complexity, and improves installation efficiency. Furthermore, the support device provided by this invention has a compact overall structure, facilitating UAV mounting and aerial transport without requiring manual climbing or the use of cranes or other auxiliary equipment. The entire process of this invention closely integrates the control of the UAV with the mechanical response of the device, achieving continuous automated operation from alignment, guidance, pre-tightening to final clamping and support of the conductor. This significantly reduces the difficulty and risk of manual intervention, and substantially improves operational efficiency and safety.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A UAV-borne four-split conductor positioning and clamping support device includes a nut seat, an upper mounting component, a lower mounting component, a connecting column, and a height adjustment plate, as well as an upper jaw assembly mounted on the upper mounting component and a lower jaw assembly mounted on the lower mounting component and the connecting column. The bottom surface of the upper mounting component is fixed to the top end of the connecting column, and the bottom end of the connecting column is fixed to a base. The height adjustment plate and the lower mounting component slide along the connecting column. A bidirectional threaded screw is mounted on the base, and one end of the bidirectional threaded screw away from the base extends into a mounting cavity located inside the upper mounting component. The bidirectional threaded screw has three threads from top to bottom, which are respectively mounted on the nut seat, the height adjustment plate, and the lower mounting component. A UAV gripper head is mounted on the top end of the nut seat, and the nut seat slides up and down along the mounting cavity. The bidirectional threaded screw drives the height adjustment plate to descend, the lower mounting component to rise, and the upper jaw assembly to clamp the two high-side conductors of the four-split conductor, while the lower jaw assembly clamps the two low-side conductors of the four-split conductor.

[0008] Furthermore, the upper mounting component includes two horizontal sides on both sides and a vertical side in the middle. A mounting groove is symmetrically formed on each of the two horizontal sides. Each mounting groove contains a set of upper clamping jaws. Each set of upper clamping jaws includes an outer clamping jaw and an inner clamping jaw. The inner clamping jaw is fixedly installed in the mounting groove near the vertical side, while the outer clamping jaw is slidably installed in the mounting groove. The outer clamping jaw and the inner clamping jaw fit together to form a cylindrical locking hole. An extension baffle is installed upwards on the side of the inner clamping jaw near the locking hole.

[0009] Furthermore, the upper gripper assembly is provided with a spring tongue assembly, which includes spring tongues respectively disposed on the outer gripper and the inner gripper and matched with each other.

[0010] Furthermore, the upper mounting component is symmetrically provided with an upper traction rope groove assembly. The upper traction rope groove assembly includes a horizontal groove symmetrically arranged on both sides of the horizontal side and a vertical groove symmetrically arranged on both sides of the vertical side. A gripper end 1 that slides into and extends out of the horizontal groove 1 is installed on both sides of the outer gripper 1. An adjustment end 1 that slides into and extends out of the vertical groove is installed on both sides of the nut seat. The horizontal groove 1 and the vertical groove 1 are of equal length and perpendicular to each other. An upper traction rope wheel is installed at the intersection of the extension lines of the horizontal groove 1 and the vertical groove 1. The gripper end 1 is connected to the corresponding adjustment end 1 through the upper traction rope. The upper traction rope slides into the corresponding upper traction rope wheel.

[0011] Furthermore, the lower mounting component is in the shape of a straight line, with symmetrical mounting grooves two at each end. The lower clamping claw assembly includes an outer clamping claw two and an inner clamping claw two. A mounting groove three with a height matching the outer clamping claw two is opened on the outer side of the connecting column. The inner clamping claw two is fixedly installed in the mounting groove three. The outer clamping claw two is slidably installed in the mounting groove two. The outer clamping claw two and the inner clamping claw two fit together to form a cylindrical locking hole.

[0012] Furthermore, the lower gripper assembly is provided with a second spring tongue assembly, which includes two spring tongues respectively disposed on the second outer gripper and the second inner gripper and matched with each other.

[0013] Furthermore, the lower mounting component is symmetrically provided with a lower traction rope groove, and the two sides of the outer jaw are fitted with jaw ends that slide and extend out of the lower traction rope groove. The two sides of the base are fitted with fixed ends that match the jaw ends. A lower traction rope wheel is installed at the intersection of the vertical line of the fixed end and the extension line of the lower traction rope groove. The jaw ends are connected to the corresponding fixed ends through the lower traction rope, and the lower traction rope slides onto the corresponding lower traction rope wheel.

[0014] A method for positioning, clamping, and supporting a UAV-borne four-split conductor, the method being based on a UAV-borne four-split conductor positioning, clamping, and supporting device, the method comprising the following steps:

[0015] Step 1: The drone grabs the drone gripper head, and uses the movable direction of the outer gripper as the direction of the wire support device. The actual angle between the direction of the wire support device and the conductor is less than the preset initial maximum deviation angle. The wire support device is then transported to the middle area of ​​the four-split conductor.

[0016] Step 2: Adjust the height of the wire support device so that the height of the extension baffle matches the height of the high-side conductor. Rotate the wire support device with the drone. During the rotation of the wire support device, the extension baffle and the connecting column push the conductor apart until the wire support device points perpendicular to the four-split conductor. The actual angle between the wire support device and the vertical line of the conductor is less than the preset maximum alignment deviation angle.

[0017] Step 3: The drone raises the height of the support wire device until the upper mounting part contacts the high side guide wire. The height of the support wire device is continuously raised until the high side guide wire with tension restrains the rise of the support wire device.

[0018] Step four: The bidirectional threaded screw rotates, the nut seat rises, and the upper traction rope pulls the outer jaw one so that the upper jaw assembly is engaged with the spring tongue assembly one and interlocked to clamp and position the high-side conductor; the height adjustment plate and the lower mounting piece move closer to each other at equal distances, the height adjustment plate presses down the low-side conductor to the lower mounting piece, and the lower traction rope pulls the outer jaw two so that the lower jaw assembly is engaged with the spring tongue assembly two and interlocked to clamp and position the low-side conductor.

[0019] Furthermore, in steps three and four, the high-side guide wire forms a constraint force on the upper mounting component, and the UAV raises the height of the support wire device until the nut seat overcomes frictional resistance and moves upward, driving the bidirectional threaded screw to rotate.

[0020] Furthermore, in steps three and four, the bidirectional threaded screw extends out of the base and connects to the motor. The motor drives the bidirectional threaded screw to rotate, causing the nut seat to rise and the height adjustment plate and the lower mounting piece to move closer together synchronously and at equal distances.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The wire support device provided by this invention improves the efficiency and safety of wire support operations. Rotating the bidirectional threaded screw lowers the height adjustment plate and raises the lower mounting component, clamping the upper and lower jaw assemblies to achieve positioning, clamping, and wire support. This effectively simplifies the installation process, significantly reduces installation complexity, and improves installation efficiency. Furthermore, the wire support device has a compact overall structure, facilitating drone mounting and aerial transport without requiring manual climbing or the use of cranes or other auxiliary equipment. The entire process of this invention tightly integrates drone control with the device's mechanical response, achieving continuous automated operation from alignment, guidance, pre-tensioning to final wire clamping. This significantly reduces the difficulty and risk of manual intervention, greatly improving operational efficiency and safety. Attached Figure Description

[0023] Figure 1 This is a perspective view of the overall structure of the device of the present invention;

[0024] Figure 2 This is a cross-sectional view of the overall structure of the device of the present invention;

[0025] Figure 3 This is a perspective view of the upper mounting component, connecting column, and base of the device of the present invention.

[0026] Figure 4 This is a perspective view of the overall structure of the device of the present invention in its installed state;

[0027] Figure 5 This is a cross-sectional view of the overall structure of the device of the present invention in its installed state;

[0028] Figure 6 This is a three-dimensional structural view of the upper mounting component of the device of the present invention;

[0029] Figure 7 This is a perspective view of the lower mounting component of the device of the present invention;

[0030] Figure 8 This is a schematic diagram of step S1 in the method of the present invention;

[0031] Figure 9 This is a schematic diagram of step S2 in the method of the present invention;

[0032] Figure 10 This is a schematic diagram of step S3 in the method of the present invention;

[0033] Figure 11 This is a schematic diagram of step S4 in the method of the present invention.

[0034] In the diagram: 1. UAV gripper head; 11. Nut seat; 12. Adjustment end; 2. Gripper assembly; 21. Upper gripper assembly; 211. Outer gripper one; 212. Gripper end one; 213. Inner gripper one; 214. Extension baffle; 215. Spring tongue assembly one; 22. Lower gripper assembly; 221. Outer gripper two; 222. Gripper end two; 223. Inner gripper two; 224. Spring tongue assembly two; 3. Lower mounting component; 31. Mounting slot two; 32. Lower... 33. Traction rope groove; 4. Lower traction rope pulley; 5. Bidirectional threaded screw; 61. First threaded section; 42. Second threaded section; 43. Third threaded section; 64. Height adjustment plate; 65. Upper mounting component; 611. Mounting slot one; 612. Upper traction rope groove assembly; 613. Upper traction rope pulley; 614. Mounting cavity; 62. Connecting column; 621. Mounting slot three; 63. Base; 631. Fixed end; 71. High side conductor; 72. Low side conductor. Detailed Implementation

[0035] The technical solution of the present invention will be clearly and completely described below. 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.

[0036] Example 1:

[0037] Please see Figure 1-11A UAV-borne four-split conductor positioning and clamping support device includes a nut seat 11, an upper mounting part 61, a lower mounting part 3, a connecting column 62, a height adjustment plate 5, and a gripper assembly 2. The gripper assembly 2 includes an upper gripper group 21 and a lower gripper group 22. The upper gripper group 21 is mounted on the upper mounting part 61, and the lower gripper group 22 is mounted on the lower mounting part 3 and the connecting column 62. The bottom surface of the upper mounting part 61 is fixed to the top end of the connecting column 62, and the bottom end of the connecting column 62 is fixed to a base 63. The upper and lower parts of the connecting column 62 are respectively provided with an upper groove and a lower groove. The height adjustment plate 5 and the lower mounting part 3 slide along the connecting column 62 through the upper groove and the lower groove, respectively. The base 63... A bidirectional threaded screw 4 is mounted on the upper part. The end of the bidirectional threaded screw 4 away from the base 63 extends into the mounting cavity 614 located inside the upper mounting part 61. The bidirectional threaded screw 4 has three threads from top to bottom, and a nut seat 11, a height adjustment plate 5, and a lower mounting part 3 are respectively mounted on it. The top of the nut seat 11 is equipped with a drone gripper head 1 that extends out of the upper mounting part 61. The nut seat 11 slides up and down along the mounting cavity 614. The bidirectional threaded screw 4 rotates to make the height adjustment plate 5 descend, the lower mounting part 3 ascend, and the upper jaw assembly 21 clamp the two high side wires 71 of the four-split wire, and the lower jaw assembly 22 clamp the two low side wires 72 of the four-split wire.

[0038] Specifically, the bidirectional threaded screw 4 is divided into a first threaded section 41, a second threaded section 42 and a third threaded section 43 from top to bottom. The nut seat 11 for connecting the drone gripper head 1 is installed on the first threaded section 41, the height adjustment plate 5 is installed on the second threaded section 42, and the lower mounting part 3 is installed on the third threaded section 43.

[0039] Specifically, there are two connecting posts 62, and the bidirectional threaded screw 4 is located between the two connecting posts 62. The distance between the outer surfaces of the two connecting posts 62 is equal to the distance between the conductors on the same horizontal plane.

[0040] The drone, carrying the wire support device, flies to the four-split conductor operation area via the drone gripper head 1. During operation, the bidirectional threaded screw 4 is rotated, the height adjustment plate 5 slides down along the upper groove of the connecting column 62, and the lower mounting piece 3 slides up along the lower groove of the connecting column 62, causing the height adjustment plate 5 and the lower mounting piece 3 to move synchronously relative to each other along the connecting column 62, and causing the two sets of upper jaw groups 21 and the two sets of lower jaw groups 22 to clamp the two high-side conductors 71 and the two low-side conductors 72 respectively, thereby completing the combined action of positioning, clamping and wire support.

[0041] The wire support device provided by this invention improves the efficiency and safety of wire support operations. Rotating the bidirectional threaded screw 4 lowers the height adjustment plate 5 and raises the lower mounting component 3, clamping the upper jaw assembly 21 and the lower jaw assembly 22. This achieves the technical effects of positioning, clamping, and wire support, effectively simplifying the installation process, significantly reducing installation complexity, and improving installation efficiency. Furthermore, the wire support device provided by this invention has a compact overall structure, facilitating drone mounting and aerial transport. It eliminates the need for manual climbing or the use of cranes or other auxiliary equipment, significantly reducing installation safety risks and improving operational safety.

[0042] The upper mounting member 61 is in the shape of an inverted T, consisting of two horizontal sides and one vertical side. Mounting slots 611 are symmetrically opened on the two horizontal sides of the inverted T-shape of the upper mounting member 61. Each mounting slot 611 is equipped with a set of upper clamping jaws 21. Each set of upper clamping jaws 21 includes an outer clamping jaw 211 and an inner clamping jaw 213. The inner clamping jaw 213 is fixedly installed in the mounting slot 611 on the side near the vertical side of the inverted T-shape. The outer clamping jaw 211 is slidably installed in the mounting slot 611. When the adjacent surfaces of the outer clamping jaw 211 and the inner clamping jaw 213 are in contact, a cylindrical locking hole is formed. The shape of the locking hole matches the shape of the wire. An extension baffle 214 is installed on the side of the inner clamping jaw 213 near the locking hole.

[0043] The inverted T-shaped structure of the upper mounting component 61 provides a symmetrical and stable base for the installation of the upper clamping jaw assembly 21, ensuring balanced force. The outer clamping jaw 211 slides along the mounting groove 611 and closes with the inner clamping jaw 213 to form a locking hole. The locking hole matches the shape of the wire, thereby achieving a firm wrapping and locking of the wire and effectively preventing the wire from sliding or falling off.

[0044] Each set of upper jaw assembly 21 is provided with a spring tongue assembly 215, which includes spring tongues that are respectively and matched on the outer jaw 211 and the inner jaw 213 of each set.

[0045] The upper mounting component 61 is symmetrically provided with upper traction rope groove groups 612. Each upper traction rope groove group 612 includes a horizontal groove 1 symmetrically arranged on the front and rear sides of the horizontal side of the upper mounting component 61, and a vertical groove 2 symmetrically arranged on the front and rear sides of the vertical side of the upper mounting component 61. The outer claw 1 211 is equipped with claw end 1 212 extending out and sliding into the horizontal groove 1 on both sides. The nut seat 11 is equipped with adjusting end 12 extending out and sliding into the vertical groove on both sides. The horizontal groove 1 and the vertical groove 1 are of equal length and perpendicular to each other. The upper traction rope wheel 613 is installed at the intersection of the extension lines of the horizontal groove 1 and the vertical groove 1, i.e., at the vertical foot. Each claw end 1 212 is connected to the corresponding adjusting end 12 through the upper traction rope. Each upper traction rope is slidably connected to the corresponding upper traction rope wheel 613.

[0046] The maximum stroke of the nut seat 11 along the bidirectional threaded screw 4 matches the length of the horizontal sliding groove and the vertical sliding groove. The contact surface between the nut seat 11 and the mounting cavity 614 is provided with a friction area. The nut seat 11 overcomes the frictional resistance of the friction area to move along the mounting cavity 614. In this embodiment, the first thread segment 41 and the second thread segment 42 have the same direction of rotation, and the first thread segment 41 and the third thread segment 43 have opposite directions of rotation.

[0047] When the nut seat 11 moves upward, the adjusting end 12 fixed on both sides of the nut seat 11 rises synchronously along the vertical sliding groove. The adjusting end 12 is connected to the clamping end 212 on both sides of the outer clamping jaw 211 through the upper traction rope. Since the upper traction rope passes around the upper traction rope wheel 613, the upward displacement of the adjusting end 12 is converted into a horizontal pulling force on the clamping end 212 through the upper traction rope, so that the outer clamping jaw 211 slides and closes along the mounting groove 611 towards the fixed inner clamping jaw 213. When the nut seat 11 moves upward to the maximum stroke point, the outer clamping jaw 211 and the inner clamping jaw 213 fit together to form a cylindrical locking hole that matches the high side guide wire 71. At the same time, the spring tongues installed on the corresponding surfaces of the outer clamping jaw 211 and the inner clamping jaw 213 respectively engage with each other to achieve mechanical interlocking and ensure that the clamping state is stably maintained without external force intervention.

[0048] The lower mounting component 3 is in the shape of a straight line formed by a horizontal side. Two mounting slots 31 are symmetrically opened at both ends of the lower mounting component 3. Each set of lower clamping jaws 22 includes an outer clamping jaw 221 and an inner clamping jaw 223. A mounting slot 621 of height matching the outer clamping jaw 221 is opened on the outer side of each connecting post 62. The inner clamping jaw 223 is fixedly installed in the mounting slot 621, while the outer clamping jaw 221 is slidably installed in the mounting slot 31. When the adjacent surfaces of the outer clamping jaw 221 and the inner clamping jaw 223 are in contact, a cylindrical locking hole is formed. The shape of the locking hole matches the shape of the wire. The technical effect of the lower clamping jaw set 22 is analogous to that of the upper clamping jaw set 21, and will not be described further here.

[0049] Each set of lower jaws 22 is provided with a second set of spring tongues 224. The second set of spring tongues 224 includes two spring tongues that are respectively and matched on the outer jaws 221 and the inner jaws 223 of each set.

[0050] The lower mounting component 3 is symmetrically provided with lower traction rope grooves 32 on the left and right sides. Each set of lower traction rope grooves 32 includes two horizontal grooves symmetrically arranged on the front and rear sides of the lower mounting component 3. The two external grippers 221 are mounted on both sides with gripper ends 222 that slide and extend out of the horizontal grooves. The base 63 is mounted on the front and rear sides with fixed ends 631 that match each set of gripper ends 222. The lower traction rope wheel 33 is installed at the intersection of the vertical line where the fixed end 631 is located and the extension line of the lower traction rope groove 32, i.e., at the vertical foot. Each set of gripper ends 222 is connected to the corresponding fixed end 631 through the lower traction rope. Each lower traction rope slides onto the corresponding lower traction rope wheel 33.

[0051] The maximum stroke of the lower mounting piece 3 along the bidirectional threaded screw 4 matches the length of the transverse sliding groove 2. The shape of the height adjustment plate 5 matches the lower mounting piece 3, and the height adjustment plate 5 has a cavity that matches the shape of the lower jaw assembly 22, so that when the height adjustment plate 5 descends to its limit stroke, it does not block the locking hole and avoids impact with the top surface of the lower jaw assembly 22.

[0052] When the bidirectional threaded screw 4 rotates, the height adjustment plate 5 descends, the lower mounting part 3 rises, and the jaw end 222 fixed on the outer jaw 221 rises synchronously along the connecting column 62. The fixed end 631 is connected to the jaw end 222 through the lower traction rope. Since the lower traction rope passes around the lower traction rope wheel 33, the fixed end 631 generates a horizontal pulling force on the jaw end 222 during the rising process, so that the outer jaw 221 slides and closes along the mounting groove 31 towards the fixed inner jaw 223. When the lower mounting part 3 rises to the maximum stroke point, the outer jaw 221 and the inner jaw 223 fit together to form a cylindrical locking hole that matches the low-side guide wire 72. At the same time, the spring tongues 2 installed on the corresponding surfaces of the outer jaw 221 and the inner jaw 223 respectively engage with each other to achieve mechanical interlocking and ensure that the clamping state is stably maintained without external force intervention.

[0053] In another embodiment, one end of the bidirectional threaded screw 4 extends out of the base 63 and is connected to a motor. The motor drives the bidirectional threaded screw 4 to rotate. In this embodiment, the first threaded segment 41 and the second threaded segment 42 have opposite directions of rotation, and the first threaded segment 41 and the third threaded segment 43 have the same direction of rotation.

[0054] The wire support device provided by this invention synchronously drives the height adjustment plate 5 to descend and the lower mounting component 3 to rise via a bidirectional threaded screw 4. Through the transmission structure corresponding to the upper and lower traction ropes, the vertical displacement is converted into the horizontal closed motion of the outer gripper 211 and the outer gripper 221, thereby allowing the upper gripper assembly 21 and the lower gripper assembly 22 to respectively clamp the high-side wire 71 and the low-side wire. Furthermore, the internal interlocking structure of the spring tongue assembly 215 and the spring tongue assembly 224 ensures stable clamping. This device integrates positioning, clamping, and wire support functions into a compact mechanism, exhibiting strong synchronous action and reliable clamping, significantly simplifying the process and improving operational efficiency. The overall structure is lightweight and specifically designed for UAV mounting, enabling fully mechanized operation.

[0055] Example 2:

[0056] Please see Figure 1-11 A method for positioning and clamping a UAV-borne four-split conductor, based on the UAV-borne four-split conductor positioning and clamping device provided in Embodiment 1, includes the following steps:

[0057] S1, such as Figure 8 As shown, the drone grabs the drone gripper head 1, and the movable direction of the outer gripper 1 211 or the outer gripper 221 is the direction of the wire support device, so that the direction of the wire support device is nearly parallel to the four-split conductor, ensuring that the actual angle between the direction of the wire support device and the conductor is less than the preset initial maximum deviation angle. The drone transports the wire support device to the middle area of ​​the four-split conductor; at this time, the upper gripper group 21 and the lower gripper group 22 are kept in the maximum separation state.

[0058] The initial maximum deviation angle is the maximum allowable angle between the direction of the wire support device and the straight line where the four-split wire is located when the UAV carrying the wire support device flies to the work area.

[0059] S2, such as Figure 9 As shown, the drone adjusts the height of the support device so that the height of the extension baffle 214 matches that of the high side conductor 71. Then, the drone drives the support device to rotate so that the support device is nearly perpendicular to the four-split conductor, ensuring that the actual angle between the support device and the vertical line of the conductor is less than the preset maximum alignment deviation angle.

[0060] The maximum alignment deviation angle is the maximum allowable angle between the direction of the wire support device and the straight line perpendicular to the direction of the four-split wire after the UAV adjusts its altitude and rotates the wire support device.

[0061] Furthermore, during the rotation of the wire support device driven by the drone, if the initial width spacing of the high side wire 71 or the low side wire 72 is less than the predetermined value, the extension baffle 214 and the connecting post 62 will separate the wires during the rotation of the wire support device, so that the width spacing of the wires reaches the predetermined value, and guide the high side wire 71 and the low side wire 72 to fall between the upper gripper group 21 and the lower gripper group 22 respectively.

[0062] S3, such as Figure 10 As shown, the drone raises the height of the support device again, so that the upper side of the upper mounting part 61 contacts the high side guide wire 71. After contact, the drone slowly raises so that the high side guide wire 71 rises accordingly, until the high side guide wire 71 stops rising due to tension, thus completing the wire pre-tensioning.

[0063] S4, such as Figure 11As shown, to increase the lifting force of the drone, the high-side guide wire 71 forms a constraint force on the upper mounting part 61. The nut seat 11 connected to the drone gripper head 1 overcomes the frictional resistance of the friction area, enabling the nut seat 11 to move upward relative to the upper mounting part 61. When the nut seat 11 moves upward, it drives the bidirectional threaded screw 4 to rotate, causing the height adjustment plate 5 and the lower mounting part 3 to move synchronously and equidistantly closer together. When the nut seat 11 moves upward, the upper traction rope connecting the adjustment end 12 and the gripper end 212... Pulling the outer clamping claw 211 close to the inner clamping claw 213 and interlocking with the spring tongue assembly 215 clamps and positions the high-side wire 71; when the lower mounting part 3 moves upward, the height adjustment plate 5 moves downward simultaneously, pressing the low-side wire 72, which is not close to the top surface of the lower mounting part 3, down to the lower mounting part 3. The lower traction rope connecting the fixed end 631 and the clamping claw end 222 is pulled by pulling the outer clamping claw 221 close to the inner clamping claw 223 and interlocking with the spring tongue assembly 224 to clamp and position the low-side wire 72.

[0064] In the above embodiment where the frictional resistance of the friction area is overcome by the nut seat 11, thereby driving the bidirectional threaded screw 4 to rotate, the first threaded section 41 and the second threaded section 42 have the same direction of rotation, and the first threaded section 41 and the third threaded section 43 have opposite directions of rotation.

[0065] In another embodiment, one end of the bidirectional threaded screw 4 extends out of the base 63 and is connected to a motor. The motor drives the bidirectional threaded screw 4 to rotate, which is used for wire support when the tension of the high-side conductor 71 is insufficient. In this embodiment, the first threaded section 41 and the second threaded section 42 have opposite directions of rotation, and the first threaded section 41 and the third threaded section 43 have the same direction of rotation.

[0066] The method provided by this invention achieves automated control of the wire-supporting process of a UAV for a four-split conductor through the synergy of streamlined operation and mechanical self-locking. This method uses the UAV to adjust the attitude and height of the wire-supporting device step by step, and utilizes the extension baffle 214 and connecting post 62 to passively separate the conductors during rotation, effectively solving the docking problem caused by the initial small spacing of the conductors. This ensures that both the high-side conductor 71 and the low-side conductor 72 can accurately fall into the corresponding upper clamping jaw group 21 and lower clamping jaw group 22. In one embodiment, the tension of the high-side conductor 71 itself is used as the driving force to lift the nut seat 11 and rotate the bidirectional threaded screw 4, simultaneously triggering the transmission structure of the upper and lower traction ropes. The travel endpoints of the outer clamping jaws 211 and 221 are mechanically interlocked by the spring tongue group 215 and 224, respectively. The entire process tightly integrates the control of the drone with the mechanical response of the device, achieving continuous automated operation from alignment, guidance, pre-tensioning to final clamping of the support line. This significantly reduces the difficulty and risk of manual intervention, and substantially improves operational efficiency and safety. Furthermore, the alternative solution of a motor-driven bidirectional threaded screw 4 in another embodiment ensures reliable operation even when the tension of the high-side conductor 71 is insufficient, enhancing the adaptability of this method.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A UAV-borne four-split conductor positioning, clamping, and support device, characterized in that: The device includes a nut seat, an upper mounting component, a lower mounting component, a connecting column, and a height adjustment plate, as well as an upper gripper assembly mounted on the upper mounting component and a lower gripper assembly mounted on the lower mounting component and the connecting column. The bottom surface of the upper mounting component is fixed to the top end of the connecting column, and the bottom end of the connecting column is fixed to a base. The height adjustment plate and the lower mounting component slide along the connecting column. A bidirectional threaded screw is mounted on the base, with one end of the bidirectional threaded screw away from the base extending into a mounting cavity located inside the upper mounting component. The bidirectional threaded screw has three threads from top to bottom, which are respectively mounted on the nut seat, the height adjustment plate, and the lower mounting component. A drone gripper head is mounted on the top end of the nut seat, and the nut seat slides up and down along the mounting cavity. The bidirectional threaded screw drives the height adjustment plate to descend, the lower mounting component to rise, and the upper gripper assembly to clamp the two high-side wires of the four-split wire, while the lower gripper assembly clamps the two low-side wires of the four-split wire.

2. The UAV-borne four-split conductor positioning and clamping support device according to claim 1, characterized in that: The upper mounting component includes two horizontal sides on both sides and a vertical side in the middle. A mounting groove is symmetrically opened on each of the two horizontal sides. A set of upper clamping jaws is installed in each mounting groove. Each set of upper clamping jaws includes an outer clamping jaw and an inner clamping jaw. The inner clamping jaw is fixedly installed in the mounting groove near the vertical side. The outer clamping jaw is slidably installed in the mounting groove. The outer clamping jaw and the inner clamping jaw fit together to form a cylindrical locking hole. An extension baffle is installed on the side of the inner clamping jaw near the locking hole.

3. The UAV-borne four-split conductor positioning and clamping support device according to claim 2, characterized in that: The upper gripper assembly is provided with a spring tongue assembly, which includes spring tongues that are respectively disposed on the outer gripper and the inner gripper and are matched with each other.

4. The UAV-borne four-split conductor positioning and clamping support device according to claim 2, characterized in that: The upper mounting component is symmetrically provided with an upper traction rope groove assembly. The upper traction rope groove assembly includes a horizontal groove symmetrically arranged on both sides of the horizontal side and a vertical groove symmetrically arranged on both sides of the vertical side. A gripper end 1 that slides into and extends out of the horizontal groove 1 is installed on both sides of the outer gripper 1. An adjustment end 1 that slides into and extends out of the vertical groove is installed on both sides of the nut seat. The horizontal groove 1 and the vertical groove 1 are of equal length and perpendicular to each other. An upper traction rope wheel is installed at the intersection of the extension lines of the horizontal groove 1 and the vertical groove 1. The gripper end 1 is connected to the corresponding adjustment end 1 through the upper traction rope. The upper traction rope slides into the corresponding upper traction rope wheel.

5. The UAV-borne four-split conductor positioning and clamping support device according to claim 1, characterized in that: The lower mounting component is in the shape of a straight line, with mounting grooves symmetrically opened at both ends. The lower clamping claw assembly includes an outer clamping claw and an inner clamping claw. A mounting groove 3 with a height matching the outer clamping claw is opened on the outer side of the connecting column. The inner clamping claw is fixedly installed in the mounting groove 3. The outer clamping claw is slidably installed in the mounting groove 2. The outer clamping claw and the inner clamping claw fit together to form a cylindrical locking hole.

6. The UAV-borne four-split conductor positioning and clamping support device according to claim 5, characterized in that: The lower gripper assembly is provided with a second spring tongue assembly, which includes two spring tongues respectively disposed on the second outer gripper and the second inner gripper and matched with each other.

7. The UAV-borne four-split conductor positioning and clamping support device according to claim 5, characterized in that: The lower mounting component is symmetrically provided with a lower traction rope groove. The outer jaws are fitted with jaw ends that slide and extend out of the lower traction rope grooves on both sides. Fixed ends matching the jaw ends are fitted on both sides of the base. A lower traction rope wheel is installed at the intersection of the vertical line of the fixed end and the extension line of the lower traction rope groove. The jaw ends are connected to the corresponding fixed ends through the lower traction rope, and the lower traction rope slides onto the corresponding lower traction rope wheel.

8. A method for positioning and clamping a four-split conductor on a UAV, characterized in that: The method is based on a UAV-borne four-split conductor positioning and clamping support device as described in any one of claims 1-7, and the method includes the following steps: Step 1: The drone grabs the drone gripper head, and uses the movable direction of the outer gripper as the direction of the wire support device. The actual angle between the direction of the wire support device and the conductor is less than the preset initial maximum deviation angle. The wire support device is then transported to the middle area of ​​the four-split conductor. Step 2: Adjust the height of the wire support device so that the height of the extended baffle of the upper gripper group matches the height of the high side wire. The drone rotates the wire support device, and the extended baffle and connecting column push the wire apart during the rotation of the wire support device. The actual angle between the wire support device and the vertical line of the wire is less than the preset maximum alignment deviation angle. Step 3: The drone raises the height of the support wire device until the upper mounting part contacts the high side guide wire. The height of the support wire device is continuously raised until the high side guide wire with tension restrains the rise of the support wire device. Step four: The bidirectional threaded screw rotates, the nut seat rises, and the upper traction rope pulls the outer jaw one so that the upper jaw assembly is engaged with the spring tongue assembly one and interlocked to clamp and position the high-side conductor; the height adjustment plate and the lower mounting piece move closer to each other at equal distances, the height adjustment plate presses down the low-side conductor to the lower mounting piece, and the lower traction rope pulls the outer jaw two so that the lower jaw assembly is engaged with the spring tongue assembly two and interlocked to clamp and position the low-side conductor.

9. A method for positioning, clamping, and supporting a four-split conductor mounted on an unmanned aerial vehicle (UAV) according to claim 8, characterized in that: In steps three and four, the high-side guide wire forms a constraint force on the upper mounting component, and the UAV raises the height of the support device until the nut seat overcomes frictional resistance and moves upward, driving the bidirectional threaded screw to rotate.

10. A method for positioning, clamping, and supporting a four-split conductor mounted on an unmanned aerial vehicle (UAV) according to claim 8, characterized in that: In steps three and four, the bidirectional threaded screw extends out of the base and connects to the motor. The motor drives the bidirectional threaded screw to rotate, causing the nut seat to rise and the height adjustment plate and the lower mounting piece to move closer together synchronously and at equal distances.

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