Ground wire complete operation system based on unmanned aerial vehicle mounting

Abstract

The invention relates to the field of high-voltage transmission line overhaul and maintenance operation, and discloses a ground wire complete operation system based on unmanned aerial vehicle mounting, the ground wire complete operation system comprises an unmanned aerial vehicle and a hanging device, the hanging device comprises an angle steel end hanging device and a wire end hanging device, the angle steel end hanging device comprises a fixed clamping jaw and a movable clamping jaw; the movable clamping jaw comprises a plurality of movable blocks which are sequentially stacked at intervals in the height direction, and each movable block can independently move in the horizontal direction under the action of external force; the wire end hanging device comprises two frame body connecting plates which are oppositely arranged and have the same shape, and each frame body connecting plate comprises a plate main body and two extension arms which extend downwards from the two sides of the lower end face of the plate main body respectively. Grounding and residual voltage release of a power transmission line can be effectively achieved, safety of operators on the angle steel tower is guaranteed, electric shock of the operators is prevented, meanwhile, the effect can be completed by a single constructor, operation time is saved, and operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of high-voltage transmission line inspection and maintenance, and in particular to a complete grounding wire operation system based on UAV mounting. Background Technology

[0002] Currently, when carrying out maintenance work on high-voltage transmission lines, grounding wires must be installed first. This is to prevent sudden power surges into the lines or equipment during the work process and to avoid injury to maintenance personnel.

[0003] Currently, the maintenance and grounding wire installation work on high-voltage transmission lines is still carried out using the traditional manual method, which requires a high level of physical strength and skill from the maintenance workers and is time-consuming. For example, the manual testing and installation of grounding wires for a single 24-meter-high tower can take 50 minutes, and there are risks of falls from heights, being struck by falling objects, and induced voltage.

[0004] Therefore, it is necessary to provide a complete set of grounding wire operation system based on drones that can avoid workers from working at heights and reduce work pressure. Summary of the Invention

[0005] This invention addresses the problems existing in the grounding wire installation process in the prior art by providing a complete grounding wire installation system based on UAV mounting.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: The grounding wire mounting system based on UAVs includes a UAV and a mounting device. The mounting device includes an angle iron end mounting device and a conductor end mounting device that can be mounted on the UAV. The angle steel end hanging device includes an angle steel end hanging frame, which includes a fixed gripper and a movable gripper. The movable gripper includes a gripper body, which includes multiple movable blocks stacked sequentially at intervals in the height direction. Friction pads are provided between adjacent movable blocks. Each movable block can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block in the horizontal movement direction forms a clamping and limiting surface opposite to the fixed gripper. Adjacent clamping and limiting surfaces can be on the same vertical plane or on different vertical planes. The conductor end hanging device includes a conductor end hanging frame, which includes two oppositely arranged frame connecting plates of the same shape. A locking mechanism for locking the conductor is installed between the two frame connecting plates. The frame connecting plate includes a plate body and two extension arms extending downward from both sides of the lower end face of the plate body. The lower end face of the plate body has an upwardly recessed arc groove in the middle. The locking mechanism can lock the conductor in the arc groove. The extension directions of the two extension arms form an angle of less than 90° and the opposite sides of the two extension arms extend to the inner side of the arc groove.

[0007] Preferably, the mounting device is mounted on the UAV via a mounting frame. The upper ends of the angle steel end mounting frame and the wire end mounting frame are respectively equipped with angle steel end lifting rings and wire end lifting rings. The bottom of the mounting frame is provided with two hooks for hanging the angle steel end lifting rings and wire end lifting rings.

[0008] Preferably, the mounting frame includes two vertically arranged and parallel rod assemblies. One end of the rod assembly is mounted on the drone, and the other end is used to install a hook. A connecting crossbar is provided between the two rod assemblies and at the hook mounting end. The rod assembly includes multiple connecting vertical rods connected in sequence, and adjacent connecting vertical rods are connected by hinges.

[0009] Preferably, the mounting bracket also includes a mounting frame installed on the bottom surface of the drone. The mounting frame includes two long connecting plates that are fastened to the side of the drone by bolts. The two long connecting plates are arranged parallel to each other and a connecting frame is provided between the two long connecting plates at the same level as the long connecting plates. A hinge seat is installed on the connecting frame, and the end of the rod assembly is hinged to the hinge seat.

[0010] Preferably, the angle steel end mounting frame includes a U-shaped frame with an opening facing downwards. The U-shaped frame includes a vertically extending vertical arm one and a vertical arm two, with the vertical arm one forming a fixed clamp. The lower ends of the vertical arm one and the vertical arm two are respectively provided with an extension arm one and an extension arm two, both of which are inclined towards the outside of the U-shaped frame.

[0011] Preferably, the first extension arm and the first vertical arm form an angle of 5-10°, and the second extension arm and the second vertical arm form an angle of 45-60°.

[0012] Preferably, the lower end of the first extension arm is provided with a terminal block for connecting the grounding wire; the outer side of the second extension arm is provided with a red marking plate, which is set along the length of the second extension arm.

[0013] Preferably, the angle steel end hanging device further includes a gripper drive assembly. The gripper drive assembly includes a first component for driving the movable gripper to move toward the fixed gripper and a second component for driving the movable gripper to move away from the fixed gripper. The first component includes an elastic element capable of pulling the movable gripper, which provides a pulling force on the movable gripper by its own elasticity. The second component includes a rigid rope capable of pulling the movable gripper, which provides a pulling force on the movable gripper by the weight of the device body.

[0014] Preferably, the elastic element includes a mounting rod and a coil spring mounted on the mounting rod, one end of the coil spring being fixedly connected to the movable gripper, and the mounting rod being fixed to the vertical arm.

[0015] Preferably, the top of the angle steel end hanging frame is equipped with a lifting ring mounting frame, which includes a lifting ring mounting arm. Both ends of the lifting ring mounting arm are connected to a vertically downward extending guide rod. The angle steel end hanging frame is provided with a guide hole for the guide rod to pass through and slide with the guide rod. The bottom end of the guide rod is provided with a limiting ring with an outer diameter larger than the diameter of the guide hole.

[0016] Preferably, the lifting ring mounting arm is also fixed with a lifting ring mounting seat for fixing the lifting ring at the angle steel end. The lifting ring mounting seat includes a mounting base plate fixed to the lifting ring mounting arm by bolts and a snap-fit ​​block set on the mounting base plate. The snap-fit ​​block has a snap-fit ​​groove with an upward opening in the middle. The bottom of the lifting ring at the angle steel end is snapped into the snap-fit ​​groove and fastened by bolts. The axial direction of the lifting ring at the angle steel end snapped into the snap-fit ​​groove is the same as the movement direction of the movable gripper.

[0017] Preferably, the movable gripper also includes a gripper frame, with a movable block channel in the middle. A vertically arranged mounting post for sliding engagement with the movable block is installed in the movable block channel. The movable blocks and friction pads are arranged alternately and at intervals along the axial direction of the mounting post. The movable blocks have elongated holes for the mounting post to pass through, with the length of the elongated holes along the axial direction of the movable block channel, allowing the movable blocks to slide relative to the mounting post along the length of the elongated holes. The friction pads have circular holes for the mounting post to pass through and are in clearance engagement with the mounting post.

[0018] Preferably, the gripper frame is a frame with a U-shaped groove in the middle, and the frame includes a U-shaped inner bottom wall, a U-shaped inner side wall and a U-shaped top wall; The movable blocks are constructed in the shape of rectangular plates, and the clamping and limiting surfaces of each movable block are vertical planes. The clamping and limiting surface has three states: one, flush with the inner bottom wall of the U-shape; two, protruding from the inner bottom wall of the U-shape but not from the top wall of the U-shape; and three, protruding from the top wall of the U-shape. Each movable block can individually maintain the clamping and limiting surface in state one, state two, or state three under the action of external force.

[0019] Preferably, the gripper frame includes an upper end plate, a lower end plate, and two side plates; The movable block channel is composed of an upper end plate, a lower end plate, and two side plates. The upper and lower ends of the mounting column are fixed to the upper end plate and the lower end plate, respectively. Friction pads are provided between the upper end plate and the uppermost movable block, and between the lowermost movable block and the lower end plate.

[0020] Preferably, there are two parallel mounting posts between the upper end plate and the lower end plate, and two parallel elongated holes on the movable block that correspond one-to-one with the two mounting posts. The friction pad is constructed in the shape of a long strip and has round holes at both ends for the two mounting posts to pass through.

[0021] Preferably, the side plate includes a vertical arm and horizontal arms disposed at the upper and lower ends of the vertical arm. The upper end plate and the lower end plate are respectively fixed to the upper and lower ends of the horizontal arms. The movable block channel is formed by the upper end plate, the lower end plate and the vertical arms of the two side plates.

[0022] Preferably, the movable block has an opening in the middle that faces away from the U-shaped groove to avoid it.

[0023] Preferably, the upper end plate and the lower end plate have the same structure, both including a first plate and a second plate that are fixed to each other. The first plate is fixed to the side plate by bolts, and the second plate is used to fix the mounting column. The side of the second plate is also provided with an extension facing away from the U-shaped groove, and a reinforcing rib is provided between the extension and the first plate.

[0024] Preferably, the two ends of the rigid rope are connected to the lifting ring at the angle steel end and the movable gripper, respectively. When the lifting ring at the angle steel end moves upward relative to the frame at the angle steel end, it can pull the movable gripper away from the fixed gripper through the rigid rope.

[0025] Preferably, the angle steel end-mounted frame consists of two symmetrically arranged frame side plates and multiple connecting rods connecting the two frame side plates. Sliding connecting plates are provided on both sides of the upper end plate, and a sliding groove plate with a central groove is fixed to each of the two frame side plates. The length of the sliding groove is aligned with the direction of movement of the movable gripper. Rollers capable of moving within the sliding groove are provided on the sliding connecting plates. Preferably, the frame side panel includes a U-shaped plate with an opening facing downwards and two inclined plates extending downwards and outwards from the lower end of the U-shaped plate. The U-shaped plates in the two frame side panels and the connecting rods connecting the U-shaped plates together constitute a U-shaped frame. The inclined plate in the two frame side panels and the connecting rods connecting the inclined plates together constitute an extension arm. The inclined plate in the two frame side panels and the connecting rods connecting the inclined plates together constitute an extension arm.

[0026] Preferably, an L-shaped top plate is provided on the outer end face of the U-shaped plate and at the top of the opening of the U-shaped plate. The lower surface of the L-shaped top plate forms an extended limiting surface that extends horizontally to the outside of the frame side plate for limiting the upper end of the clamped part.

[0027] Preferably, the locking mechanism includes two fixing parts that limit the upper side of the conductor and a locking claw disposed between the two fixing parts. The locking claw can automatically engage with the lower side of the conductor. When the locking claw is engaged with the lower side of the conductor, it can form a conductor locking area together with the two fixing parts. The fixing part is set on the plate body and located at the intersection of the two extension arms. The fixing part is constructed in the shape of an arc plate with an opening facing downward and is coaxially arranged with the arc groove. The fixing part and the lower end face of the arc groove together constitute the upper limit surface of the wire locking area.

[0028] Preferably, a wire end hanging ring and a wire end hanging ring mounting base are installed on the upper surface of the wire end hanging frame. The wire end hanging ring mounting base has a hanging ring locking groove with an upward opening for locking the wire end hanging ring. The lower end of the wire end hanging ring is locked into the hanging ring locking groove and fastened by bolts.

[0029] Preferably, the two extension arms include a vertical arm and an inclined arm. The vertical arm includes an outer vertical surface and an inner first inclined surface. The vertical surface is parallel to the end face of the guide wire end ring. The inclined arm includes an outer second inclined surface and an inner third inclined surface. The first and third inclined surfaces are opposite to each other and extend to the inner side of the arc groove. The first and third inclined surfaces form a V-shaped guide angle of less than 90°. The vertical surface and the second inclined surface are respectively connected to the outer side of the plate body.

[0030] Preferably, a connecting plate for connecting the grounding wire is installed between the vertical arms of the two frame connecting plates and at the lower end of the vertical arms.

[0031] Preferably, a marking plate is installed on the outer surface of the inclined arm of the two frame connecting plates, with the length direction arranged along the length direction of the inclined arm.

[0032] Preferably, the locking mechanism further includes a gripper drive unit, which includes a torsion spring for driving the locking gripper to move toward the fixed part, a pre-tightening handle for pressing the torsion spring to drive the locking gripper to move toward the fixed part, and a positioning block for positioning the pre-tightening handle. The positioning block is mounted on the frame connecting plate and can move up and down on the frame connecting plate. When one end of the pre-tightening handle presses against the torsion spring, the other end can press against the positioning block under the action of the torsion spring.

[0033] Preferably, the gripper drive unit further includes a clamping push rod extending to the wire locking area and a positioning hook that can be engaged with the locking gripper to restrict the movement of the locking gripper toward the wire locking area. The positioning hook is connected to the clamping push rod, and when the clamping push rod moves out of the wire locking area under the action of the wire, it can drive the positioning hook to release the engagement with the locking gripper.

[0034] Preferably, the locking jaws include an upper latching portion and a lower jaw portion; The gripper drive unit also includes a torsion spring mounting shaft. The helical part of the torsion spring is sleeved on the torsion spring mounting shaft. One of the torsion arms of the torsion spring can press against the back of the gripper part away from the wire locking area. Under the action of the torsion spring, the gripper part can rotate around the torsion spring mounting shaft to a position relative to the fixing part. The back of the locking gripper away from the wire locking area is provided with a connecting seat that is rotatably connected to both ends of the torsion spring mounting shaft.

[0035] Preferably, the gripper drive unit further includes a torsion spring preload unit, which includes a preload handle rotatably connected at both ends to the torsion spring mounting shaft. The other torsion arm of the torsion spring is located below the preload handle. When the preload handle rotates downward around the torsion spring mounting shaft, it can press down on the other torsion arm of the torsion spring so that one of the torsion arms of the torsion spring abuts against the back of the gripper unit away from the wire locking area.

[0036] Preferably, the locking jaw includes a locking plate forming the locking part and a jaw plate forming the jaw part. The locking plate has a locking hole in the middle for the positioning hook to pass through and lock onto the back of the locking plate. The jaw plate is constructed as a V-shaped plate with an included angle greater than 90°. The fixing part is constructed as an arc-shaped plate with an opening facing downward. When the locking plate is locked onto the positioning hook, the jaw plate is outside the wire locking area. When the positioning hook releases the locking plate, the V-shaped concave surface of the jaw plate forms the lower limit surface of the wire locking area.

[0037] Preferably, the gripper drive unit also includes a hook mounting part, which includes a hook mounting shaft. The middle part of the positioning hook is rotatably mounted on the hook mounting shaft. The positioning hook passes through the fastening hole and fastens to the back of the fastening plate to form a hook hook part. The other end forms a hook connecting part. A push rod mounting plate is installed at the hook connecting part. The middle part of the push rod mounting plate is installed on the lower end face of the hook connecting part, and a clamping push rod is installed at each end.

[0038] Preferably, the snap-fit ​​hole is a square through hole with a height greater than the thickness of the hook portion. The end face of the hook portion is an arc surface with an L-shaped hook groove on the upper surface that snaps into the back of the snap-fit ​​plate. When the positioning hook rotates around the hook mounting axis, the hook portion can rotate downward in the snap-fit ​​hole to separate the L-shaped hook groove from the back of the snap-fit ​​plate.

[0039] Preferably, the clamping push rod is a V-shaped rod with an included angle greater than 90°. When the hook part of the claw is engaged with the engagement hole, the upper part of the clamping push rod extends vertically downward from the push rod mounting plate, and the lower part extends obliquely into the location of the wire locking area and extends away from the claw plate.

[0040] Preferably, the wire end mounting bracket is also provided with an unlocking mechanism for automatically unlocking the locking mechanism. The unlocking mechanism includes an unlocking frame that can move up and down on the mounting bracket. The unlocking frame is provided with a positioning spring for keeping the positioning block in the pre-tightening handle in a positioning state. The wire end hanging ring is connected to the unlocking frame, and the wire end hanging ring can drive the positioning block to separate from the pre-tightening handle when it is pulled upward.

[0041] Preferably, each side of the mounting frame is provided with a vertically arranged slide groove along its length. The positioning block is set in the slide groove and can move up and down along the length of the slide groove. When the positioning block is at the lower end of the slide groove, the pre-tightening handle is in a positioning state. When the positioning block is at the upper end of the slide groove, the pre-tightening handle is in an unlocked state. When the lifting ring at the end of the wire is pulled upward, the unlocking frame can drive the positioning block to move upward in the slide groove.

[0042] Preferably, the unlocking frame includes a U-shaped unlocking frame body with the opening facing downwards. The two ends of the side wall of the U-shaped unlocking frame body are respectively connected to the positioning blocks on both sides of the hanging frame body. A connecting rod connected to the lifting ring at the end of the wire is provided on the top wall of the U-shaped unlocking frame body. A sleeve rod that can drive the hanging frame body to move upwards is provided on the connecting rod. A positioning spring is sleeved on the connecting rod, with one end pressed against the lower end face of the sleeve rod and the other end pressed against the upper surface of the top wall of the U-shaped unlocking frame body.

[0043] Preferably, both ends of the connecting rod are provided with threaded holes, and both ends of the connecting rod are fixed to the wire end lifting ring mounting seat and the top wall of the U-shaped unlocking frame respectively by bolts.

[0044] Preferably, both ends of the side wall of the U-shaped unlocking frame are provided with horizontally opening U-shaped slots, and the side wall of the U-shaped unlocking frame is engaged with the positioning block through the U-shaped slots.

[0045] Preferably, the pre-tightening handle is U-shaped with the opening facing the torsion spring. Both ends of the pre-tightening handle are provided with extension protrusions. The lower end face of the extension protrusions and the lower end face of the pre-tightening handle are on the same plane and together form a pressing surface that can be pressed against the positioning block.

[0046] Preferably, it also includes an electrical testing device, which includes a detachable electrical testing mechanism mounted on the drone. The drone consists of an airframe and a handheld terminal, with the airframe and handheld terminal each equipped with an airframe communication module and a handheld terminal communication module capable of communicating with each other. The voltage detection mechanism includes an insulating rod with its end mounted on the drone. A photosensitive receiver and an electroscope connected to the photosensitive receiver are installed at the end of the insulating rod away from the drone. The electroscope includes a probe and an electroscope audible and visual alarm for emitting an audible and visual alarm signal based on the probe detection result. The photosensitive receiver includes a photosensitive sensor for detecting the audible and visual alarm signal and sending the detected signal to the aircraft communication module. The handheld device also includes a handheld audible and visual alarm device for generating audible and visual alarm signals based on signals received by the handheld device communication module.

[0047] Preferably, the electroscope includes an electroscope body and a guide frame disposed at the end of the electroscope body. The guide frame includes two guide arms, one end of which is connected to each other and fixed on the electroscope body, and the other end extends outward to make the guide frame form a V-shaped frame. A voltage detection area is formed between the two guide arms, and the probe extends from the electroscope body through the connection of the two guide arms into the voltage detection area.

[0048] Preferably, a conductive wire is installed on the inner side of the guide arm, with one end of the conductive wire fixed to the extension end of the guide arm and the other end fixed to the side of the probe and forming a conductive connection with the probe.

[0049] Preferably, each of the two guide arms has a reinforcing arm on its outer side, which is arranged along the length of the guide arm.

[0050] Preferably, the photosensitive receiver includes a receiver housing. One end of the receiver housing forms the voltage detector connection end, and the other end forms the insulating rod connection end. The voltage detector connection end and the insulating rod connection end are respectively provided with voltage detector plug and insulating rod plug for voltage detector insertion and insulating rod insertion.

[0051] Preferably, the voltage detector connector includes a plug body and a rotating disk disposed at one end of the plug body. A rotating disk locking block is provided on the inner side wall of the rotating disk. A rotating head is provided at the end of the receiver housing. A rotating head locking block that cooperates with the rotating disk locking block is provided on the outer side wall of the rotating head. The rotating disk is rotated and locked onto the rotating head. A voltage detector slot for the end of the voltage detector to be inserted is provided at the other end of the plug body.

[0052] Preferably, the insulating rod connector includes a fixing plate fixed to the end face of the receiver housing. The fixing plate has an arc-shaped plate on its surface, and an arc groove with an upward opening is formed in the middle of the arc-shaped plate. An upper limit plate is fixed on the upper end face of the arc-shaped plate. The lower end face of the upper limit plate and the arc groove together form an insulating rod insertion groove. The end of the insulating rod is inserted into the insulating rod insertion groove and its end face is fixed to the fixing plate.

[0053] Preferably, the top surface of the drone is provided with a mounting bracket for the voltage testing mechanism, which includes a mounting bracket base plate fixed to the top surface of the drone. The mounting frame base plate is provided with a rod end connector for connecting the end of the insulating rod. The insulating rod can rotate around the rod end connector to be parallel or perpendicular to the mounting frame base plate. The mounting frame base plate is provided with a limiting component for keeping the insulating rod parallel or perpendicular to the mounting frame base plate.

[0054] Preferably, the rod end connector includes a connector base plate fixed to one end of the mounting frame base plate. The connector base plate has connecting ear plates arranged opposite to each other on both sides. The end of the insulating rod is provided with a connector head connected to the two connecting ear plates by a pin. The connector head includes a U-shaped rotating plate. The end of the insulating rod is fixed to the outer end face of the U-shaped rotating plate. The two side walls of the U-shaped rotating plate are connected to the two connecting ear plates by pins. The two side walls of the U-shaped rotating plate and the two connecting ear plates are also provided with limiting holes that can be bolted together to keep the insulating rod and the mounting frame base plate in a vertical state.

[0055] Preferably, the other end of the mounting base plate is also fixed with a rod fixing seat. The rod fixing seat includes an upper fixing part and a lower fixing part connected to each other by bolts. A limiting circular hole is formed between the upper fixing part and the lower fixing part to allow the insulating rod to pass through and to keep the insulating rod parallel to the mounting base plate.

[0056] This invention, by adopting the above technical solutions, has significant technical effects: This invention can effectively ground transmission lines, release residual voltage, ensure the safety of workers on angle steel towers, prevent electric shock, and allow a single worker to complete the task, saving work time and improving work efficiency. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the structure of the present invention.

[0058] Figure 2 yes Figure 1 Enlarged view of part A in the middle.

[0059] Figure 3 yes Figure 1 A schematic diagram of the structure of the mounting frame.

[0060] Figure 4 yes Figure 3 A magnified view of part A in the middle.

[0061] Figure 5 yes Figure 3 A magnified view of part B in the middle section.

[0062] Figure 6 This is a schematic diagram of the angle steel end hanging device in Embodiment 1 of the present invention.

[0063] Figure 7 This is a side view of the angle steel end hanging device of the present invention.

[0064] Figure 8 yes Figure 6 A schematic diagram showing the connection between the middle gripper drive assembly and the movable gripper.

[0065] Figure 9 yes Figure 7 A schematic diagram of the structure of the frame that is hung at the end of the central angle steel.

[0066] Figure 10 This is a schematic diagram of the movable gripper structure of the present invention.

[0067] Figure 11 yes Figure 10 Schematic diagram of the gripper frame structure.

[0068] Figure 12 yes Figure 10 A schematic diagram of the structure of the active block.

[0069] Figure 13 This is a schematic diagram of the working status of the angle steel end hanging device. Figure 1 .

[0070] Figure 14 This is a schematic diagram of the working status of the angle steel end hanging device. Figure 2 .

[0071] Figure 15 This is a schematic diagram of the working status of the angle steel end hanging device. Figure 3 .

[0072] Figure 16 This is a schematic diagram of the conductor end hanging device in Embodiment 2 of the present invention.

[0073] Figure 17 yes Figure 16 A schematic diagram of the structure after removing the lifting ring at the end of the conductor.

[0074] Figure 18 This is a schematic diagram of the internal structure of the wire end hanging device of the present invention.

[0075] Figure 19 yes Figure 18 Schematic diagram of the locking mechanism.

[0076] Figure 20 yes Figure 19 Another perspective view.

[0077] Figure 21 yes Figure 18 A schematic diagram of the unlocking mechanism.

[0078] Figure 22 yes Figure 21 Cross-sectional view.

[0079] Figure 23This is a schematic diagram of the structure of the wire end hanging frame of the present invention.

[0080] Figure 24 yes Figure 23 The front view.

[0081] Figure 25 This is a schematic diagram of the voltage testing device in Embodiment 3 of the present invention.

[0082] Figure 26 yes Figure 25 A schematic diagram of the structure of the voltage testing mechanism.

[0083] Figure 27 yes Figure 26 Enlarged view of part A in the middle.

[0084] Figure 28 yes Figure 26 Enlarged view of part B in the middle section.

[0085] Figure 29 yes Figure 26 Enlarged view of part C in the middle.

[0086] Figure 30 yes Figure 28 Exploded view of the photosensitive receiver.

[0087] Figure 31 yes Figure 30 Another perspective view.

[0088] Figure 32 This is a control principle diagram of Embodiment 3 of the present invention. Detailed Implementation

[0089] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0090] Example 1 This embodiment provides a complete set of grounding wire operation system based on UAV for maintenance work on high-voltage transmission lines, such as... Figures 1-15 As shown, it includes a drone 1, a mounting device, and a voltage testing device. The mounting device includes an angle steel end mounting device and a conductor end mounting device that can be mounted on the drone 1. The drone 1 transports a pair of grounding wire mounting devices to the angle steel tower and the transmission line respectively, and the devices are mounted on the angle steel of the angle steel tower and the transmission line respectively, so as to achieve grounding of the transmission line, release residual voltage, ensure the safety of workers on the angle steel tower, and prevent workers from being electrocuted.

[0091] After the operation is completed, the grounding wire installation device is still removed from the angle steel and power transmission line by the drone 1. In this embodiment, the grounding wire installation and removal operation is carried out by the drone 1. The grounding wire installation and removal operation can be completed by a single person, which saves operation time, improves operation efficiency, and reduces operation safety risks.

[0092] In this embodiment, the mounting device is mounted on the UAV via a mounting frame 100. Angle steel end hanging ring 210 and wire end hanging ring 09 are respectively installed on the upper ends of the angle steel end mounting frame 201 and the wire end mounting frame 011. The bottom of the mounting frame 100 is provided with two hooks 200 for hanging the angle steel end hanging ring 210 and the wire end hanging ring 09.

[0093] The mounting frame 100 includes two vertically arranged and parallel rod assemblies 300. One end of each rod assembly 300 is mounted on the UAV 1, and the other end is used to mount a hook 200. A connecting crossbar 400 is provided between the two rod assemblies 300 and at the hook mounting end. Each rod assembly 300 includes multiple sequentially connected vertical connecting rods 500, and adjacent vertical connecting rods 500 are connected by hinges 600. The structural form of the rod assembly 300 allows its length to be adjusted according to actual needs. By assembling or disassembling the vertical connecting rods 500, the length of the rod assembly 300 can be changed to suit different requirements.

[0094] The mounting bracket 100 also includes a mounting frame 700 installed on the bottom surface of the drone. The mounting frame 700 includes two long connecting plates 800 bolted to the side of the drone 1. The two long connecting plates 800 are arranged parallel to each other, and a connecting frame 900 at the same horizontal plane as the long connecting plates 800 is provided between the two long connecting plates 800. A hinge seat 1000 is installed on the connecting frame 900, and the end of the rod assembly 300 is hinged to the hinge seat 1000. The mounting bracket 100 can be detachably installed on the drone body via the mounting frame 700, and installation and removal are both convenient.

[0095] This embodiment provides a device for hanging angle steel ends, the specific structure of which is as follows: The mounting device includes a device body 20, which includes an angle steel end mounting frame 201 and a gripper drive assembly 202.

[0096] The angle steel end hanging frame 201 includes a fixed clamp 203 and a movable clamp 204. The angle steel end hanging frame 201 includes a U-shaped frame 209 with an opening facing downward. The U-shaped frame 209 includes a horizontal arm and two vertically extending vertical arms 221 and 222. The vertical arm 221 forms the fixed clamp 203. The movable clamp 204 includes a clamp body 10. The clamp body 10 has a vertical clamping and limiting surface 103 opposite to the fixed clamp 203. The clamp body 10 is arranged opposite to the fixed clamp 203 and can move towards or away from the fixed clamp 203 in the horizontal direction.

[0097] Since the entire device needs to be carried to a high altitude by a drone, the mounting device should not be too heavy. The mounting device is used for grounding wires and needs to be made of metal. In this application, it is basically made of welded steel plates or bolted connections. Therefore, the structure of the mounting device needs to be designed to reduce its weight as much as possible.

[0098] In this embodiment, the hanging structure is designed to consist of two symmetrically arranged frame side plates 227 and multiple connecting rods 228 connecting the two frame side plates 227. The frame side plates 227 include U-shaped plates 229 with downward openings. The U-shaped plates 229 in the two frame side plates 227 and the connecting rods 228 connecting the U-shaped plates 229 together constitute a U-shaped frame 209.

[0099] On the one hand, this type of frame reduces the end face sealing plate and is connected by only two frame side plates 227 and connecting rods 228, which can greatly reduce its weight. On the other hand, the frame side plates 227 are also perforated to further reduce the self-weight of the frame 201 hanging at the angle steel end.

[0100] This embodiment provides a gripper drive assembly 202 for driving the movable gripper 204 to move toward or away from the fixed gripper 203. The gripper drive assembly 202 includes a component one for driving the movable gripper 204 to move toward the fixed gripper 203 and a component two for driving the movable gripper 204 to move away from the fixed gripper 203. The component one includes an elastic member 206 that can pull the movable gripper 204. The elastic member 206 provides a pulling force on the movable gripper 204 by its own elasticity. The elastic element 206 provides tension on the movable gripper 204 by its own elasticity. The elastic element 206 includes a mounting rod 207 and a coil spring 208 mounted on the mounting rod 207. One end of the coil spring 208 is fixedly connected to the movable gripper 204. The mounting rod 207 is fixed on the vertical arm 221. The coil spring 208 includes a coil roller and a spring sheet wound on the coil roller. One end of the spring sheet is fixed on the coil roller, and the other end is fixed on the gripper body 10 of the movable gripper 204. The coil roller can rotate on the mounting rod 207.

[0101] Component 2 includes a rigid rope 205 that can pull the movable gripper 204. The rigid rope 205 provides a pulling force on the movable gripper 204 by the weight of the device body 20. It also includes an angle steel end hanging ring 210 that is set on the top of the angle steel end hanging frame 201 and can move up and down relative to the angle steel end hanging frame 201. The two ends of the rigid rope 205 are respectively connected to the angle steel end hanging ring 210 and the movable gripper 204. When the angle steel end hanging ring 210 moves upward relative to the angle steel end hanging frame 201, it can pull the movable gripper 204 away from the fixed gripper 203 through the rigid rope 205.

[0102] In this embodiment, the gripper frame 104 includes an upper end plate 112, a lower end plate 113, and two side plates 114. Both side plates 114 are U-shaped plates 229 and are arranged opposite to each other. The upper end plate 112 is provided with sliding connecting plates 235 on both sides. Both side plates 227 are fixed with sliding groove plates 234 forming a groove in the middle. The length direction of the groove is set along the movement direction of the movable gripper 204. The sliding connecting plate 235 is provided with rollers 236 that can move in the groove. Based on the groove and the rollers 236, the movable gripper 204 can achieve more stable reciprocating motion.

[0103] In this embodiment, a lifting ring mounting bracket 211 is installed on the top of the angle steel end hanging frame 201. The lifting ring mounting bracket 211 includes a lifting ring mounting arm 212. Both ends of the lifting ring mounting arm 212 are connected to a vertically downward extending guide rod 213. The angle steel end hanging frame 201 is provided with a guide hole 214 for the guide rod 213 to pass through and slide in cooperation with the guide rod 213. The bottom end of the guide rod 213 is provided with a limiting ring 215 with an outer diameter larger than the diameter of the guide hole 214. The setting of the limiting ring 215 can effectively prevent the guide rod 213 from completely detaching from the angle steel end hanging frame 201.

[0104] The lifting ring mounting arm 212 is also fixed with a lifting ring mounting seat 216 for fixing the angle steel end lifting ring 210. The lifting ring mounting seat 216 includes a mounting seat base plate 217 fixed to the lifting ring mounting arm 212 by bolts and a snap-fit ​​block 218 set on the mounting seat base plate 217. The snap-fit ​​block 218 has a snap-fit ​​groove 219 with an upward opening in the middle. The bottom of the angle steel end lifting ring 210 is snapped into the snap-fit ​​groove 219 and fastened by bolts. The axial direction of the angle steel end lifting ring 210 snapped into the snap-fit ​​groove 219 is the same as the movement direction of the movable gripper 204.

[0105] During installation, the angle steel on the outside of the angle steel tower is usually selected for installation. The axial direction of the angle steel end lifting ring 210 is the same as the movement direction of the movable jaw 204, that is, the thickness direction of the angle steel end lifting ring 210 is the same as the length direction of the angle steel. This allows the angle steel end lifting ring 210 to be close to the angle steel tower from the side during installation, which can minimize the interference of the angle steel end lifting ring 210 on the installation process.

[0106] The lifting ring mounting base 216 is located at the middle position of the lifting ring mounting arm 212. The length direction of the lifting ring mounting arm 212 is set along the length direction of the angle steel end hanging frame 201, so that the angle steel end lifting ring 210 is basically located on the center line of the entire angle steel end hanging frame 201, thereby ensuring the hanging stability of the angle steel end lifting ring 210.

[0107] In addition, the angle steel end hanging frame 201 is provided with at least two tensioning rods 220 for tensioning the rigid rope 205. The rigid rope 205 is wound around the tensioning rods 220. The tensioning rods 220 can tension the rigid rope 205 on the one hand, and directly serve as connecting rods 228 between the two frame side plates 227 on the other hand. One of the tensioning rods 220 is located in the lower part of the angle steel end lifting ring 210, which can serve as the middle connecting rod 228 between the two frame side plates 227. By replacing the connecting rods 228 with tensioning rods 220, the number of connecting rods 228 can be reduced, which can improve the assembly efficiency of the entire device and further control the weight of the device.

[0108] Between the two frame side plates 227, there is also a long strip connecting plate 237 for installing guide rods 213. The long strip connecting plate 237 is set at both ends of the top of the frame side plate 227, and it can directly replace the connecting rod 228 at that position. The middle of the long strip connecting plate 237 is provided with a sliding hole for the guide rod 213 to pass through. The way the connecting plate replaces the connecting rod 228 makes the load-bearing device more stable and has a larger load during operation.

[0109] In this embodiment, the structure of the bracket 201 hanging at the end of the angle steel is fully designed, and the positions of each rod and plate are optimized so that its shape, weight, stress and other aspects are kept in a better state. It has the characteristics of exquisite structure, stable operation and full ability to meet the operation requirements.

[0110] The specific work process is as follows: In the initial state, the drone hooks onto the lifting ring 210 at the angle steel end. At this time, a grounding wire is connected to the angle steel end mounting frame 201. The drone drives the device to the corresponding angle steel tower position. During the drone's operation and before the mounting device is installed, the lifting ring 210 at the angle steel end is at its highest position relative to the angle steel end mounting frame 201, and the guide rod 213 is extended out of the angle steel end mounting frame 201. Under the pulling action of the lifting ring 210, the movable gripper 204 is pulled open to the furthest point from the fixed gripper 203 via the rigid rope 205. At this time, the installation opening is in its maximum state, and the coil spring 208 is in its maximum extended state.

[0111] Continue lowering the angle steel end mounting frame 201 until the angle steel enters through the installation port and the angle steel end mounting frame 201 lands on the angle steel. At this point, continue to control the drone to descend slowly. Since the angle steel end mounting frame 201 is supported, as the drone descends, the rigid rope 205 on the angle steel end lifting ring 210 no longer provides tension. The movable gripper 204 can then gradually move towards the fixed gripper 203 under the elastic tension of the coil spring 208 until the angle steel is completely clamped. This completes the installation of the angle steel end mounting frame 201 on the angle steel. At this point, the hook on the drone can be operated to detach from the angle steel end lifting ring 210. The drone will automatically detach as it descends further, and the drone will return to base while the workers on the angle steel tower carry out their work.

[0112] After the workers finish their work, they leave the angle steel tower. The drone then returns to the designated position and hooks the angle steel end lifting ring 210 again. The drone only needs to move upwards to pull the rigid rope 205 through the angle steel end lifting ring 210. This causes the movable gripper 204 to overcome the spring force of the coil spring 208 and move away from the fixed gripper 203, releasing the clamp on the angle steel. Then, the entire angle steel end hanging frame 201 is directly pulled up, completing the removal of the angle steel end hanging frame 201 from the angle steel tower. This removal method does not require any electric drive; it can be directly pulled up by the drone, eliminating the need to consider the power source. It is also safer and easier to operate.

[0113] The mounting device in this embodiment not only facilitates dismantling after the work is completed, but also facilitates mounting on the angle steel tower.

[0114] Specifically, in this embodiment, the lower ends of vertical arm 1 221 and vertical arm 222 are respectively provided with extension arm 1 223 and extension arm 224, and both extension arm 1 223 and extension arm 224 are inclined towards the outside of the U-shaped frame 209. The first extension arm 223 and the first vertical arm 221 form an angle of 5-10°, and the second extension arm 224 and the second vertical arm 222 form an angle of 45-60°. In this embodiment, the first extension arm 223 and the first vertical arm 221 form an angle of 5°, and the second extension arm 224 and the second vertical arm 222 form an angle of 60°. The lower end of the first extension arm 223 is provided with a terminal block 225 for connecting a grounding wire.

[0115] The extension arm 1 223 and the extension arm 2 224 are tilted outward at different angles. On the one hand, the bottom of the extension arm 1 223 is connected to the ground wire, which has a certain weight. By using the extension arm 1 223, which is basically vertically extended, the extension arm 1 223 maintains a similar traction angle with the ground wire when the device is running upward. This reduces the tilting of the entire device caused by the extension arm 1 223 flipping downward and the extension arm 2 224 flipping upward during the hanging device. On the other hand, the larger outward tilt of the second extension arm 224 makes it easier for the angle steel to enter between the first extension arm 223 and the second extension arm 224 during installation, reducing the difficulty for operators to operate the drone.

[0116] When the operator observes that the angle steel has entered between the first extension arm 223 and the second extension arm 224, the operator moves the drone horizontally so that the first extension arm 223 fits against the side of the angle steel. Then, the operator moves the drone downward along the first extension arm 223. At this time, the first extension arm 223 can play a certain guiding role. Along the end face of the first extension arm 223, the angle steel will inevitably enter the installation opening between the fixed clamp 203 and the movable clamp 204, and the angle steel entering the opening can also basically fit against the side of the fixed clamp 203 until the hanging device is completely mounted on the angle steel, completing this stage of installation.

[0117] To facilitate more accurate drone operation by personnel below the tower, red identification plates 226 are installed on the outer surface of the second extension arm 224. These red identification plates 226 are positioned along the length of the second extension arm 224 and can be made of red plastic. During operation, staff can better determine whether the angle iron is positioned between the first extension arm 223 and the second extension arm 224 based on the position of the red identification plates 226 in the camera view.

[0118] In this embodiment, the frame side plate 227 also includes an inclined plate 230 and an inclined plate 231 extending downward and outward from the lower end of the U-shaped plate 229. The inclined plate 230 in the two frame side plates 227 and the connecting rod 228 connecting the inclined plate 230 together constitute an extension arm 223. The inclined plate 231 in the two frame side plates 227 and the connecting rod 228 connecting the inclined plate 231 together constitute an extension arm 224.

[0119] In addition, to increase the load-bearing surface of the mounting device on the angle steel, an L-shaped top plate 232 is provided on the outer end face of the U-shaped plate 229 and at the top of the opening of the U-shaped plate 229. The lower surface of the L-shaped top plate 232 forms an extension limiting surface 233 that extends horizontally to the outside of the frame side plate 227 for limiting the upper end of the clamped part. By adding two extension limiting surfaces 233 in the length direction of the angle steel, the installation of the angle steel end mounting frame 201 on the angle steel is realized, further improving the installation stability of the angle steel end mounting frame 201.

[0120] like Figures 5-10 As shown, the movable gripper 204 in this embodiment 1 is a variable-form gripper, which includes a gripper body 10. The gripper body 10 includes a plurality of movable blocks 101 stacked sequentially at intervals in the height direction. Friction pads 102 are provided between adjacent movable blocks 101. Each movable block 101 can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block 101 along the horizontal movement direction forms a clamping and limiting surface 103, and adjacent clamping and limiting surfaces 103 can be on the same vertical surface or on different vertical surfaces.

[0121] The movable gripper 204, based on the movable block 101, can change shape so that it can adapt to the shape, size and orientation of the angle steel during the clamping process, thereby achieving better clamping of the angle steel. By changing its own shape to always fit the angle steel, it is possible to eliminate the need to specially find a suitable angle steel to hang when installing the hanging device, effectively reducing the operational requirements of the operator.

[0122] In this embodiment, the friction pad 102 can be a diamond friction pad 102, which is designed to be long and strip-shaped and smaller than the movable block 101, so as to avoid it protruding from the clamping and limiting surface 103 formed by the movable block 101.

[0123] Specifically, the gripper body 10 also includes a gripper frame 104. The gripper frame 104 has a movable block channel 105 in the middle. A vertically arranged mounting post 106 is installed in the movable block channel 105 for sliding cooperation with the movable block 101. The movable block 101 and the friction pad 102 are arranged alternately in the axial direction of the mounting post 106. The movable block 101 has an elongated hole 107 for the mounting post 106 to pass through. The length direction of the elongated hole 107 is arranged along the axial direction of the movable block channel 105. The movable block 101 can slide relative to the mounting post 106 along the length direction of the elongated hole 107. The friction pad 102 has a circular hole 108 for the mounting post 106 to pass through and is clearance-fitted with the mounting post 106.

[0124] The gripper frame 104 is constructed as a frame with a U-shaped groove in the middle, and the frame includes a U-shaped inner bottom wall 109, a U-shaped inner side wall 110 and a U-shaped top wall 111; The movable block 101 is constructed in the shape of a rectangular plate, and the clamping and limiting surface 103 of each movable block 101 is a vertical plane. The clamping and limiting surface 103 has three states: one, flush with the inner bottom wall 109 of the U-shape; two, protruding from the inner bottom wall 109 of the U-shape but not protruding from the top wall 111 of the U-shape; and three, protruding from the top wall 111 of the U-shape. Each movable block 101 can individually maintain the clamping limiting surface 103 in state one, state two, or state three under the action of external force.

[0125] In this embodiment, the gripper frame 104 includes an upper end plate 112, a lower end plate 113, and two side plates 114. Both side plates 114 are U-shaped and arranged opposite each other. The movable block channel 105 is formed by the upper end plate 112, the lower end plate 113, and the two side plates 114. Each side plate 114 includes a vertical arm 115 and horizontal arms 116 located at the upper and lower ends of the vertical arm 115. The upper end plate 112 and the lower end plate 113 are respectively fixed to the horizontal arms 116 at the upper and lower ends. The movable block channel 105 is formed by the upper end plate 112, the lower end plate 113, and the vertical arms 115 of the two side plates 114. The upper and lower ends of the mounting column 106 are respectively fixed to the upper end plate 112 and the lower end plate 113. Friction pads 102 are provided between the upper end plate 112 and the uppermost movable block 101, and between the lowermost movable block 101 and the lower end plate 113.

[0126] During operation, the angle steel first enters the mounting opening between the movable gripper 204 and the fixed gripper 203, and the angle steel end hanging frame 201 is mounted on the upper end surface of the angle steel. The lower end surfaces of the horizontal arms 116 at the upper ends of the two side plates 114 in the gripper frame 104 and the lower surface of the L-shaped top plate 232 are on the same plane and are supported together on the upper end surface of the angle steel. The lower end surfaces of the horizontal arms 116 at the upper ends of the two side plates 114 in the gripper frame 104 and the lower surface of the L-shaped top plate 232 together constitute the first horizontal limiting surface for the installation of the hanging device on the angle steel. Then the drone descends and disengages from the angle steel end ring 210. The rigid rope 205 no longer has a pulling force on the hanging device. At this time, the movable gripper 204 can gradually move towards the fixed gripper 203 under the action of the torsion spring.

[0127] During the movement of the movable gripper 204, the movable block 101 on it will automatically fit against the end face of the angle steel based on the shape of the end face of the angle steel. The angle steel in the installation opening has the following shape. (1) When the angle steel horizontal plate is above or below and the angle steel opening faces the fixed clamp 203, the end face of the angle steel facing the movable clamp 204 is a vertical plane. During the movement of the movable clamp 204 towards the angle steel under the action of the coil spring 208, the movable block 101, which is at the upper part and matches the height of the angle steel, is pushed in the opposite direction by the end face of the angle steel until the clamping limiting surface 103 is flush with the U-shaped inner bottom wall 109. The clamping limiting surface 103 of this part of the movable block 101 is pressed against the end face of the angle steel under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101, which is at the lower part exceeding the height of the angle steel, is pressed against the friction pad 102. The function is still in the initial state, that is, the clamping and limiting surface 103 protrudes from the U-shaped top wall 111. The uppermost surface of the movable block 101 in this part constitutes the second horizontal limiting surface at the lower end of the angle steel when the hanging device is installed on the angle steel (if the height of the angle steel is exactly the same as the height of the clamping and limiting surface 103 formed by all the movable plates, then the upper end of the horizontal arm 116 at the lower end of the two side plates 114 in the gripper frame 104 constitutes the second horizontal limiting surface). The first vertical limiting surface, the first horizontal limiting surface and the second horizontal limiting surface together constitute the limiting in this state, which has better limiting stability.

[0128] (2) The angle steel horizontal plate is at the top and the angle steel opening faces the movable clamp 204. At this time, the end face of the angle steel facing the movable clamp 204 is a stepped surface. The upper end face of the angle steel horizontal plate and the first horizontal limiting surface are still mutually limiting. The movable block 101, which is at the top and is adapted to the thickness of the middle horizontal plate of the angle steel, is pushed in the opposite direction by the horizontal plate of the angle steel until the clamping limiting surface 103 is flush with the U-shaped inner bottom wall 109. The clamping limiting surface 103 of this part of the movable block 101 is pressed against the end face of the angle steel under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101, which is located beyond the thickness of the horizontal plate of the angle steel, is still in its initial state under the action of the friction pad 102, that is, the clamping and limiting surface 103 protrudes from the U-shaped top wall 111. The uppermost surface of the movable block 101 constitutes the second horizontal limiting surface at the lower end of the horizontal plate of the angle steel when the hanging device is installed on the angle steel. The clamping and limiting surface 103 of the movable block 101 is in contact with the side of the vertical plate of the angle steel under the action of the friction pad 102, and can also play a certain limiting role.

[0129] (3) The angle steel horizontal plate is at the bottom and the angle steel opening faces the movable clamp 204. At this time, the end face of the angle steel facing the movable clamp 204 is a stepped surface. The upper end face of the angle steel vertical plate is mutually limited with the first horizontal limiting surface. The upper movable block 101 is in the initial state. The lower surface of the lowermost movable block 101 in this part of the movable block 101 forms the second horizontal limiting surface limited to the upper end face of the angle steel horizontal plate. The clamping limiting surface 103 of the movable block 101 opposite to the angle steel horizontal plate is pressed against the end face of the angle steel horizontal plate under the action of the coil spring 208, forming the first vertical limiting surface. The movable block 101 that extends beyond the lower end face of the horizontal plate is still in the initial state under the action of the friction pad 102. The upper end face of this part of the movable plate forms the third horizontal limiting surface mutually limited with the lower end face of the angle steel.

[0130] To further improve the motion stability of the movable block 101, two parallel mounting posts 106 are provided between the upper end plate 112 and the lower end plate 113. Two parallel elongated holes 107 are provided on the movable block 101, which correspond one-to-one with the two mounting posts 106. The friction pad 102 is constructed in the shape of a long strip and has round holes 108 at both ends for the two mounting posts 106 to pass through.

[0131] In this embodiment, the movable block 101 has an opening in the middle that faces away from the U-shaped groove. The arrangement of the clearance groove 117 allows the movable gripper 204 to be at its farthest point relative to the fixed gripper 203 when the device is in operation. At this time, the clearance groove 117 can avoid the guide column, so that the movable gripper 204 is located between the two frame side plates 227, rather than in the U-shaped groove where the angle steel end of the frame 201 is hung, so that the entire U-shaped groove where the angle steel end of the frame 201 is hung constitutes an installation opening.

[0132] Furthermore, the upper end plate 112 and the lower end plate 113 have the same structure, both including a first plate 118 and a second plate 119 fixed to each other. The first plate 118 is fixed to the side plate 114 by bolts, and the second plate 119 is used to fix the mounting post 106. The side of the second plate 119 is also provided with an extension 120 facing away from the U-shaped groove, and a reinforcing rib 121 is provided between the extension 120 and the first plate 118. The extension 120 and the reinforcing rib 121 make the installation of the movable block 101 on the gripper frame 104 more stable.

[0133] In this embodiment, the movable blocks 101 are all made of steel plates and have a certain weight. Under the premise of reducing the weight of the basic structure of the angle steel end hanging frame 201, since the clamping force of the movable claw 204 is generated by the coil spring 208, and the selection of the coil spring 208 is related to the self-weight of the frame, it is not advisable for the angle steel end hanging frame 201 to be too light. At this time, the movable blocks 101 can play a certain counterweight role. Furthermore, the weight of the movable blocks 101 is related to the friction force provided by the friction pad 102. The movable blocks 101 should not be made of lightweight materials, otherwise it will be difficult to keep the movable blocks 101 in the initial state. Therefore, this method of reducing the weight of the frame structure and increasing the weight of the movable blocks 101 can reasonably and effectively balance the weight of the angle steel end hanging frame 201.

[0134] Example 2 Similar to Embodiment 1, except that this embodiment provides a device for hanging the end of a conductor, such as... Figures 16-24 As shown, its specific structure is as follows: The device includes a wire end hanging frame 011, which includes two oppositely arranged frame connecting plates 0102 of the same shape. The upper and lower ends and the middle position of the two frame connecting plates 0102 are provided with connecting rods 0803 or connecting plates to form an integral frame.

[0135] A locking mechanism for locking the wire is installed between the two frame connecting plates 0102. The frame connecting plate 0102 includes a plate body 0103 and two extension arms 0104 extending downward from both sides of the lower end face of the plate body 0103. The lower end face of the plate body 0103 is provided with an upwardly recessed arc groove 0105. The locking mechanism can lock the wire in the arc groove 0105. The two extension arms 0104 extend at an angle of less than 90°, and the opposite sides of the two extension arms 0104 extend to the inner side of the circular groove 0105. The two extension arms 0104 form an angle between them and their upper ends extend to the circular groove. This allows the UAV to automatically enter the circular groove without needing to be aligned with the power line during the mounting process. This enables the UAV to be guided by the two extension arms 0104 to easily adjust the position and attitude of the grounding device during the flight of the UAV, ensuring its precise connection with the cable.

[0136] The two extension arms 0104 include a vertical arm 0106 and an inclined arm 0107. The vertical arm 0106 includes an outer vertical surface 0109 and an inner first inclined surface 0108. The vertical surface 0109 is parallel to the end face of the wire end ring 09. The inclined arm 0107 includes an outer second inclined surface 0110 and an inner third inclined surface 0111. The first inclined surface 0108 and the third inclined surface 0111 are opposite to each other and extend to the inner side of the arc groove 0105. The first inclined surface 0108 and the third inclined surface 0111 form a V-shaped guide angle of less than 90°. The vertical surface 0109 and the second inclined surface 0110 are respectively connected to the outer side of the plate body 0103. The V-shaped guide angle can effectively guide the power transmission line into the arc groove 0105, simplifying the precise control of the drone and reducing the difficulty of drone operation for operators.

[0137] The extension arm 0104 is equipped with a vertical arm and an inclined arm 0107, which serves two purposes: firstly, to facilitate the guidance of the power transmission line, and secondly, to better pull the ground wire.

[0138] In this embodiment, a connecting plate 0112 for connecting a grounding wire is installed between the vertical arms 0106 of the two frame connecting plates 0102 and at the lower end of the vertical arms 0106. The connecting plate 0112 is set on the vertical arm. The grounding wire has a certain weight. By using this kind of basically vertically extending vertical arm, the vertical arm maintains a roughly the same traction angle with the grounding wire when the device is running upward, reducing the tilt of the entire device caused by the vertical arm side flipping downward and the tilting arm 0107 side flipping upward in the hanging device. When the operator observes the power transmission line entering between the vertical arm and the tilting arm 0107, the operator moves the drone horizontally so that the vertical arm fits against the side of the power transmission line. Then, the operator moves the drone downward along the vertical arm. At this time, the vertical arm can play a certain guiding role. The power transmission line will inevitably enter the arc groove 0105 along the end face corner of the vertical arm. The operation is relatively simple and convenient.

[0139] To facilitate more accurate drone operation by personnel below the tower, an identification plate 0113 is installed on the outer surface of the tilting arm 0107 of the two frame connecting plates 0102, with its length direction aligned with the length of the tilting arm 0107. The identification plate 0113 can be made of red plastic. During operation, staff can better determine whether the conductor is between the tilting arm 0107 and the vertical arm 0106 based on the position of the red identification plate 0113 in the camera view.

[0140] In this embodiment, the locking mechanism includes two fixing parts 01 that limit the upper side of the conductor and a locking claw 02 disposed between the two fixing parts 01. The locking claw 02 can automatically engage with the lower side of the conductor. When the locking claw 02 is engaged with the lower side of the conductor, it can form a conductor locking area together with the two fixing parts 01. The fixing part 01 is provided on the plate body 0103 and located at the intersection of the two extension arms 0104. The fixing part 01 is constructed in the shape of an arc plate with an opening facing downward and is coaxially arranged with the arc groove 0105. The fixing part 01 and the lower end face of the arc groove 0105 together constitute the upper limit surface of the wire locking area.

[0141] The fixing part 01 can increase the force-bearing area of ​​the wire end hanging frame 011 on the wire, increase the stability of the hanging device on the wire, and also increase the force-bearing area on the upper side of the wire itself, reducing damage to the wire.

[0142] The locking mechanism in this embodiment also includes a gripper drive unit. The gripper drive unit includes a torsion spring 03 for driving the locking gripper 02 to move toward the fixed part 01, a pre-tightening handle 06 for pressing the torsion spring 03 to drive the locking gripper 02 to move toward the fixed part 01, and a positioning block 07 for positioning the pre-tightening handle 06. The positioning block 07 is installed on the frame connecting plate 0102 and can move up and down on the frame connecting plate 0102. When one end of the pre-tightening handle 06 presses the torsion spring 03, the other end can press against the positioning block 07 under the action of the torsion spring 03.

[0143] The gripper drive unit also includes a clamping push rod 04 whose end extends to the wire locking area and a positioning hook 05 that can be engaged with the locking gripper 02 and is used to restrict the movement of the locking gripper 02 toward the wire locking area. The positioning hook 05 is connected to the clamping push rod 04. When the clamping push rod 04 moves out of the wire locking area under the action of the wire, it can drive the positioning hook 05 to release the engagement with the locking gripper 02.

[0144] The locking jaw 02 includes an upper engaging portion 0201 and a lower jaw portion 0202. The positioning hook 05 engages with the engaging portion 0201 to restrict the jaw portion 0202 from moving toward the wire locking area. The jaw portion 0202 can engage with the lower side of the wire under the action of the elastic element.

[0145] The gripper drive unit also includes a torsion spring mounting shaft 0301 and a torsion spring 03 pre-tensioning part. The helical part of the torsion spring 03 is sleeved on the torsion spring mounting shaft 0301. One of the torsion arms of the torsion spring 03 can abut against the back of the gripper part 0202 away from the wire locking area. Under the action of the torsion spring 03, the gripper part 0202 can rotate around the torsion spring mounting shaft 0301 to a position opposite to the fixing part 01. The back of the locking gripper 02 away from the wire locking area is provided with a connecting seat 0302 rotatably connected to both ends of the torsion spring mounting shaft 0301. The torsion spring 03 pre-tensioning part includes a pre-tensioning handle 06 rotatably connected to both ends of the torsion spring mounting shaft 0301. The other torsion arm of the torsion spring 03 is located below the pre-tensioning handle 06. When the pre-tensioning handle 06 rotates downward around the torsion spring mounting shaft 0301, it can press down on the other torsion arm of the torsion spring 03 so that one of the torsion arms of the torsion spring 03 abuts against the back of the gripper part 0202 away from the wire locking area.

[0146] The two ends of the torsion spring mounting shaft 0301 are respectively mounted on the two frame connecting plates 0102. During the operation, in the initial state, the locking claw 02 and the pre-tightening handle 06 are both in a movable state on the torsion spring mounting shaft 0301. At this time, the entire wire end hanging frame 011 is in a free state. Before mounting the drone, the operator needs to rotate both the pre-tightening handle 06 and the locking claw 02 around the torsion spring mounting shaft 0301. The pre-tightening handle 06 presses down on the torsion spring 03 arm, and the locking claw 02 engages with the positioning hook 05. The torsion spring 03 is in a torsional state under the combined action of the pre-tightening handle 06 and the locking claw 02. At the same time, the locking claw 02 is positioned by the positioning hook 05, and the pre-tightening handle 06 is positioned by the positioning block 07. At this time, the wire end mounting frame 011 is in a pre-tightened state and is ready for operation. When the drone moves the wire end mounting frame 011 onto the corresponding wire, the power line is guided to the wire locking area by the extension arm 0104. Before fully entering the circular groove, it will first encounter the clamping push rod 04. The downward gravity of the wire end mounting frame 011 will push the clamping push rod 04 upward. During the upward movement of the clamping push rod 04, it will drive the positioning hook 05 to disengage from the locking claw 02's latching hole 0203. The positioning hook 05 will then position the locking claw 02. Under the action of the torsion spring 03, the locking claw 02 will move its claw part 0202 toward the wire locking area until the upper surface of the claw part 0202 forms the lower side of the wire locking area. Together with the fixing part 01, the power line will be locked. At this time, the power line will also be fully entered into the circular groove, completing the locking.

[0147] In this embodiment, the locking gripper 02 includes a fastening plate body constituting the fastening part 0201 and a gripper plate body constituting the gripper part 0202. The fastening plate body has a fastening hole 0203 in the middle for the positioning hook 05 to pass through and fasten to the back of the fastening plate body. The gripper plate body is constructed as a V-shaped plate with an included angle greater than 90°. The fixing part 01 is constructed as an arc-shaped plate with an opening facing downward. When the fastening plate body is fastened to the positioning hook 05, the gripper plate body is outside the wire locking area. When the positioning hook 05 releases the fastening of the fastening plate body, the V-shaped concave surface of the gripper plate body constitutes the lower limit surface of the wire locking area.

[0148] The structural design of the locking jaw 02 enables it to provide a more stable limit for the transmission line when locking it. In the non-locking state, it is located outside the conductor locking area, i.e., off the lower part of the conductor locking area. At this time, the jaw plate is located between the two vertical arms of the frame connecting plate 0102. This prevents the locking jaw 02 from obstructing the transmission line when the line is inserted, ensuring that the upper end of the transmission line contacts the lower end face of the clamping push rod 04 first when the line is inserted. It also ensures that the transmission line can eventually move to the top of the jaw plate, so that the V-shaped concave surface of the jaw plate can form the lower limit surface of the conductor locking area.

[0149] The gripper drive unit also includes a hook mounting unit, which includes a hook mounting shaft 0501 with both ends mounted on two frame connecting plates 0102 respectively. The middle part of the positioning hook 05 is rotatably mounted on the hook mounting shaft 0501. The positioning hook 05 passes through the fastening hole 0203 and fastens to the back of the fastening plate to form a hook hook part 0502. The other end forms a hook connecting part 0503. A push rod mounting plate 0504 is installed at the hook connecting part 0503. The middle part of the push rod mounting plate 0504 is installed on the lower end face of the hook connecting part 0503, and a clamping push rod 04 is installed at both ends respectively.

[0150] The snap-fit ​​hole 0203 is a square through hole with a height greater than the thickness of the hook part 0502. The end face of the hook part 0502 is an arc surface and the upper surface is constructed with an L-shaped hook groove 0505 that snaps onto the back of the snap-fit ​​plate. When the positioning hook 05 rotates around the hook mounting shaft 0501, the hook part 0502 can rotate downward in the snap-fit ​​hole 0203 to separate the L-shaped hook groove 0505 from the back of the snap-fit ​​plate.

[0151] The clamping push rod 04 is constructed in the shape of a V-shaped rod with an included angle greater than 90°. When the hook part 0502 of the hook is engaged with the fastening hole 0203, the upper part of the clamping push rod 04 extends vertically downward from the push rod mounting plate 0504, and the lower part extends obliquely into the position of the wire locking area and extends away from the clamp plate. The structural shape of the clamping push rod 04 allows it to better extend into the wire locking area and can better apply force to the lower oblique end of the clamping push rod 04 during the process of hanging the frame 011 at the end of the wire and lowering it towards the power transmission line. This makes the entire clamping push rod 04 form a lever to rotate the positioning hook 05, which can more smoothly realize the unlocking of the multiple locking claws 02 of the subsequent positioning hook 05.

[0152] The end face of the positioning claw 05 is an arc surface, which allows the locking claw 02 to rotate towards the positioning claw 05. It can move smoothly along the arc surface while pressing down on the positioning claw 05 and moving towards the L-shaped hook groove 0505 of the positioning claw 05, and finally engage in the L-shaped hook groove 0505. Under the action of the torsion spring 03 and the gravity of the claw mounting part, the positioning claw 05 can maintain the locking of the locking claw 02.

[0153] Meanwhile, the height of the latching hole 0203 is greater than the thickness of the hook part 0502, which provides a flipping stroke for the subsequent flipping and unlocking of the positioning hook 05, ensuring that the clamping push rod 04 can drive the hook part 0502 to flip downward in the latching hole 0203, and finally make the locking gripper 02 disengage from the hook part 0502 under the action of the torsion spring 03.

[0154] The mounting device and its locking mechanism enable it to be quickly, accurately and stably mounted on the power transmission line, saving operation time and improving operation efficiency.

[0155] In this embodiment, the wire end mounting bracket 011 is also provided with an unlocking mechanism for automatically unlocking the locking mechanism. The unlocking mechanism includes an unlocking frame 08 that can move up and down on the wire end mounting bracket 011. The unlocking frame 08 is provided with a positioning spring 0801 for keeping the positioning block 07 in a positioning state relative to the pre-tightening handle 06 and a wire end lifting ring 09 that can drive the positioning block 07 to separate from the pre-tightening handle 06. The wire end lifting ring 09 is connected to the unlocking frame 08 and can drive the positioning block 07 to separate from the pre-tightening handle 06 when the wire end lifting ring 09 is pulled upward.

[0156] On both sides of the wire end hanging frame 011, there is a vertically arranged slide groove 0101. The slide groove 0101 is set on the connecting plate 0102 of the two frames. The positioning block 07 is set in the slide groove 0101 and can move up and down along the length of the slide groove 0101.

[0157] Specifically, the positioning block 07 includes a sliding part and a positioning part. The positioning part is located inside the frame connecting plate 0102, and the pre-tightening handle 06 can be pressed against the side of the positioning part. The sliding part is located inside the slide groove 0101, and a limit plate is installed on the sliding part by bolts or screws. The limit plate is located outside the frame connecting plate 0102, thereby realizing the detachable installation of the positioning block 07 on the frame connecting plate 0102. The width of both the limit plate and the positioning part is greater than the width of the slide groove 0101.

[0158] When the positioning block 07 is located at the lower end of the slide groove 0101, the pre-tightening handle 06 is in a positioning state. When the positioning block 07 is located at the upper end of the slide groove 0101, the pre-tightening handle 06 is in an unlocked state. When the unlocking bracket 08 pulls the wire end ring 09 upward, it can drive the positioning block 07 to move upward in the slide groove 0101. The pre-tightening handle 06 is constructed in the shape of a U-shaped plate, and the opening faces the torsion spring 03. Both ends of the pre-tightening handle 06 are provided with extension protrusions 0601. The lower end surface of the extension protrusions 0601 and the lower end surface of the pre-tightening handle 06 are on the same plane and together form a pressing surface that can abut against the positioning block 07.

[0159] The unlocking frame 08 includes a U-shaped unlocking frame body 0802 with the opening facing downwards. The two ends of the side wall of the U-shaped unlocking frame body 0802 are respectively connected to the positioning blocks 07 on both sides of the wire end hanging frame body 011. Specifically, both ends of the side wall of the U-shaped unlocking frame body 0802 are provided with U-shaped slots 0805 with horizontal openings. The side wall of the U-shaped unlocking frame body 0802 is engaged with the positioning block 07 through the U-shaped slots 0805.

[0160] The top wall of the U-shaped unlocking frame 0802 is provided with a connecting rod 0803 that is connected to the wire end hanging ring 09. The connecting rod 0803 is fitted with a sleeve rod 0804 that can drive the wire end hanging frame 011 to move upward. The positioning spring 0801 is fitted on the connecting rod 0803, with one end pressed against the lower end surface of the sleeve rod 0804 and the other end pressed against the upper surface of the top wall of the U-shaped unlocking frame 0802.

[0161] The upper surface of the wire end hanging frame 011 is equipped with a wire end lifting ring 09 and a wire end lifting ring mounting seat 0901 for mounting the wire end lifting ring 09. Specifically, the wire end lifting ring mounting seat 0901 is mounted on the unlocking frame 08, and the wire end lifting ring 09 is fixed on the wire end lifting ring mounting seat 0901. Both ends of the connecting rod 0803 are provided with threaded holes, and both ends of the connecting rod 0803 are fixed to the wire end lifting ring mounting seat 0901 and the top wall of the U-shaped unlocking frame 0802 respectively by bolts.

[0162] An upper end plate is installed between the upper ends of the two frame connecting plates 0102. The upper end of the sleeve rod 0804 passes through the upper end plate and can slide up and down relative to the upper end plate. The lower end of the sleeve rod 0804 is provided with a flange. The flange can be pressed against the lower surface of the upper end plate under the action of the positioning spring 0801. The wire end lifting ring mounting seat 0901 is fixed to the upper end of the connecting rod 0803 by bolts. The wire end lifting ring mounting seat 0901 is provided with a lifting ring locking groove 0902 with an upward opening for locking the wire end lifting ring 09. The lower end of the wire end lifting ring 09 is locked in the lifting ring locking groove 0902 and fastened by bolts.

[0163] During the unlocking process, the drone pulls the wire end ring 09 upward via a rope. As the wire end ring 09 moves upward, it first drives the connecting rod 0803 upward via the wire end ring mounting seat 0901. The upward movement of the connecting rod 0803 will drive the U-shaped unlocking frame 0802 upward. Then, the U-shaped unlocking frame 0802 will drive the positioning block 07 to move to the upper end of the slide groove 0101. At this time, the pressing surface of the pre-tightening handle 06 loses the support of the positioning block 07, and the pre-tightening handle 06 returns to a free state where it can move. The spring force of the torsion spring 03 is released, and the locking claw 02 loses the squeezing force of the torsion spring 03 and also returns to a free state, thus completing the unlocking of the power transmission line by the locking claw 02. During the unlocking process, the lifting ring 09 at the conductor end is further lifted upwards. As the U-shaped unlocking frame 0802 moves upwards, the positioning spring 0801 presses against the sleeve rod 0804. The sleeve rod 0804 moves upwards, causing the upper end plate to move upwards. This allows the entire conductor end mounting frame 011 to be removed from the power transmission line. This means that the device can be removed from the power transmission line simply by the drone making an upward movement, saving operation time and improving operation efficiency.

[0164] Example 3 like Figures 17-32 As shown, this embodiment provides an electrical testing device, the specific structure of which is as follows: The voltage detection device includes a drone 1 and a voltage detection mechanism 3 installed on the drone 1. The drone 1 includes a body and a handheld terminal. The body and the handheld terminal are respectively provided with a body communication module and a handheld terminal communication module that can communicate with each other. The body communication module and the handheld terminal communication module can communicate wirelessly with each other. The voltage detection mechanism 3 includes an insulating rod 301 with its end installed on the drone 1. A photosensitive receiver 302 and an voltage detector 303 connected to the photosensitive receiver 302 are installed on the end of the insulating rod 301 away from the drone 1. The electroscope 303 includes a probe 307 and an electroscope audible and visual alarm device for emitting an audible and visual alarm signal based on the detection result of the probe 307; the photosensitive receiver 302 includes a photosensitive sensor for detecting the audible and visual alarm signal and sending the detected signal to the body communication module; the insulating rod 301 is a hollow rod, and wires for electrically connecting the UAV 1 and the photosensitive receiver 302 are arranged inside it; the handheld terminal also includes a handheld audible and visual alarm device for emitting an audible and visual alarm signal based on the signal received by the handheld terminal communication module.

[0165] In this embodiment, the electroscope 303 is a capacitive electroscope 303, which can detect whether the line is energized. If the line is energized, the electroscope 303 will emit an audible and visual alarm signal. At this time, the photosensitive receiver 302 can collect the light signal emitted by the electroscope 303 through the photosensitive sensor, and then transmit the collected information to the machine body through the machine body communication module. The machine body transmits the information to the handheld terminal communication module through wireless communication. At this time, the handheld terminal will simultaneously emit an audible and visual alarm signal so that ground personnel can judge in real time whether the line to be tested is energized.

[0166] By using this drone control method, workers no longer need to climb high into the air to test electricity, effectively reducing the workload of operators, improving work efficiency, and reducing operational risks.

[0167] The voltage detector 303 includes a voltage detector body 304 and a guide frame 305 disposed at the end of the voltage detector body 304. The guide frame 305 consists of two guide arms 306, one end of which is connected to each other and fixed to the voltage detector body 304, and the other end extends outward to form a V-shaped frame. A voltage detection area is formed between the two guide arms 306. The probe 307 extends from the voltage detector body 304 into the voltage detection area through the connection of the two guide arms 306. In addition, the outer surfaces of the two guide arms 306 are provided with reinforcing arms 309 arranged along the length direction of the guide arms 306. The setting of the reinforcing arms 309 can effectively increase the structural strength of the guide frame 305 and prevent it from bending or deforming, which would affect the voltage detection effect.

[0168] The V-shaped guide frame 305 can guide the wire, allowing the wire to accurately enter the voltage detection position, effectively solving the problem that the voltage detector 303 cannot make accurate contact with the wire due to the inability of the UAV 1 to perform precise operation.

[0169] By setting a V-shaped guide frame 305 at the front end of the voltage detector 303, once the wire enters the opening range of the guide frame 305, it can enter the voltage detection area along the guide arm 306. The angle formed by the guide arm 306 and the probe 307 of the voltage detector 303 can restrict the position of the wire, ensuring that the wire can always contact the probe 307 of the voltage detector 303 and will not swing randomly in the guide fork.

[0170] By setting a guide frame 305 at the front end of the voltage detector 303 to form a contact guiding mechanism for the wire, the fault tolerance rate of the operation can be effectively increased, the complexity of the operation of the UAV 1 can be reduced, the operation process can be simplified, the operation time can be shortened, and the practicality of the device can be improved.

[0171] In this embodiment, a conductive wire 308 is installed on the inner side of each of the two guide arms 306. One end of the conductive wire 308 is fixed to the extension end of the guide arm 306, and the other end is fixed to the side of the probe 307, forming a conductive connection with the probe 307. The conductive wire 308 forms a conductive connection with the probe 307, and the other end is fixed to the end of the guide arm 306 away from the probe 307, so that the conductive wire 308 forms an outward-facing detection area. This allows the wire to enter the detection area and contact the conductive wire 308 to achieve guidance detection, effectively increasing the detection contact range, further improving the operational error tolerance, and reducing operational difficulty.

[0172] In use, by operating the insulating rod 301, the conductive wire 308 is fitted onto the outer periphery of the overhead conductor to form a detection area until the conductive wire 308 comes into contact with the outer periphery of the overhead conductor. Since the outer end of the conductive wire 308 is fixed to the end of the guide arm 306, the detection area is located inside the voltage detection area. During the process of the guide arm 306 being fitted onto the outer periphery of the overhead conductor, the conductor can also avoid the outer end of the conductive wire 308.

[0173] Meanwhile, this method, which uses the guide arm 306 and the electroscope 303 probe 307 to form an angle for detection, and further improves the detection contact range through the conductive wire 308, can effectively avoid the problem of the probe 307 getting stuck in the wire compared to the traditional form of voltage detection where the probe 307 contacts the wire.

[0174] In use, simply operate the drone 1 to adjust the angle of the insulating rod 301 so that the length of the insulating rod 301 points towards the conductor. Then, slide the insulating rod 301 along its own axis to cover the detection area around the cable, which improves the ease of operation of the device.

[0175] In this embodiment, the photosensitive receiver 302 includes a receiver housing 310, and the receiver housing 310 is provided with a battery mounting slot 334. The battery mounting slot 334 is provided with a power supply battery that can supply power to the photosensitive receiver 302.

[0176] One end of the receiver housing 310 forms a voltage detector connection end, and the other end forms an insulating rod connection end. The voltage detector connection end and the insulating rod connection end are respectively provided with a voltage detector connector 310 and an insulating rod connector 311 for the voltage detector 303 to be inserted and the insulating rod 301 to be inserted.

[0177] The electroscope connector 310 includes a plug body 312 and a rotating disk 313 disposed at one end of the plug body 312. A rotating disk locking block 314 is provided on the inner side wall of the rotating disk 313. A rotating head 315 is provided at the end of the receiver housing 310. A rotating head locking block 316 that cooperates with the rotating disk locking block 314 is provided on the outer side wall of the rotating head 315. The rotating disk 313 is rotatably locked onto the rotating head 315. An electroscope slot 317 for the end of the electroscope 303 to be inserted is provided at the other end of the plug body 312.

[0178] The insulating rod connector 311 includes a fixing plate 318 fixed to the end face of the receiver housing 310. The fixing plate 318 has an arc-shaped plate 319 on its surface. An arc groove with an upward opening is formed in the middle of the arc-shaped plate 319. An upper limit plate 333 is fixed on the upper end face of the arc plate 319. The lower end face of the upper limit plate 333 and the arc groove together form an insulating rod insertion groove 320. The end of the insulating rod 301 is inserted into the insulating rod insertion groove 320 and its end face is fixed on the fixing plate 318.

[0179] The insulating rod 301 and the electroscope 303 are installed at both ends of the photosensitive receiver 302 by plugging them in. During installation, they can be plugged in and pre-fixed first, and then tightened with bolts to achieve detachable and stable fixing. This ensures sufficient connection stability and allows for convenient replacement of parts.

[0180] When installing the voltage detector 303, the rotating disc 313 can be connected to the rotating head 315 of the receiver housing 310 via the rotating disc 313 wire sleeve. Then, rotate the rotating disc 313 so that the rotating disc locking block 314 and the rotating head locking block 316 are locked together, thus completing the installation of the voltage detector connector 310 at the end of the optical receiver housing. After it is accommodated, insert the end of the voltage detector 303 into the voltage detector 303 plug to complete the installation of the voltage detector 303. After the insertion is completed, bolts can be added for further tightening to avoid separation due to unstable insertion.

[0181] In this embodiment, to enable the installation of the voltage testing mechanism 3 on the drone 1, a voltage testing mechanism mounting frame 321 is also provided on the top surface of the drone 1. The voltage testing mechanism mounting frame 321 includes a mounting frame base plate 322 fixed to the top surface of the drone 1. The mounting base plate 322 is provided with a rod end connecting seat 323 for connecting the end of the insulating rod 301. The insulating rod 301 can rotate around the rod end connecting seat 323 to be parallel or perpendicular to the mounting base plate 322. The mounting base plate 322 is provided with a limiting component for keeping the insulating rod 301 parallel or perpendicular to the mounting base plate 322.

[0182] In this embodiment, the installation position of the voltage testing mechanism mounting bracket 321 and its ability to limit the insulation rod 301 in both horizontal and vertical directions enable the switching of the voltage testing mechanism 3 position and the rapid replacement of horizontal and vertical voltage testing positions to meet the voltage testing needs of conductors with different arrangements.

[0183] Due to the complexity of overhead power lines, multiple conductors are often distributed in parallel intervals, including horizontally spaced, vertically spaced, or randomly distributed configurations. In these different conductor distribution states, a single fixed angle between the insulating rod 301 and the drone 1 is clearly insufficient. For example, if the conductors are horizontally spaced, and the insulating rod 301 is horizontally mounted on the drone 1, the conductors on the innermost side cannot be detected. Similarly, if the conductors are vertically spaced, and the insulating rod 301 is vertically mounted on the drone 1, the conductors on the innermost side also cannot be detected. Furthermore, even if the insulating rod 301 is installed at an angle on the drone 1, interference with adjacent conductors may occur. Therefore, this embodiment employs a voltage detection mechanism mounting bracket 321 with a specific structure, allowing the insulating rod 301 to rotate and adjust around a horizontal axis perpendicular to the axis of the insulating rod 301. This enables adjustment of the mounting angle of the insulating rod 301 on the drone 1.

[0184] Since the insulating rod 301 can be adjusted to a specific angle relative to the drone 1, it can avoid other wires when the drone 1 is hoisted. This means that the voltage detector 303 arranged at the mounting end of the insulating rod 301 does not have to be a traditional contact voltage detector 303 with a probe 307. By arranging a non-contact voltage detector 303 at the mounting end of the insulating rod 301, accurate live testing of the wires can also be achieved.

[0185] The mounting bracket 321 for the voltage testing mechanism and its adjustment method are as follows: The rod end connector 323 includes a connector base plate 324 fixed to one end of the mounting bracket base plate 322. The connector base plate 324 has connecting ear plates 325 arranged opposite to each other on both sides. The end of the insulating rod 301 is provided with a connector head 326 connected to the two connecting ear plates 325 by a pin. The connector head 326 includes a U-shaped rotating plate 327. The end of the insulating rod 301 is fixed to the outer end face of the U-shaped rotating plate 327. The two side walls of the U-shaped rotating plate 327 are connected to the two connecting ear plates 325 by a pin. The two side walls of the U-shaped rotating plate 327 and the two connecting ear plates 325 are also provided with limiting holes 328 that can be bolted to keep the insulating rod 301 and the mounting bracket base plate 322 in a vertical state. The other end of the mounting base plate 322 is also fixed with a rod fixing seat 329. The rod fixing seat 329 includes an upper fixing part 330 and a lower fixing part 331 that are connected to each other by bolts. A limiting circular hole 332 is formed between the upper fixing part 330 and the lower fixing part 331 for the insulating rod 301 to pass through, which is used to keep the insulating rod 301 parallel to the mounting base plate 322.

[0186] The connector 326 is rotatably connected to the rod end connector 323 via a pin. During the adjustment process, when the insulating rod 301 needs to be in a horizontal state parallel to the top surface of the UAV 1, the rod body of the insulating rod 301 is horizontally inserted into the lower fixing part 331, and then the upper fixing part 330 limits the rod body so as to keep the rod body in a horizontal state through the axially horizontal limiting round hole 332.

[0187] When the insulating rod 301 needs to be parallel to the top surface of the UAV 1, the connector 326 rotates upward around the pin axis. When the connector 326 rotates to the point where its opening is directly opposite the rod end connector 323, the insulating rod 301 is in a vertical state and the limiting hole 328 on the connector 326 is opposite to the limiting hole 328 on the connecting ear plate 325 above the pin axis. At this time, the side walls of the connecting ear plate 325 and the U-shaped rotating plate 327 can be further tightened by bolts to keep the insulating rod 301 in this vertical state.

[0188] In this embodiment, a conductive wire 308 bent into a V-shape, W-shape, or semi-circular arc shape can also be installed between the two guide arms 306. The opening direction of the conductive wire 308 is consistent with the opening direction of the guide frame 305. The middle part of the conductive wire 308 is electrically connected to the probe 307, and the two ends are respectively fixed to the inner side of the two guide arms 306.

[0189] The conductive wire 308 is constructed with open detection areas of different shapes, which can make contact with the inner wall of the conductive wire 308 when wires of different diameters slide into the inner cavity of the detection area, thus ensuring adaptability to different wire detection operations.

[0190] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0191] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A complete set of grounding wire operation system based on UAV mounting, comprising a UAV (1) and a mounting device, characterized in that: The mounting devices include an angle steel end mounting device and a wire end mounting device that can be mounted on the UAV (1). The angle steel end hanging device includes an angle steel end hanging frame (201), which includes a fixed clamp (203) and a movable clamp (204). The movable clamp (204) includes a clamp body (10), which includes multiple movable blocks (101) stacked sequentially in the height direction. Friction pads (102) are provided between adjacent movable blocks (101). Each movable block (101) can move independently in the horizontal direction under the action of external force. The end face of one end of the movable block (101) in the horizontal movement direction forms a clamping limiting surface (103) opposite to the fixed clamp (203). Adjacent clamping limiting surfaces (103) can be on the same vertical plane or on different vertical planes. The conductor end hanging device includes a conductor end hanging frame (011). The conductor end hanging frame (011) includes two opposing and identical frame connecting plates (0102). A locking mechanism for locking the conductor is installed between the two frame connecting plates (0102). The frame connecting plate (0102) includes a plate body (0103) and two extension arms (0104) extending downward from both sides of the lower end face of the plate body (0103). The lower end face of the plate body (0103) has an upwardly recessed arc groove (0105) in the middle. The locking mechanism can lock the conductor in the arc groove (0105). The extension directions of the two extension arms (0104) form an angle of less than 90° and the opposite sides of the two extension arms (0104) extend to the inner side of the arc groove (0105).

2. The complete set of grounding wire operation system based on UAV mounting according to claim 1, characterized in that: The mounting device is mounted on the UAV via a mounting frame (100). Angle steel end hanging ring (210) and wire end hanging ring (09) are respectively installed on the upper ends of the angle steel end mounting frame (201) and the wire end mounting frame (011). The bottom of the mounting frame (100) is provided with two hooks (200) for hanging the angle steel end hanging ring (210) and the wire end hanging ring (09).

3. The complete set of grounding wire operation system based on UAV mounting according to claim 2, characterized in that: The mounting frame (100) includes two vertically arranged and parallel rod assemblies (300). One end of the rod assembly (300) is mounted on the UAV (1), and the other end is used to install a hook (200). A connecting crossbar (400) is provided between the two rod assemblies (300) and at the hook mounting end. The rod assembly (300) includes multiple connecting vertical rods (500) connected in sequence. Adjacent connecting vertical rods (500) are connected by a hinge (600).

4. The complete set of grounding wire operation system based on UAV mounting according to claim 3, characterized in that: The mounting bracket (100) also includes a mounting mounting frame (700) installed on the bottom surface of the UAV. The mounting mounting frame (700) includes two long connecting plates (800) fastened to the side of the UAV (1) by bolts. The two long connecting plates (800) are arranged parallel to each other and a connecting frame (900) is provided between the two long connecting plates (800) at the same level as the long connecting plates (800). A hinge seat (1000) is installed on the connecting frame (900), and the end of the rod assembly (300) is hinged to the hinge seat (1000).

5. The complete set of grounding wire operation system based on UAV mounting according to claim 2, characterized in that: The angle steel end hanging frame (201) includes a U-shaped frame (209) with the opening facing downward. The U-shaped frame (209) includes a vertical arm one (221) and a vertical arm two (222) extending vertically downward. The vertical arm one (221) forms a fixed clamp (203). The lower ends of the vertical arm one (221) and the vertical arm two (222) are respectively provided with an extension arm one (223) and an extension arm two (224). The extension arm one (223) and the extension arm two (224) are both inclined towards the outside of the U-shaped frame (209).

6. The complete set of grounding wire operation system based on UAV mounting according to claim 5, characterized in that: The first extension arm (223) and the first vertical arm (221) form an angle of 5-10°, and the second extension arm (224) and the second vertical arm (222) form an angle of 45-60°.

7. The complete set of grounding wire operation system based on UAV mounting according to claim 6, characterized in that: The lower end of the first extension arm (223) is provided with a terminal block (225) for connecting the grounding wire; the outer side of the second extension arm (224) is provided with a red identification plate (226), which is set along the length of the second extension arm (224).

8. The complete set of grounding wire operation system based on UAV mounting according to claim 5, characterized in that: The angle steel end hanging device also includes a gripper drive assembly (202). The gripper drive assembly (202) includes a component one for driving the movable gripper (204) to move toward the fixed gripper (203) and a component two for driving the movable gripper (204) to move away from the fixed gripper (203). The component one includes an elastic element (206) that can pull the movable gripper (204). The elastic element (206) provides a pulling force on the movable gripper (204) by its own elasticity. The component two includes a rigid rope (205) that can pull the movable gripper (204). The rigid rope (205) provides a pulling force on the movable gripper (204) by the weight of the device body (20).

9. The complete set of grounding wire operation system based on UAV mounting according to claim 8, characterized in that: The elastic element (206) includes a mounting rod (207) and a coil spring (208) mounted on the mounting rod (207). One end of the coil spring (208) is fixedly connected to the movable gripper (204), and the mounting rod (207) is fixed on the vertical arm (221).

10. The grounding wire assembly system based on UAV mounting according to claim 5, characterized in that: A lifting ring mounting bracket (211) is installed on the top of the angle steel end hanging frame (201). The lifting ring mounting bracket (211) includes a lifting ring mounting arm (212). Both ends of the lifting ring mounting arm (212) are connected to a vertically downward extending guide rod (213). The angle steel end hanging frame (201) is provided with a guide hole (214) for the guide rod (213) to pass through and slide with the guide rod (213). The bottom end of the guide rod (213) is provided with a limiting ring (215) with an outer diameter larger than the diameter of the guide hole (214).

11. The complete set of grounding wire operation system based on UAV mounting according to claim 10, characterized in that: The lifting ring mounting arm (212) is also fixed with a lifting ring mounting seat (216) for fixing the angle steel end lifting ring (210). The lifting ring mounting seat (216) includes a mounting seat base plate (217) fixed to the lifting ring mounting arm (212) by bolts and a snap-fit ​​block (218) set on the mounting seat base plate (217). The snap-fit ​​block (218) has a snap-fit ​​groove (219) with an upward opening in the middle. The bottom of the angle steel end lifting ring (210) is snapped into the snap-fit ​​groove (219) and fastened by bolts. The axial direction of the angle steel end lifting ring (210) snapped into the snap-fit ​​groove (219) is the same as the movement direction of the movable gripper (204).

12. The grounding wire assembly system based on UAV mounting according to claim 5, characterized in that: The movable gripper (204) also includes a gripper frame (104), in which a movable block channel (105) is constructed in the middle. A vertically arranged mounting post (106) for sliding engagement with the movable block (101) is installed in the movable block channel (105). The movable block (101) and the friction pad (102) are arranged alternately in the axial direction of the mounting post (106). The movable block (101) is constructed with an elongated hole (107) through which the mounting post (106) passes. The length direction of the elongated hole (107) is arranged along the axial direction of the movable block channel (105). The movable block (101) can slide relative to the mounting post (106) along the length direction of the elongated hole (107). The friction pad (102) is constructed with a circular hole (108) through which the mounting post (106) passes and is clearance-fitted with the mounting post (106).

13. The grounding wire assembly system based on UAV mounting according to claim 12, characterized in that: The gripper frame (104) is constructed as a frame with a U-shaped groove in the middle. The frame includes a U-shaped inner bottom wall (109), a U-shaped inner side wall (110), and a U-shaped top wall (111). The movable block (101) is constructed in the shape of a rectangular plate, and the clamping and limiting surface (103) of each movable block (101) is a vertical plane. The clamping limiting surface (103) has three states: one, flush with the inner bottom wall (109) of the U-shape; two, protruding from the inner bottom wall (109) of the U-shape but not protruding from the top wall (111) of the U-shape; and three, protruding from the top wall (111) of the U-shape. Each movable block (101) can individually maintain the clamping limiting surface (103) in state one, state two, or state three under the action of external force.

14. The complete set of grounding wire operation system based on UAV mounting according to claim 13, characterized in that: The gripper frame (104) includes an upper end plate (112), a lower end plate (113), and two side plates (114). The movable block channel (105) is composed of an upper end plate (112), a lower end plate (113) and two side plates (114). The upper and lower ends of the mounting column (106) are fixed on the upper end plate (112) and the lower end plate (113) respectively. Friction pads (102) are provided between the upper end plate (112) and the uppermost movable block (101) and between the lowermost movable block (101) and the lower end plate (113).

15. The grounding wire assembly system based on UAV mounting according to claim 14, characterized in that: Two parallel mounting posts (106) are provided between the upper end plate (112) and the lower end plate (113). Two parallel elongated holes (107) are provided on the movable block (101) and correspond one-to-one with the two mounting posts (106). The friction pad (102) is constructed in the shape of a long strip and has round holes (108) at both ends for the two mounting posts (106) to pass through.

16. The grounding wire assembly system based on UAV mounting according to claim 14, characterized in that: The side plate (114) includes a vertical arm (115) and horizontal arms (116) set at the upper and lower ends of the vertical arm (115). The upper end plate (112) and the lower end plate (113) are respectively fixed on the upper and lower ends of the horizontal arms (116). The movable block channel (105) is composed of the upper end plate (112), the lower end plate (113) and the vertical arms (115) of the two side plates (114).

17. The complete set of grounding wire operation system based on UAV mounting according to claim 13, characterized in that: The movable block (101) has an opening in the middle of a clearance groove (117) facing away from the U-shaped groove.

18. The complete set of grounding wire operation system based on UAV mounting according to claim 14, characterized in that: The upper end plate (112) and the lower end plate (113) have the same structure, both including a first plate body (118) and a second plate body (119) that are fixed to each other. The first plate body (118) is fixed to the side plate (114) by bolts. The second plate body (119) is used to fix the mounting column (106). The side of the second plate body (119) is also provided with an extension (120) facing away from the U-shaped groove. A reinforcing rib plate (121) is provided between the extension (120) and the first plate body (118).

19. The grounding wire assembly system based on UAV mounting according to claim 8, characterized in that: The rigid rope (205) is connected at both ends to the angle steel end lifting ring (210) and the movable clamp (204) respectively. When the angle steel end lifting ring (210) moves upward relative to the angle steel end hanging frame (201), it can pull the movable clamp (204) away from the fixed clamp (203) through the rigid rope (205).

20. The complete set of grounding wire operation system based on UAV mounting according to claim 13, characterized in that: The angle steel end hanging frame (201) consists of two symmetrically arranged frame side plates (227) and multiple connecting rods (228) connecting the two frame side plates (227). The upper end plate (112) is provided with sliding connecting plates (235) on both sides. Both frame side plates (227) are fixed with sliding groove plates (234) forming a groove in the middle. The length direction of the groove is set along the movement direction of the movable gripper (204). The sliding connecting plate (235) is provided with rollers (236) that can move in the groove. The complete set of grounding wire operation system based on UAV mounting according to claim 20 is characterized in that: The frame side panel (227) includes a U-shaped plate (229) with an opening facing downward and an inclined plate one (230) and an inclined plate two (231) extending downward and outward from the lower end of the U-shaped plate (229). The U-shaped plate (229) in the two frame side panels (227) and the connecting rod (228) connecting the U-shaped plate (229) together constitute the U-shaped frame (209). The inclined plate one (230) in the two frame side panels (227) and the connecting rod (228) connecting the inclined plate one (230) together constitute the extension arm one (223). The inclined plate two (231) in the two frame side panels (227) and the connecting rod (228) connecting the inclined plate two (231) together constitute the extension arm two (224).

21. The complete set of grounding wire operation system based on UAV mounting according to claim 21, characterized in that: An L-shaped top plate (232) is provided on the outer end face of the U-shaped plate (229) and at the top of the opening of the U-shaped plate (229). The lower surface of the L-shaped top plate (232) forms an extended limiting surface (233) that extends horizontally to the outside of the frame side plate (227) for limiting the upper end of the clamped part.

22. The grounding wire assembly system based on UAV mounting according to claim 1, characterized in that: The locking mechanism includes two fixing parts (01) that limit the upper side of the conductor and a locking jaw (02) disposed between the two fixing parts (01). The locking jaw (02) can automatically engage with the lower side of the conductor. When the locking jaw (02) is engaged with the lower side of the conductor, it can form a conductor locking area together with the two fixing parts (01). The fixing part (01) is provided on the plate body (0103) and located at the intersection of the two extension arms (0104). The fixing part (01) is constructed in the shape of an arc plate with an opening facing downward and is coaxially arranged with the arc groove (0105). The fixing part (01) and the lower end face of the arc groove (0105) together constitute the upper limit surface of the wire locking area.

23. The complete set of grounding wire operation system based on UAV mounting according to claim 23, characterized in that: The upper surface of the wire end hanging frame (011) is equipped with a wire end hanging ring (09) and a wire end hanging ring mounting base (0901) for installing the wire end hanging ring (09). The wire end hanging ring mounting base (0901) is provided with a hanging ring snap groove (0902) with the opening facing upward and for snapping the wire end hanging ring (09). The lower end of the wire end hanging ring (09) is snapped into the hanging ring snap groove (0902) and fastened by bolts.

24. The grounding wire assembly system based on UAV mounting according to claim 24, characterized in that: The two extension arms (0104) include a vertical arm (0106) and an inclined arm (0107). The vertical arm (0106) includes an outer vertical surface (0109) and an inner first inclined surface (0108). The vertical surface (0109) is parallel to the end face of the wire end ring (09). The inclined arm (0107) includes an outer second inclined surface (0110) and an inner third inclined surface (0111). The first inclined surface (0108) and the third inclined surface (0111) are opposite to each other and extend to the inner side of the arc groove (0105). The first inclined surface (0108) and the third inclined surface (0111) form a V-shaped guide angle of less than 90°. The vertical surface (0109) and the second inclined surface (0110) are respectively connected to the outer side of the plate body (0103).

25. The complete set of grounding wire operation system based on UAV mounting according to claim 25, characterized in that: A connecting plate (0112) for connecting a grounding wire is installed between the vertical arms (0106) of the two frame connecting plates (0102) and at the lower end of the vertical arm (0106).

26. The complete set of grounding wire operation system based on UAV mounting according to claim 25, characterized in that: A label plate (0113) is installed on the outer surface of the inclined arm (0107) of the two frame connecting plates (0102). The length direction is set along the length direction of the inclined arm (0107).

27. The complete set of grounding wire operation system based on UAV mounting according to claim 23, characterized in that: The locking mechanism also includes a gripper drive unit, which includes a torsion spring (03) for driving the locking gripper (02) to move toward the fixed part (01), a pre-tightening handle (06) for squeezing the torsion spring (03) so that the torsion spring (03) drives the locking gripper (02) to move toward the fixed part (01), and a positioning block (07) for positioning the pre-tightening handle (06). The positioning block (07) is mounted on the frame connecting plate (0102) and can move up and down on the frame connecting plate (0102). When one end of the pre-tightening handle (06) squeezes the torsion spring (03), the other end can press against the positioning block (07) under the action of the torsion spring (03).

28. The complete set of grounding wire operation system based on UAV mounting according to claim 28, characterized in that: The gripper drive unit also includes a clamping push rod (04) extending to the wire locking area and a positioning hook (05) that can be engaged with the locking gripper (02) to restrict the movement of the locking gripper (02) toward the wire locking area. The positioning hook (05) is connected to the clamping push rod (04). When the clamping push rod (04) moves out of the wire locking area under the action of the wire, it can drive the positioning hook (05) to release the engagement of the locking gripper (02).

29. The complete set of grounding wire operation system based on UAV mounting according to claim 28, characterized in that: The locking jaw (02) includes an upper latching part (0201) and a lower jaw part (0202). The gripper drive unit also includes a torsion spring mounting shaft (0301). The helical part of the torsion spring (03) is sleeved on the torsion spring mounting shaft (0301). One of the torsion arms of the torsion spring (03) can press against the back of the gripper part (0202) away from the wire locking area. Under the action of the torsion spring (03), the gripper part (0202) can rotate around the torsion spring mounting shaft (0301) to a position relative to the fixing part (01). The back of the locking gripper (02) away from the wire locking area is provided with a connecting seat (0302) rotatably connected to both ends of the torsion spring mounting shaft (0301).

30. The complete set of grounding wire operation system based on UAV mounting according to claim 29, characterized in that: The gripper drive unit also includes a torsion spring preload unit, which includes a preload handle (06) rotatably connected at both ends to the torsion spring mounting shaft (0301). The other torsion arm of the torsion spring (03) is located below the preload handle (06). When the preload handle (06) rotates downward around the torsion spring mounting shaft (0301), it can press down on the other torsion arm of the torsion spring (03) so that one of the torsion arms of the torsion spring (03) abuts against the back of the gripper unit (0202) away from the wire locking area.

31. The grounding wire assembly system based on UAV mounting according to claim 28, characterized in that: The locking jaw (02) includes a fastening plate body constituting the fastening part (0201) and a jaw plate body constituting the jaw part (0202). The fastening plate body has a fastening hole (0203) in the middle for the positioning hook (05) to pass through and fasten to the back of the fastening plate body. The jaw plate body is constructed as a V-shaped plate with an included angle greater than 90°. The fixing part (01) is constructed as an arc-shaped plate with an opening facing downward. When the fastening plate body is fastened to the positioning hook (05), the jaw plate body is outside the wire locking area. When the positioning hook (05) releases the fastening of the fastening plate body, the V-shaped concave surface of the jaw plate body constitutes the lower limit surface of the wire locking area.

32. The grounding wire assembly system based on UAV mounting according to claim 31, characterized in that: The gripper drive unit also includes a hook mounting part, which includes a hook mounting shaft (0501). The middle part of the positioning hook (05) is rotatably mounted on the hook mounting shaft (0501). The positioning hook (05) passes through the fastening hole (0203) and fastens to the back of the fastening plate to form a hook hook part (0502). The other end forms a hook connecting part (0503). A push rod mounting plate (0504) is installed at the hook connecting part (0503). The middle part of the push rod mounting plate (0504) is installed on the lower end face of the hook connecting part (0503), and a clamping push rod (04) is installed at each end.

33. The grounding wire assembly system based on UAV mounting according to claim 32, characterized in that: The snap-fit ​​hole (0203) is a square through hole with a height greater than the thickness of the hook part (0502). The end face of the hook part (0502) is an arc surface and the upper surface is constructed with an L-shaped hook groove (0505) that snaps onto the back of the snap-fit ​​plate. When the positioning hook (05) rotates around the hook mounting shaft (0501), the hook part (0502) can rotate downward in the snap-fit ​​hole (0203) to separate the L-shaped hook groove (0505) from the back of the snap-fit ​​plate.

34. The complete set of grounding wire operation system based on UAV mounting according to claim 32, characterized in that: The clamping push rod (04) is constructed in the shape of a V-shaped rod with an included angle greater than 90°. When the hook part (0502) of the hook is engaged with the engagement hole (0203), the upper part of the clamping push rod (04) extends vertically downward from the push rod mounting plate (0504), and the lower part extends obliquely into the location of the wire locking area and extends away from the clamping plate.

35. The complete set of grounding wire operation system based on UAV mounting according to claim 24, characterized in that: The wire end mounting bracket (011) is also provided with an unlocking mechanism for automatically unlocking the locking mechanism. The unlocking mechanism includes an unlocking frame (08) that can move up and down on the mounting bracket. The unlocking frame (08) is provided with a positioning spring (0801) for keeping the positioning block (07) in the positioning state of the pre-tightening handle (06). The wire end hanging ring (09) is connected to the unlocking frame (08), and the wire end hanging ring (09) can drive the positioning block (07) to separate from the pre-tightening handle (06) during the upward pulling process.

36. The grounding wire assembly system based on UAV mounting according to claim 35, characterized in that: The two sides of the mounting frame are respectively provided with a vertically arranged slide groove (0101) in the length direction. The positioning block (07) is set in the slide groove (0101) and can move up and down along the length direction of the slide groove (0101). When the positioning block (07) is at the lower end of the slide groove (0101), it is in the positioning state of the pre-tightening handle (06). When the positioning block (07) is at the upper end of the slide groove (0101), it is in the unlocking state of the pre-tightening handle (06). The unlocking frame (08) can drive the positioning block (07) to move upward in the slide groove (0101) during the upward pulling of the wire end ring (09).

37. The grounding wire assembly system based on UAV mounting according to claim 36, characterized in that: The unlocking frame (08) includes a U-shaped unlocking frame body (0802) with the opening facing downward. The two ends of the side wall of the U-shaped unlocking frame body (0802) are respectively connected to the positioning blocks (07) on both sides of the hanging frame body. A connecting rod (0803) connected to the wire end hanging ring (09) is provided on the top wall of the U-shaped unlocking frame body (0802). A sleeve rod (0804) that can drive the hanging frame body to move upward is provided on the connecting rod (0803). A positioning spring (0801) is sleeved on the connecting rod (0803) and one end is pressed against the lower end face of the sleeve rod (0804), and the other end is pressed against the upper surface of the top wall of the U-shaped unlocking frame body (0802).

38. The grounding wire assembly system based on UAV mounting according to claim 37, characterized in that: Both ends of the connecting rod (0803) are provided with threaded holes, and both ends of the connecting rod (0803) are fixed to the top wall of the wire end lifting ring mounting seat (0901) and the U-shaped unlocking frame (0802) respectively by bolts.

39. The complete set of grounding wire operation system based on UAV mounting according to claim 37, characterized in that: The U-shaped unlocking frame (0802) has U-shaped slots (0805) with horizontal openings at both ends of its side wall. The side wall of the U-shaped unlocking frame (0802) is engaged with the positioning block (07) through the U-shaped slots (0805).

40. The grounding wire assembly system based on UAV mounting according to claim 35, characterized in that: The pre-tightening handle (06) is constructed in the shape of a U-shaped plate, with the opening facing the torsion spring (03). Both ends of the pre-tightening handle (06) are provided with extension protrusions (0601). The lower end face of the extension protrusions (0601) and the lower end face of the pre-tightening handle (06) are on the same plane and together form a pressing surface that can be pressed against the positioning block (07).

41. The complete set of grounding wire operation system based on UAV mounting according to claim 1, characterized in that: It also includes an electrical testing device, which includes a detachable electrical testing mechanism (3) mounted on the UAV (1). The unmanned aerial vehicle (1) includes a body and a handheld terminal, and the body and the handheld terminal are respectively equipped with a body communication module and a handheld terminal communication module that can communicate with each other; The voltage detection mechanism (3) includes an insulating rod (301) with its end mounted on the UAV (1). A photosensitive receiver (302) and an electroscope (303) connected to the photosensitive receiver (302) are installed at the end of the insulating rod (301) away from the UAV (1). The electroscope (303) includes a probe (307) and an electroscope audible and visual alarm for emitting an audible and visual alarm signal based on the detection result of the probe (307). The photosensitive receiver (302) includes a photosensitive sensor for detecting the audible and visual alarm signal and sending the detected signal to the airframe communication module. The handheld device also includes a handheld audible and visual alarm device for generating audible and visual alarm signals based on signals received by the handheld device communication module.

42. The grounding wire assembly system based on UAV mounting according to claim 41, characterized in that: The electroscope (303) includes an electroscope body (304) and a guide frame (305) disposed at the end of the electroscope body (304). The guide frame (305) consists of two guide arms (306) connected to each other at one end and fixed on the electroscope body (304), and extending outward at the other end to form a V-shaped frame. An electric detection area is formed between the two guide arms (306). The probe (307) extends from the electroscope body (304) through the connection of the two guide arms (306) into the electric detection area.

43. The complete set of grounding wire operation system based on UAV mounting according to claim 42, characterized in that: A conductive wire (308) is installed on the inner side of the guide arm (306). One end of the conductive wire (308) is fixed to the extension end of the guide arm (306), and the other end is fixed to the side of the probe (307) and forms a conductive connection with the probe (307).

44. The complete set of grounding wire operation system based on UAV mounting according to claim 42, characterized in that: Both guide arms (306) have reinforcing arms (309) on their outer surfaces, with the length direction along the length direction of the guide arm (306).

45. The grounding wire assembly system based on UAV mounting according to claim 41, characterized in that: The photosensitive receiver (302) includes a receiver housing (310). One end of the receiver housing (310) forms a voltage detector connection end, and the other end forms an insulating rod connection end. The voltage detector connection end and the insulating rod connection end are respectively provided with a voltage detector plug (310) and an insulating rod plug (311) for the voltage detector (303) to be plugged in and the insulating rod (301) to be plugged in.

46. ​​The grounding wire assembly system based on UAV mounting according to claim 45, characterized in that: The voltage detector connector (310) includes a plug body (312) and a rotating disk (313) disposed at one end of the plug body (312). A rotating disk locking block (314) is provided on the inner side wall of the rotating disk (313). A rotating head (315) is provided at the end of the receiver housing (310). A rotating head locking block (316) that cooperates with the rotating disk locking block (314) is provided on the outer side wall of the rotating head (315). The rotating disk (313) is rotated and locked onto the rotating head (315). A voltage detector slot (317) for the end of the voltage detector (303) to be inserted is provided at the other end of the plug body (312).

47. The grounding wire assembly system based on UAV mounting according to claim 45, characterized in that: The insulating rod connector (311) includes a fixing plate (318) fixed on the end face of the receiver housing (310). The fixing plate (318) has an arc plate (319) on its surface. An arc groove with an upward opening is formed in the middle of the arc plate (319). An upper limit plate (333) is fixed on the upper end face of the arc plate (319). The lower end face of the upper limit plate (333) and the arc groove together form an insulating rod insertion groove (320). The end of the insulating rod (301) is inserted into the insulating rod insertion groove (320) and its end face is fixed on the fixing plate (318).

48. The grounding wire assembly system based on UAV mounting according to claim 41, characterized in that: The top surface of the drone (1) is provided with a power testing mechanism mounting bracket (321), which includes a mounting bracket base plate (322) fixed on the top surface of the drone (1). The mounting base plate (322) is provided with a rod end connector (323) for connecting the end of the insulating rod (301). The insulating rod (301) can rotate around the rod end connector (323) to be parallel or perpendicular to the mounting base plate (322). The mounting base plate (322) is provided with a limiting component for keeping the insulating rod (301) parallel or perpendicular to the mounting base plate (322).

49. The grounding wire assembly system based on UAV mounting according to claim 48, characterized in that: The rod end connector (323) includes a connector base plate (324) fixed to one end of the mounting bracket base plate (322). The connector base plate (324) has connecting ear plates (325) arranged opposite to each other on both sides. The end of the insulating rod (301) is provided with a connector head (326) connected to the two connecting ear plates (325) by a pin. The connector head (326) includes a U-shaped rotating plate (327). The end of the insulating rod (301) is fixed to the outer end face of the U-shaped rotating plate (327). The two side walls of the U-shaped rotating plate (327) are connected to the two connecting ear plates (325) by a pin. The two side walls of the U-shaped rotating plate (327) and the two connecting ear plates (325) are also provided with limiting holes (328) that can be bolted to keep the insulating rod (301) and the mounting bracket base plate (322) in a vertical state.

50. The complete set of grounding wire operation system based on UAV mounting according to claim 49, characterized in that: The other end of the mounting base plate (322) is also fixed with a rod fixing seat (329). The rod fixing seat (329) includes an upper fixing part (330) and a lower fixing part (331) connected to each other by bolts. A limiting hole (332) is formed between the upper fixing part (330) and the lower fixing part (331) for the insulating rod (301) to pass through, which is used to keep the insulating rod (301) parallel to the mounting base plate (322).

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