An unmanned aerial vehicle-mounted automatic shock absorber installation device and installation method

Abstract

This invention relates to the field of power engineering technology and discloses an automated installation device and method for a drone-borne vibration damper. The device includes a drone component, a support frame component, a gripper clamping component, a fastener positioning component, a fastener tightening component, and a vibration damper component. The support frame component uses a symmetrical U-shaped plate frame suspended below the drone component, enabling rapid overall lifting. The gripper clamping component uses concave anti-interference grippers to clamp and position the vibration damper component and connect it to the conductor. The fastener positioning component delivers the nut to the mounting hole for positioning, and the fastener tightening component delivers and tightens the bolt. This invention enables fully automated installation of the vibration damper, eliminating the need for manual high-altitude work, reducing safety risks, improving installation accuracy and work efficiency, and is suitable for installing vibration dampers on transmission lines in complex terrain.

Description

Technical Field

[0001] This invention relates to the field of power engineering technology, specifically to an automated installation device and method for a drone-borne vibration damper. Background Technology

[0002] Transmission lines are exposed to the outdoors for extended periods and are prone to periodic vibrations due to wind. Prolonged vibration can lead to conductor fatigue and strand breakage, loosening of hardware, and even damage to the tower structure. Vibration dampers, as key hardware for suppressing conductor vibration, directly impact the operational safety of transmission lines through their installation quality.

[0003] Currently, existing vibration damper installation operations generally rely on manual pole climbing or installation assisted by a work platform, which presents the following prominent technical problems:

[0004] 1. It is impossible to achieve automated clamping and positioning of the vibration damper under UAV transport conditions. The vibration damper can only be held manually or supported by simple tools, making it difficult to reliably connect the vibration damper to the power transmission line in a high-altitude dynamic environment.

[0005] 2. The lack of an automated fastener delivery and alignment structure adapted for drones makes it impossible to accurately deliver nuts and bolts to the anti-vibration hammer mounting holes and achieve fastening without human intervention at high altitudes;

[0006] 3. The entire process of installing the vibration damper, from clamping and wire clamping to fastener locking, cannot be automated while it is being hoisted by a drone. Personnel still need to operate it at close range, which poses high safety risks and low work efficiency.

[0007] 4. The overall installation mechanism cannot be quickly adapted to drones for mounting, making it difficult to adapt to rapid hoisting and high-altitude operations in complex terrain.

[0008] The above problems cannot be effectively solved by conventional manual methods. There is an urgent need for an integrated installation device that can be directly transported by drones, can automatically complete the clamping and positioning of the vibration damper, automatically transport and align the fasteners, and automatically complete the bolt and nut locking, so as to realize the fully automated installation of the vibration damper. Summary of the Invention

[0009] The purpose of this invention is to provide an automated installation device and method for a drone-borne vibration damper, in order to solve the above-mentioned defects in the prior art.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] This invention proposes an automated installation device for a drone-borne vibration damper, comprising: a drone component, a support frame component, a gripper clamping component, a fastener positioning component, a fastener fastening component, and a vibration damper component. The support frame component includes a frame top plate and a U-shaped plate frame. The frame top plate is suspended below the drone component. Two U-shaped plate frames are symmetrically installed on the lower left and right sides of the frame top plate. The gripper clamping component consists of two sets of symmetrically arranged gripper clamping devices installed on the two U-shaped plate frames. Each gripper clamping device includes two concave anti-interference grippers and a lug adapter structure. The two gripper clamping devices are positioned opposite each other... The combined size of the two concave anti-interference grippers is larger than the diameter of the transmission line. Each concave anti-interference gripper has a through-hole on its end face for engaging the anti-vibration hammer lug of the anti-vibration hammer assembly. The lug adapter structure adjusts the distance between the two concave anti-interference grippers in the gripper clamping device to achieve clamping and positioning of the anti-vibration hammer assembly and initial docking with the transmission line. The fastener positioning assembly is installed within one of the U-shaped plate frames and is used to deliver and fix the nut to the designated installation position of the anti-vibration hammer assembly. The fastener tightening assembly is installed within the other U-shaped plate frame and is used to deliver the bolt to the nut and complete the tightening.

[0012] Preferably, the U-shaped plate frame is composed of an outer baffle, side baffles, and an inner baffle. The front and rear sides of the top plate of the frame are provided with frame movement rails. Each U-shaped plate frame has two side baffles, each mounted on the frame movement rails on the front and rear ends of the top plate via frame movement sliders. The inner and outer baffles are fixedly connected to the inner and outer ends of the side baffles, respectively. A gripper opening / closing gear is fixedly installed at the center of the lower end face of the top plate, and a gripper opening / closing motor is fixedly installed at the center of the upper end face of the top plate. The output shaft of the gripper opening / closing motor passes through the top plate and connects to the gripper opening / closing gear to drive its rotation. Grippers mesh with gripper opening / closing racks on both the front and rear sides of the gripper opening / closing gear. The tops of the two inner baffles are fixedly connected to the two gripper opening / closing racks. When the gripper opening / closing gear rotates, the two U-shaped plate frames move left and right along the frame movement rails via the gripper opening / closing racks to achieve synchronous opening and closing.

[0013] Preferably, a hook is installed at the lower end of the drone component, and a lifting beam is installed on the top plate of the frame. The hook and the lifting beam are detachably connected to enable the rapid assembly, disassembly, and overall hoisting of the installation tool, consisting of the support frame component, the gripper assembly, the fastener positioning component, and the fastener securing component, as well as the vibration damper assembly and the drone component.

[0014] Preferably, the lug adapter structure includes a gripper moving gear and a gripper moving rack; the gripper moving gear is mounted on the inner end face of the inner baffle and driven to rotate by a gripper moving motor; a gripper moving slide rail is provided on the inner end face of the inner baffle, and the two concave anti-interference grippers of the gripper clamping device are slidably mounted on the gripper moving slide rail; two gripper moving racks are provided and respectively mesh with the upper and lower sides of the gripper moving gear, and the ends of the two gripper moving racks are respectively fixedly connected to the two concave anti-interference grippers; the gripper moving motor can drive the front and rear concave anti-interference grippers in the gripper clamping device to move synchronously relative to each other or in opposite directions along the gripper moving slide rail through the gripper moving gear and the gripper moving rack, so as to adjust the distance between the two concave anti-interference grippers and realize the clamping and releasing of the anti-vibration hammer assembly.

[0015] Preferably, the vibration damper assembly includes a vibration damper body, a vibration damper connecting rod, a first vibration damper wire clamp, and a second vibration damper wire clamp. Two vibration damper bodies are provided and respectively fixed to both ends of the vibration damper connecting rod. The lower end of each vibration damper wire clamp is fixed to the vibration damper connecting rod. The upper end of the first vibration damper wire clamp has a slot, and the top end of the second vibration damper wire clamp has a connecting plate lug. The connecting plate lug of the second vibration damper wire clamp is inserted into the slot of the first vibration damper wire clamp, so that... The second anti-vibration hammer clamp can be opened, closed, and rotated around the insertion point with the first anti-vibration hammer clamp; both the first and second anti-vibration hammer clamps are provided with concave grooves, and the two concave grooves are symmetrically arranged to form a tubular channel. The size of the tubular channel is larger than the diameter of the power transmission line, which can realize the snap-fit ​​installation of the anti-vibration hammer assembly and the power transmission line; both the first and second anti-vibration hammer clamps are provided with anti-vibration hammer lugs for snap-fitting with the concave anti-interference claws.

[0016] Preferably, the fastener positioning assembly includes a positioning base plate, a crank-connecting rod mechanism, a sleeve slide rail, a sleeve slider, a nut sleeve, and a positioning motor. The positioning base plate is disposed within a U-shaped plate frame and fixedly installed between two side baffles. The positioning motor is mounted on the positioning base plate. The sleeve slide rail is installed on the side baffles, and the sleeve slider is installed on the sleeve slide rail. One end of the crank-connecting rod mechanism is mounted on the output shaft of the positioning motor, and the other end is hinged to the sleeve slider. The nut sleeve is fixedly installed on the sleeve slider. The positioning motor drives the sleeve slider to move along the sleeve slide rail toward or away from the vibration damper assembly via the crank-connecting rod mechanism. The front end of the nut sleeve can penetrate a pre-set through hole in the inner baffle of the U-shaped plate frame where the fastener positioning assembly is located. The vibration damper assembly has interconnected fixing bolt holes on the vibration damper clamp plate one and vibration damper clamp plate two. The movement of the nut sleeve can transport the nut pre-placed inside the nut sleeve to one side of the fixing bolt hole of the vibration damper assembly.

[0017] Preferably, a push rod, a magnet, and a spring are installed inside the nut sleeve. One end of the spring is fixed to the bottom inside the nut sleeve, the push rod is fixed to the other end of the spring, and the magnet is attracted and fixed to the end of the push rod and used to attract the nut to prevent the nut from falling off during transportation.

[0018] Preferably, the fastener fastening assembly includes a bolt moving motor, a crank-connecting rod mechanism II, a bolt moving slide rail, a bolt moving slider, a bolt rotating motor, a coupling, and a bolt sleeve. The bolt moving motor and bolt moving slide rail are both mounted on the side baffle of the U-shaped plate frame where the fastener fastening assembly is located. One end of the crank-connecting rod mechanism II is connected to the output shaft of the bolt moving motor, and the other end is hinged to the bolt moving slider. The bolt moving slider is slidably mounted on the bolt moving slide rail. The bolt moving motor drives the bolt moving slider to move along the bolt moving slide rail towards or away from the vibration damper assembly via the crank-connecting rod mechanism II. The bolt rotating motor is mounted on the bolt moving slider, and the bolt sleeve is mounted on the output shaft of the bolt rotating motor via the coupling. The bolt rotating motor can control the rotation of the bolt sleeve. The bolt sleeve and nut sleeve are coaxially arranged. When the bolt moving slider moves the bolt sleeve to the other side of the fixing bolt hole of the vibration damper assembly, the bolt rotating motor drives the bolt sleeve to rotate, thereby achieving the fastening of the bolt and nut.

[0019] Preferably, a second magnet is installed inside the bolt sleeve, which is used to attract the bolt and prevent it from falling off during transportation.

[0020] Preferably, an automated installation method for a drone-borne vibration damper, based on a drone-borne vibration damper automated installation device, includes the following steps:

[0021] S1. Vibration damper clamping: Drive the gripper moving motor, which drives the concave anti-interference gripper to move in opposite directions through the gripper moving gear and gripper moving rack; first, insert the vibration damper lug at one end of the vibration damper assembly into the lug through hole of one of the concave anti-interference grippers; then drive the gripper moving motor to drive the concave anti-interference grippers to move relative to each other, so that the vibration damper lug at the other end of the vibration damper assembly is inserted into the lug through hole of another concave anti-interference gripper, thereby completing the clamping of the vibration damper assembly.

[0022] S2. Lifting and Positioning: Connect the lifting beam of the top plate of the frame to the hook of the UAV component. The UAV component will lift the installation device to the designated installation position of the power transmission line, so that the power transmission line is located between the two U-shaped plate frames.

[0023] S3. Wire Connection: Drive the gripper opening and closing motor, which drives the two U-shaped plate frames to open relative to each other along the frame movement slide rail through the gripper opening and closing gear and the gripper opening and closing rack. At the same time, it drives the first and second anti-vibration hammer line clamps of the anti-vibration hammer assembly to open, and the transmission wire is inserted into the tubular channel of the anti-vibration hammer assembly. Then, drive the gripper opening and closing motor to drive the two U-shaped plate frames to close relative to each other along the frame movement slide rail. At the same time, it drives the first and second anti-vibration hammer line clamps of the anti-vibration hammer assembly to close relative to each other, so that the concave groove of the anti-vibration hammer assembly fits with the transmission wire.

[0024] S4. Nut positioning: The motor of the driving positioning component drives the nut sleeve to move along the sleeve slide rail through the crank connecting rod mechanism, and delivers the nut in the nut sleeve to the fixing bolt hole side of the anti-vibration hammer assembly. The magnet attracts the nut to complete the positioning.

[0025] S5. Bolt tightening: Drive the bolt moving motor, which drives the bolt sleeve to move along the bolt moving slide rail through the crank connecting rod mechanism 2, and transports the bolt in the bolt sleeve to the other side of the fixed bolt hole. Then drive the bolt rotating motor to rotate the bolt sleeve and tighten the bolt and nut.

[0026] S6. Device disengagement: First, drive the bolt moving motor and the positioning component motor to reset the bolt sleeve and nut sleeve; then drive the gripper moving motor to move the two concave anti-interference grippers in opposite directions, causing the anti-vibration hammer lug of the anti-vibration hammer assembly to disengage from the lug through hole of the concave anti-interference gripper; finally, drive the gripper opening and closing motor to open the two U-shaped plate frames, and the UAV component will move the installation device away from the anti-vibration hammer assembly and power transmission line, completing the installation operation.

[0027] The beneficial effects of this invention are as follows:

[0028] (1) The present invention can rely on the drone components to realize the overall device transportation. The clamping components can complete the automatic clamping and positioning of the anti-vibration hammer components. There is no need for manual lifting of the anti-vibration hammer. The anti-vibration hammer and the power transmission line can be automatically initially connected in the state of drone hoisting, which solves the problem that the anti-vibration hammer cannot be automatically clamped and positioned under the drone platform.

[0029] (2) The present invention can automatically transport and position the nut to the mounting hole of the anti-vibration hammer component through the fastener positioning component, and can automatically transport the bolt to the corresponding position and complete the tightening through the fastener fastening component, without the need for manual alignment and manual locking, realizing the automated transport and locking of fasteners under high-altitude non-intervention conditions.

[0030] (3) Based on the coordinated cooperation of the support frame assembly, the clamping assembly, the fastener positioning assembly and the fastener fastening assembly, the present invention can complete the entire process of automatic installation of the anti-vibration hammer from clamping, wire clamping to bolt and nut fastening under the condition of UAV transport, without the need for close-range operation by personnel, significantly reducing safety risks and improving work efficiency.

[0031] (4) The support frame component of the present invention can be directly suspended below the UAV component. The overall structure is adapted to the rapid mounting and hoisting of UAVs. It can adapt to the high-altitude installation of anti-vibration hammers in complex terrain in the field, and solves the problem of poor compatibility between the installation mechanism and the UAV and difficulty in rapid hoisting. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the UAV-borne vibration damper automated installation device in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the support frame component in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the top plate of the frame in an embodiment of the present invention. Figure 1 ;

[0035] Figure 4 This is a schematic diagram of the structure of the top plate of the frame in an embodiment of the present invention. Figure 2 ;

[0036] Figure 5 This is a schematic diagram of the structure of the anti-vibration hammer assembly in an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the gripper clamping assembly in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the assembly structure of the gripper clamping assembly and the anti-vibration hammer assembly in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the fastener positioning assembly in an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of the nut sleeve in an embodiment of the present invention;

[0041] Figure 10 This is a schematic diagram of the structure of the fastener fastening assembly in an embodiment of the present invention. Figure 1 ;

[0042] Figure 11 This is a schematic diagram of the structure of the fastener fastening assembly in an embodiment of the present invention. Figure 2 ;

[0043] In the diagram, 1. UAV component, 11. Hook, 2. Support frame assembly, 21. Frame top plate, 211. Lifting beam, 22. Outer baffle, 23. Side baffle, 24. Inner baffle, 25. Gripper opening and closing motor, 26. Gripper opening and closing gear, 27. Gripper opening and closing rack, 28. Frame movement slide rail, 29. Frame movement slider, 3. Gripper clamping assembly, 31. Gripper moving gear, 32. Concave anti-interference gripper, 33. Gripper moving rack, 34. Lug through hole, 35. Concave structure assembly, 4. Fastener positioning assembly, 41. Positioning base plate, 42. Crank-connecting rod mechanism one, 43. Sleeve 44. Sleeve slider, 45. Nut sleeve, 46. Positioning motor, 5. Fastener fastening assembly, 51. Bolt moving motor, 52. Crank connecting rod mechanism II, 53. Bolt moving slide rail, 54. Bolt moving slider, 55. Bolt rotating motor, 56. Coupling, 57. Bolt sleeve, 6. Vibration damper assembly, 61. Vibration damper hammer body, 62. Vibration damper connecting rod, 63. Vibration damper line clamp plate I, 631. Slot, 64. Vibration damper line clamp plate II, 641. Connecting plate lug, 65. Concave groove, 66. Vibration damper lug, 67. Fixing bolt hole, 100. Power transmission line. Detailed Implementation

[0044] The present invention will be further described below with reference to the embodiments. It should be noted that these are merely examples and descriptions of the inventive concept. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the inventive concept or exceed the scope defined in the claims, they should all be considered to fall within the protection scope of the present invention.

[0045] Example 1:

[0046] like Figures 1-11 As shown, the present invention provides an automated installation device for a drone-borne vibration damper, comprising: a drone component 1, a support frame component 2, a gripper clamping component 3, a fastener positioning component 4, a fastener fastening component 5, and a vibration damper component 6.

[0047] The support frame assembly 2 includes a frame top plate 21 and a U-shaped plate frame. The frame top plate 21 is suspended below the UAV assembly 1. Two U-shaped plate frames are provided and symmetrically installed on the left and right sides of the lower end face of the frame top plate 21.

[0048] The gripper assembly 3 consists of two sets of symmetrically arranged gripper clamping devices mounted on two U-shaped plate frames. Each gripper clamping device includes two concave anti-interference grippers 32 and a lug adapter structure. The size of the concave structure combination 35 of the two concave anti-interference grippers 32 arranged opposite each other in the two gripper clamping devices is larger than the diameter of the transmission line 100. The end faces of the concave anti-interference grippers 32 are provided with lug through holes 34 for engaging the anti-vibration hammer lugs 66 of the anti-vibration hammer assembly 6. The lug adapter structure achieves the clamping and positioning of the anti-vibration hammer assembly 6 and the initial docking with the transmission line 100 by adjusting the distance between the two concave anti-interference grippers 32 in the gripper clamping device.

[0049] Fastener positioning assembly 4 is installed in one of the U-shaped plate frames and is used to deliver and secure the nut to the designated installation position of the anti-vibration hammer assembly 6; fastener fastening assembly 5 is installed in another U-shaped plate frame and is used to deliver the bolt to the nut and complete the tightening.

[0050] The present invention provides an automated installation device for a drone-borne vibration damper, which can solve the problems of high safety risks, low operation efficiency, poor installation accuracy and insufficient versatility in the prior art, and achieve the purpose of automated clamping, precise docking and reliable fastening of the vibration damper.

[0051] Example 2:

[0052] like Figures 1-11 As shown, the present invention provides an automated installation device for a drone-borne vibration damper, which includes: a drone component 1, a support frame component 2, a gripper clamping component 3, a fastener positioning component 4, a fastener fastening component 5, and a vibration damper component 6.

[0053] like Figure 1 , Figure 2 As shown, the UAV component 1 adopts a multi-rotor UAV structure. The lower end of the UAV component 1 is fixedly equipped with a hook 11. The hook 11 is used to detachably connect with the support frame component 2, so that the entire installation device can be quickly lifted by the UAV component 1 to the working position of the power transmission line 100. At the same time, it can be quickly detached after the operation is completed, which meets the needs of rapid field transportation and repetitive operation.

[0054] like Figures 1-4 As shown, the support frame assembly 2 includes a frame top plate 21 and two symmetrically arranged U-shaped plate frames. Each U-shaped plate frame is surrounded by an outer baffle 22, a side baffle 23, and an inner baffle 24. A lifting beam 211 is provided at the upper end of the frame top plate 21. The lifting beam 211 cooperates with the hook 11 of the UAV assembly 1 to realize the quick assembly and disassembly of the frame as a whole and the UAV assembly 1.

[0055] Frame movement rails 28 are arranged on both the front and rear sides of the top plate 21. A frame movement slider 29 is fixed to the upper end of the side baffle 23. The frame movement slider 29 slides in conjunction with the frame movement rails 28, allowing the U-shaped plate frame to slide left and right along the top plate 21. A gripper opening and closing gear 26 is installed at the center of the lower end face of the top plate 21, and a gripper opening and closing motor 25 is installed at the center of the upper end face of the top plate 21. The output shaft of the gripper opening and closing motor 25 passes through the top plate 21 and is fixedly connected to the gripper opening and closing gear 26, providing rotational power to the gripper opening and closing gear 26. Gripper opening and closing racks 27 mesh with the front and rear sides of the gripper opening and closing gear 26, respectively. The tops of the two inner baffles 24 are fixedly connected to the two gripper opening and closing racks 27, respectively. When the gripper opening and closing motor 25 drives the gripper opening and closing gear 26 to rotate, the gripper opening and closing gear 26 drives the two gripper opening and closing racks 27 to move in opposite directions or away from each other through meshing action, thereby driving the two U-shaped plate frames to open and close synchronously along the frame movement slide rail 28, so that the power transmission line 100 can smoothly enter between the two U-shaped plate frames, providing space for the anti-vibration hammer assembly 6 to connect with the power transmission line 100.

[0056] like Figures 5-7As shown, the gripper assembly 3 includes two sets of symmetrically arranged gripper clamping devices, which are respectively mounted on two U-shaped plate frames. Each set of gripper clamping devices includes two concave anti-interference grippers 32 and a lug adapter structure. A lug through-hole 34 is provided on the end face of the concave anti-interference gripper 32, which is used to engage with the anti-vibration hammer lug 66 on the anti-vibration hammer assembly 6. Simultaneously, anti-vibration hammer limiting blocks are provided on the end faces of the two inner baffles 24 near the gripper assembly. When the two U-shaped plate frames are closed, the two anti-vibration hammer limiting blocks can simultaneously press against the anti-vibration hammer assembly 6, jointly achieving the clamping and fixing of the anti-vibration hammer assembly 6. The concave anti-interference grippers 32 arranged opposite to each other on the two sets of gripper clamping devices form a concave structure combination 35. The overall size of the concave structure combination 35 is larger than the diameter of the power transmission line 100, ensuring that there is no collision or interference with the power transmission line 100 during the opening and closing of the frame. The lug adapter structure includes a gripper moving gear 31 and a gripper moving rack 33. The gripper moving gear 31 is mounted on the inner end face of the inner baffle 24 and is driven to rotate by an independent gripper moving motor. A gripper moving slide rail is provided on the inner end face of the inner baffle 24, and two concave anti-interference grippers 32 are slidably mounted on the gripper moving slide rail. Two gripper moving racks 33 are provided, respectively meshing with the upper and lower sides of the gripper moving gear 31, and the ends of the two gripper moving racks 33 are fixedly connected to the two concave anti-interference grippers 32. When the gripper moving motor drives the gripper moving gear 31 to rotate, the gripper moving gear 31 drives the two gripper moving racks 33 to move in opposite directions or away from each other, thereby driving the two concave anti-interference grippers 32 to move synchronously in opposite directions or away from each other along the gripper moving slide rail, so as to adjust the distance between the two concave anti-interference grippers 32, complete the clamping or releasing of the anti-vibration hammer assembly 6, and at the same time realize the initial alignment of the anti-vibration hammer assembly 6 with the power transmission line 100.

[0057] like Figure 5As shown, the vibration damper assembly 6 includes a vibration damper body 61, a vibration damper connecting rod 62, a vibration damper line clamp plate 1 63, and a vibration damper line clamp plate 2 64. Two vibration damper bodies 61 are provided, respectively fixed to both ends of the vibration damper connecting rod 62, for absorbing wind vibration energy from the transmission line 100. The lower end of the vibration damper line clamp plate 1 63 is fixed to the middle of the vibration damper connecting rod 62, and a slot 631 is formed at the upper end of the vibration damper line clamp plate 1 63. A connecting plate lug 641 is provided at the top of the vibration damper line clamp plate 2 64, which is inserted into the slot 631, allowing the vibration damper line clamp plate 2 64 to open and close relative to the vibration damper line clamp plate 1 63 around the insertion position. Both the first vibration damper clamp plate 63 and the second vibration damper clamp plate 64 have concave grooves 65. The two concave grooves 65 are symmetrically arranged and enclose each other to form a tubular channel. The size of the tubular channel is larger than the diameter of the transmission conductor 100, allowing the transmission conductor 100 to be smoothly inserted into the channel, thus achieving the engagement and connection between the vibration damper assembly 6 and the transmission conductor 100. Both the first vibration damper clamp plate 63 and the second vibration damper clamp plate 64 have vibration damper lugs 66 on their outer sides. The vibration damper lugs 66 engage with the lug through holes 34 of the concave anti-interference grippers 32, enabling the gripper clamping assembly 3 to position and clamp the vibration damper assembly 6. The first vibration damper clamp plate 63 and the second vibration damper clamp plate 64 have interconnected fixing bolt holes 67 for bolts to pass through and for locking with nuts.

[0058] like Figure 8 , Figure 9 As shown, the fastener positioning assembly 4 is installed inside one of the U-shaped plate frames, including a positioning base plate 41, a crank-connecting rod mechanism 42, a sleeve slide rail 43, a sleeve slider 44, a nut sleeve 45, and a positioning motor 46. The positioning base plate 41 is fixed between the two side baffles 23 of the U-shaped plate frame, and the positioning motor 46 is fixedly mounted on the positioning base plate 41. The sleeve slide rail 43 is fixed to the inner side of the side baffle 23, and the sleeve slider 44 is slidably mounted on the sleeve slide rail 43. One end of the crank-connecting rod mechanism 42 is connected to the output shaft of the positioning motor 46, and the other end is hinged to the sleeve slider 44. The nut sleeve 45 is fixedly mounted on the sleeve slider 44, and the front end of the nut sleeve 45 can pass through a preset through hole on the inner baffle 24. When the positioning motor 46 operates, it drives the sleeve slider 44 to reciprocate along the sleeve slide rail 43 through the crank-connecting rod mechanism 42, thereby driving the nut sleeve 45 to move closer to or away from the anti-vibration hammer assembly 6. A nut is pre-installed inside the nut sleeve 45. When the nut sleeve 45 moves forward, it pushes the nut to one side of the fixing bolt hole 67 of the anti-vibration hammer assembly 6, thereby achieving precise positioning of the nut.

[0059] A push rod, a magnet, and a spring are installed inside the nut sleeve 45. One end of the spring is fixed to the bottom of the nut sleeve 45, and the push rod is fixed to the other end of the spring. The magnet is attracted and fixed to the end of the push rod and is used to attract the nut to prevent it from falling off during transportation. The magnet is in contact with the end face of the nut and, together with the push rod and the spring, provides axial clamping force to the nut, improving the positioning stability of the nut.

[0060] like Figure 10 , Figure 11 As shown, the fastener fastening assembly 5 is installed inside another U-shaped plate frame, including a bolt moving motor 51, a crank-connecting rod mechanism 52, a bolt moving slide rail 53, a bolt moving slider 54, a bolt rotating motor 55, a coupling 56, and a bolt sleeve 57. The bolt moving motor 51 and the bolt moving slide rail 53 are both fixed to the side baffle 23 of the U-shaped plate frame. One end of the crank-connecting rod mechanism 52 is connected to the output shaft of the bolt moving motor 51, and the other end is hinged to the bolt moving slider 54. The bolt moving slider 54 is slidably mounted on the bolt moving slide rail 53, and the bolt moving motor 51 drives the bolt moving slider 54 to reciprocate along the bolt moving slide rail 53 via the crank-connecting rod mechanism 52. The bolt rotating motor 55 is fixedly mounted on the bolt moving slider 54, and the bolt sleeve 57 is connected to the output shaft of the bolt rotating motor 55 via the coupling 56, enabling the bolt rotating motor 55 to drive the bolt sleeve 57 to rotate. Bolt sleeve 57 and nut sleeve 45 are arranged coaxially. Bolt is pre-installed inside bolt sleeve 57, and a magnet is installed inside to attract the bolt and prevent it from falling off during transportation. When bolt moving motor 51 moves bolt sleeve 57 to the position of fixed bolt hole 67, bolt rotating motor 55 drives bolt sleeve 57 to rotate, so that the bolt passes through fixed bolt hole 67 and is tightened with nut inside nut sleeve 45, completing the final fixation of anti-vibration hammer assembly 6 on power transmission line 100.

[0061] This invention also discloses an automated installation method for a drone-borne vibration damper, the specific steps of which are as follows:

[0062] S1. Anti-vibration hammer clamping:

[0063] The gripper moving motor drives the gripper moving gear 31 and the gripper moving rack 33 to drive the concave anti-interference gripper 32 to move in opposite directions; then, the anti-vibration hammer lug 66 at one end of the anti-vibration hammer assembly 6 is first inserted into the lug through hole 34 of one of the concave anti-interference grippers 32; then the gripper moving motor drives the concave anti-interference grippers 32 to move relative to each other, so that the anti-vibration hammer lug 66 at the other end of the anti-vibration hammer assembly 6 is inserted into the lug through hole 34 of the other concave anti-interference gripper 32, thereby completing the clamping of the anti-vibration hammer assembly 6;

[0064] S2. Lifting and positioning:

[0065] The lifting beam 211 of the top plate 21 of the frame is connected to the hook 11 of the UAV component 1. The UAV component 1 lifts the installation device to the designated installation position of the power transmission line 100, so that the power transmission line 100 is located between the two U-shaped plate frames.

[0066] S3, Wire connection:

[0067] The gripper opening and closing motor 25 drives the two U-shaped plate frames to open relative to each other along the frame movement slide rail 28 via the gripper opening and closing gear 26 and the gripper opening and closing rack 27. At the same time, it drives the anti-vibration hammer line clamp plate 1 63 and anti-vibration hammer line clamp plate 2 64 of the anti-vibration hammer assembly 6 to open, and the power transmission line 100 is inserted into the tubular channel of the anti-vibration hammer assembly 6. Then, the gripper opening and closing motor 25 drives the two U-shaped plate frames to close relative to each other along the frame movement slide rail 28. At the same time, it drives the anti-vibration hammer line clamp plate 1 63 and anti-vibration hammer line clamp plate 2 64 of the anti-vibration hammer assembly 6 to close relative to each other, so that the concave groove 65 of the anti-vibration hammer assembly 6 fits against the power transmission line 100.

[0068] S4. Nut positioning:

[0069] The drive positioning motor 46 drives the nut sleeve 45 to move along the sleeve slide rail 43 through the crank connecting rod mechanism 42, and delivers the nut in the nut sleeve 45 to the fixing bolt hole 67 side of the anti-vibration hammer assembly 6. The magnet attracts the nut to complete the positioning.

[0070] S5. Bolt tightening:

[0071] The drive bolt moving motor 51 drives the bolt sleeve 57 to move along the bolt moving slide rail 53 through the crank connecting rod mechanism 52, and transports the bolt in the bolt sleeve 57 to the other side of the fixed bolt hole 67. Then, the drive bolt rotating motor 55 drives the bolt sleeve 57 to rotate, and tightens the bolt and nut.

[0072] S6. Device detachment:

[0073] First, drive the bolt moving motor 51 and the positioning component motor 46 to reset the bolt sleeve 57 and nut sleeve 45; then drive the gripper moving motor to drive the two concave anti-interference grippers 32 to move in opposite directions, so that the anti-vibration hammer lug 66 of the anti-vibration hammer assembly 6 is disengaged from the lug through hole 34 of the concave anti-interference gripper 32; finally, drive the gripper opening and closing motor 25 to open the two U-shaped plate frames, and the UAV assembly 1 moves the installation device away from the anti-vibration hammer assembly 6 and the power transmission line 100, completing the installation operation.

[0074] The above is an exemplary description of the invention. Obviously, the specific implementation of the invention is not limited to the above-described manner. Any non-substantial improvement made using the inventive concept and technical solution of the invention, or the direct application of the inventive concept and technical solution to other situations without modification, is within the protection scope of the invention.

Claims

1. An automated installation device for a drone-borne vibration damper, characterized in that, include: Unmanned aerial vehicle (UAV) components (1), support frame components (2), gripper clamping components (3), fastener positioning components (4), fastener fastening components (5), and anti-vibration hammer components (6). The supporting frame assembly (2) includes a frame top plate (21) and a U-shaped plate frame. The frame top plate (21) is suspended below the drone assembly (1). Two U-shaped plate frames are provided and symmetrically installed on the left and right sides of the lower end face of the frame top plate (21). The clamping assembly (3) consists of two sets of symmetrically arranged clamping devices installed on two U-shaped plate frames. The clamping device includes two concave anti-interference clamps (32) and a lug adapter structure. The size of the concave structure combination (35) of the two concave anti-interference clamps (32) arranged opposite to each other in the two clamping devices is larger than the diameter of the power transmission line (100). The end face of the concave anti-interference clamps (32) is provided with lug through holes (34) for engaging the anti-vibration hammer lug (66) of the anti-vibration hammer assembly (6). The lug adapter structure achieves clamping and positioning of the anti-vibration hammer assembly (6) and initial docking with the power transmission line (100) by adjusting the distance between the two concave anti-interference clamps (32) in the clamping device. The fastener positioning assembly (4) is installed in one of the U-shaped plate frames and is used to deliver and fix the nut to the designated installation position of the anti-vibration hammer assembly (6); the fastener fastening assembly (5) is installed in another U-shaped plate frame and is used to deliver the bolt to the nut and complete the tightening.

2. The automated installation device for UAV-borne vibration damper according to claim 1, characterized in that, The U-shaped plate frame consists of an outer baffle (22), side baffles (23), and an inner baffle (24). The front and rear sides of the top plate (21) of the frame are equipped with frame movement rails (28). Each U-shaped plate frame has two side baffles (23), which are respectively mounted on the frame movement rails (28) on the front and rear ends of the top plate (21) via frame movement sliders (29). The inner baffle (24) and outer baffle (22) are respectively fixed to the inner and outer ends of the side baffles (23). A gripper opening and closing gear (26) is fixedly installed at the center of the lower end face of the top plate (21). A gripper opening and closing motor (25) is fixedly installed in the center of the upper end face of the frame top plate (21). The output shaft of the gripper opening and closing motor (25) passes through the frame top plate (21) and is connected to the gripper opening and closing gear (26) to drive the gripper opening and closing gear (26) to rotate. The gripper opening and closing gear (26) is meshed with gripper opening and closing racks (27) on both the front and rear sides. The top ends of the two inner baffles (24) are respectively fixed on the two gripper opening and closing racks (27). When the gripper opening and closing gear (26) rotates, the two square plate frames are driven to move left and right along the frame movement slide rail (28) through the gripper opening and closing racks (27) to achieve synchronous opening and closing.

3. The automated installation device for a drone-borne vibration damper according to claim 1, characterized in that, The lower end of the UAV component (1) is equipped with a hook (11), and the top plate (21) of the frame is equipped with a lifting beam (211). The hook (11) and the lifting beam (211) are detachably connected to achieve quick assembly and disassembly and overall hoisting of the installation tool consisting of the support frame component (2), the gripper clamping component (3), the fastener positioning component (4), the fastener fastening component (5), and the anti-vibration hammer component (6) with the UAV component (1).

4. The automated installation device for UAV-borne vibration damper according to claim 2, characterized in that, The lug adapter structure includes a gripper moving gear (31) and a gripper moving rack (33); the gripper moving gear (31) is installed on the inner end face of the inner baffle (24) and driven to rotate by the gripper moving motor; a gripper moving slide rail is provided on the inner end face of the inner baffle (24); the two concave anti-interference grippers (32) of the gripper clamping device are slidably installed on the gripper moving slide rail; two gripper moving racks (33) are provided and respectively mesh on the upper and lower sides of the gripper moving gear (31); the ends of the two gripper moving racks (33) are respectively fixedly connected to the two concave anti-interference grippers (32); the gripper moving motor can drive the front and rear concave anti-interference grippers (32) in the gripper clamping device to move synchronously relative to each other or in opposite directions along the gripper moving slide rail through the gripper moving gear (31) and the gripper moving rack (33) to adjust the distance between the two concave anti-interference grippers (32) and realize the clamping and release of the anti-vibration hammer assembly (6).

5. The automated installation device for a UAV-borne vibration damper according to claim 4, characterized in that, The vibration damper assembly (6) includes a vibration damper body (61), a vibration damper connecting rod (62), a vibration damper line clamp plate one (63), and a vibration damper line clamp plate two (64). Two vibration damper bodies (61) are provided and fixed to both ends of the vibration damper connecting rod (62). The lower end of the vibration damper line clamp plate one (63) is fixed to the vibration damper connecting rod (62). A slot (631) is provided at the upper end of the vibration damper line clamp plate one (63). A connecting plate lug (641) is provided at the top end of the vibration damper line clamp plate two (64). The connecting plate lug (641) of the vibration damper line clamp plate two (64) is inserted into the slot of the vibration damper line clamp plate one (63). Within 631), the second anti-vibration hammer clamp plate (64) can be opened and rotated around the insertion point with the first anti-vibration hammer clamp plate (63); both the first anti-vibration hammer clamp plate (63) and the second anti-vibration hammer clamp plate (64) are provided with concave grooves (65), the two concave grooves (65) are symmetrically arranged and form a tubular channel, the size of the tubular channel is larger than the diameter of the power transmission line (100), which can realize the snap-fit ​​installation of the anti-vibration hammer assembly (6) and the power transmission line (100); both the first anti-vibration hammer clamp plate (63) and the second anti-vibration hammer clamp plate (64) are provided with anti-vibration hammer lugs (66) for snap-fitting with the concave anti-interference claws (32).

6. The automated installation device for a UAV-borne vibration damper according to claim 5, characterized in that, The fastener positioning assembly (4) includes a positioning base plate (41), a crank-connecting rod mechanism (42), a sleeve slide rail (43), a sleeve slider (44), a nut sleeve (45), and a positioning motor (46). The positioning base plate (41) is set in a U-shaped plate frame and fixedly installed between two side baffles (23). The positioning motor (46) is installed on the positioning base plate (41). The sleeve slide rail (43) is installed on the side baffles (23). The sleeve slider (44) is installed on the sleeve slide rail (43). One end of the crank-connecting rod mechanism (42) is installed on the output shaft of the positioning motor (46), and the other end is hinged to the sleeve slider (44). The nut sleeve (45) is fixedly installed on the side baffles (23). 5) Fixedly installed on the sleeve slider (44); the positioning component motor (46) drives the sleeve slider (44) to move along the sleeve slide rail (43) toward or away from the anti-vibration hammer assembly (6) through the crank connecting rod mechanism (42); the front end of the nut sleeve (45) can pass through the pre-set through hole of the inner baffle (24) of the U-shaped plate frame where the fastener positioning component (4) is located; the anti-vibration hammer line clamp plate (63) and the anti-vibration hammer line clamp plate (64) of the anti-vibration hammer assembly (6) are provided with connected fixing bolt holes (67); the movement of the nut sleeve (45) can transport the nut pre-set in the nut sleeve (45) to the side of the fixing bolt hole (67) of the anti-vibration hammer assembly (6).

7. The automated installation device for a UAV-borne vibration damper according to claim 6, characterized in that, The nut sleeve (45) is equipped with a push rod, a magnet and a spring. One end of the spring is fixed to the bottom of the nut sleeve (45), the push rod is fixed to the other end of the spring, and the magnet is attached to the end of the push rod and used to attract the nut to prevent the nut from falling off during transportation.

8. The automated installation device for a drone-borne vibration damper according to claim 6, characterized in that, The fastener fastening assembly (5) includes a bolt moving motor (51), a crank-connecting rod mechanism two (52), a bolt moving slide rail (53), a bolt moving slider (54), a bolt rotating motor (55), a coupling (56), and a bolt sleeve (57). The bolt moving motor (51) and the bolt moving slide rail (53) are both mounted on the side baffle (23) of the U-shaped plate frame where the fastener fastening assembly (5) is located. One end of the crank-connecting rod mechanism two (52) is connected to the output shaft of the bolt moving motor (51), and the other end is hinged to the bolt moving slider (54). The bolt moving slider (54) is slidably mounted on the bolt moving slide rail (53). The bolt moving motor (51) is driven by the crank-connecting rod mechanism two. The second component (52) drives the bolt moving slider (54) to move along the bolt moving slide rail (53) towards or away from the anti-vibration hammer assembly (6); the bolt rotating motor (55) is mounted on the bolt moving slider (54), and the bolt sleeve (57) is mounted on the output shaft of the bolt rotating motor (55) through a coupling (56). The bolt rotating motor (55) can control the rotation of the bolt sleeve (57); the bolt sleeve (57) and the nut sleeve (45) are coaxially arranged. When the bolt moving slider (54) drives the bolt sleeve (57) to move to the other side of the fixing bolt hole (67) of the anti-vibration hammer assembly (6), the bolt rotating motor (55) drives the bolt sleeve (57) to rotate, so as to achieve the fastening of the bolt and nut.

9. The automated installation device for a UAV-borne vibration damper according to claim 8, characterized in that, A second magnet is installed inside the bolt sleeve (57). The second magnet is used to attract the bolt and prevent the bolt from falling off during transportation.

10. An automated installation method for a drone-borne vibration damper, implemented based on the automated installation device for a drone-borne vibration damper as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Anti-vibration hammer clamping: Drive the gripper moving motor, and drive the concave anti-interference gripper (32) to move in opposite directions through the gripper moving gear (31) and the gripper moving rack (33); first, insert the anti-vibration hammer lug (66) at one end of the anti-vibration hammer assembly (6) into the lug through hole (34) of one of the concave anti-interference grippers (32); then drive the gripper moving motor to drive the concave anti-interference gripper (32) to move relative to each other, so that the anti-vibration hammer lug (66) at the other end of the anti-vibration hammer assembly (6) is inserted into the lug through hole (34) of another concave anti-interference gripper (32), thereby completing the clamping of the anti-vibration hammer assembly (6); S2. Lifting and positioning: Connect the lifting beam (211) of the top plate (21) of the frame to the hook (11) of the UAV component (1), and the UAV component (1) will lift the installation device to the designated installation position of the power transmission line (100) so that the power transmission line (100) is located between the two U-shaped plate frames. S3, Wire connection: The drive gripper opening and closing motor (25) drives the two U-shaped plate frames to open relative to each other along the frame movement slide rail (28) through the gripper opening and closing gear (26) and the gripper opening and closing rack (27), and at the same time drives the first anti-vibration hammer line clamp plate (63) and the second anti-vibration hammer line clamp plate (64) of the anti-vibration hammer assembly (6) to open, and makes the power transmission line (100) inserted into the tubular channel of the anti-vibration hammer assembly (6); then the drive gripper opening and closing motor (25) drives the two U-shaped plate frames to close relative to each other along the frame movement slide rail (28), and at the same time drives the first anti-vibration hammer line clamp plate (63) and the second anti-vibration hammer line clamp plate (64) of the anti-vibration hammer assembly (6) to close relative to each other, so that the concave groove (65) of the anti-vibration hammer assembly (6) fits with the power transmission line (100); S4. Nut positioning: The drive positioning motor (46) drives the nut sleeve (45) to move along the sleeve slide rail (43) through the crank connecting rod mechanism (42), and delivers the nut in the nut sleeve (45) to the fixing bolt hole (67) side of the anti-vibration hammer assembly (6). The magnet attracts the nut to complete the positioning. S5. Bolt tightening: Drive the bolt moving motor (51), which drives the bolt sleeve (57) to move along the bolt moving slide rail (53) through the crank connecting rod mechanism (52), and transports the bolt in the bolt sleeve (57) to the other side of the fixed bolt hole (67). Then drive the bolt rotating motor (55) to drive the bolt sleeve (57) to rotate, and tighten the bolt and nut. S6. Device detachment: First, drive the bolt moving motor (51) and the positioning component motor (46) to reset the bolt sleeve (57) and nut sleeve (45); then drive the gripper moving motor to drive the two concave anti-interference grippers (32) to move in opposite directions, so that the anti-vibration hammer lug (66) of the anti-vibration hammer assembly (6) is separated from the lug through hole (34) of the concave anti-interference gripper (32); finally, drive the gripper opening and closing motor (25) to open the two U-shaped plate frames, and the UAV assembly (1) drives the installation device away from the anti-vibration hammer assembly (6) and the power transmission line (100) to complete the installation operation.

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