Unmanned aerial vehicle-mounted high-voltage power line foreign matter insulation removal device

Abstract

This application relates to the technical field of power line maintenance equipment, and discloses a drone-mounted high-voltage power line foreign object insulation removal device, including a mounting frame, a control box, a servo motor chassis, a positioning component, and a fixing mechanism. The mounting frame is rigidly connected to the bottom of the drone; the positioning component is installed on the right end of the servo motor chassis, and uses a rotating servo motor and an electric push rod to adjust the height, orientation, and angle of the subsequent mechanism when the drone hovers; the fixing mechanism is located on the right end of the positioning component, and integrates a clamping component, a driving component, a cutting component, and a guiding component. During operation, the guiding component moves with the clamping arm, causing the guide plate to retract towards the center, guiding and aligning easily fluctuating foreign objects; the clamping component closes to fix the foreign object, and the sealed hydraulic drive mechanism pushes the blade of the cutting component to extend, cutting entangled objects such as kite strings. This invention improves the efficiency and effectiveness of high-altitude cleaning through multi-degree-of-freedom adjustment, guiding retraction, and hydraulic cutting design.

Description

Technical Field

[0001] This invention relates to the field of power line maintenance equipment technology, specifically to a drone-mounted high-voltage power line foreign object insulation removal device. Background Technology

[0002] High-voltage power lines often become entangled with foreign objects such as kite strings and plastic bags during long-term outdoor operation. These objects pose a safety hazard, potentially causing short circuits or single-phase grounding faults. In recent years, the use of multi-rotor drones equipped with removal devices for high-altitude live-line cleaning has gradually replaced the traditional manual tower climbing method. However, existing drone-mounted removal devices still face the following technical shortcomings in actual operation.

[0003] First, foreign objects on high-voltage lines are often firmly entangled. Existing conventional mechanical grippers typically only have a simple clamping function. When faced with kite strings or woven bags tightly wrapped around the line, forcibly pulling them can easily damage the high-voltage line itself. Furthermore, due to the lack of cutting capabilities, it is difficult to completely remove the tightly entangled objects. At the same time, the lightweight nature of hanging objects such as kite strings and plastic bags makes them prone to irregular fluctuations due to wind or the downdraft from drones. Existing gripping components often lack limiting and guiding structures for foreign objects when approaching and attempting to grasp them. This causes these easily fluctuating foreign objects to deviate from their original position and slip off before the gripping action occurs, resulting in gripping failure and low overall cleaning efficiency.

[0004] When drones hover at high altitudes, they are susceptible to slight displacement due to natural winds and the airflow from their own rotors. Most existing removal devices are fixedly mounted on the bottom of the drone, and the clamping components lack independent height, orientation, and angle adjustment capabilities. This results in the device being unable to flexibly adapt to the spatial position of foreign objects during actual operation, leading to poor accuracy in high-altitude alignment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a drone-mounted high-voltage power line foreign object insulation removal device, characterized in that it includes a mounting frame, a control box, a servo motor chassis, a positioning component, and a fixing mechanism.

[0006] The control box is located at the bottom of the mounting frame;

[0007] The servo chassis is located at one end of the control box;

[0008] The positioning component is disposed at one end of the servo motor chassis, and the positioning component is configured to adjust the clamping angle and position;

[0009] The fixing mechanism is disposed at one end of the positioning component, and the fixing mechanism includes a clamping component, a driving component, a cutting component, and a guiding component;

[0010] The clamping component is configured to clamp and fix the foreign object; the driving component is configured to drive the cutting component and the guiding component; the cutting component is configured to cut the foreign object; and the guiding component is configured to guide the foreign object.

[0011] Preferably, the positioning assembly includes a mounting bracket, a rotary servo A, a connecting arm A, an electric push rod, a connecting arm B, a rotary servo B, a fixed bracket, a rotary servo C, and a connecting seat.

[0012] The mounting bracket is disposed at one end of the servo chassis, and the mounting bracket is equipped with a bearing A. The output shaft of the rotating servo A is connected to the bearing A.

[0013] The connecting arm A is fixed to the outer wall of the rotary servo motor A, the connecting arm A is equipped with a fixing plate A, and one end of the electric push rod is hinged to the fixing plate A;

[0014] The connecting arm B is equipped with a fixing plate B, the output shaft of the electric push rod is hinged to the fixing plate B, and the connecting arm B is slidably engaged with the connecting arm A;

[0015] The rotary servo B is disposed at one end of the connecting arm B, and a bearing B is provided on the outer wall of the rotary servo B. The fixed frame is movably mounted on the bearing B.

[0016] The rotary servo C is mounted at one end of the fixed frame, and the connecting seat is fixed to the output shaft of the rotary servo C.

[0017] Preferably, the clamping assembly includes a support plate, a clamping servo motor, an active rotating arm, an active clamping arm, an active positioning rod, a driven rotating arm, a driven clamping arm, and a driven positioning rod;

[0018] The support plate is fixedly connected to the positioning component, and the clamping servo is disposed at the top of the support plate;

[0019] One end of the active rotating arm is connected to the output shaft of the clamping servo motor, the active clamping arm is hinged to the other end of the active rotating arm, and the two ends of the active positioning rod are respectively hinged to the active clamping arm and the bearing plate.

[0020] The driven rotating arm is hinged to the bottom end of the bearing plate, and the driven rotating arm meshes with the driving rotating arm for transmission.

[0021] The driven clamping arm is hinged to one end of the driven rotating arm, and the two ends of the driven positioning rod are respectively hinged to the driven clamping arm and the bearing plate.

[0022] Preferably, the clamping assembly further includes a protective cover A and a protective cover B;

[0023] The active positioning rod is fixedly installed with the protective cover A. The end of the active positioning rod and the protective cover A near the center of the bearing plate are flush and have anti-slip texture.

[0024] The driven positioning rod is fixedly installed with the protective cover B. The end of the driven positioning rod and the protective cover B near the center of the bearing plate are flush and have anti-slip texture.

[0025] The active gripping arm and the driven gripping arm are symmetrically distributed.

[0026] Preferably, the positioning assembly includes a fixed frame and a rotary servo C disposed at one end of the fixed frame, and the bearing plate is fixedly connected to the output shaft of the rotary servo C; the driving assembly includes a guide plate, a fixed rod, a sealing tube A, a push rod A, a pressure rod, a connecting hose, a sealing tube B, and a push rod B;

[0027] The guide plate is fixed to one end of the fixing frame, the fixing rod is fixed to the lower surface of the bearing plate, and the sealing tube A is fixed to the bottom end of the fixing rod;

[0028] The push rod A is slidably disposed on the inner wall of the sealing tube A, and one end of the push rod A is provided with the pressure rod, which abuts against the surface of the guide plate;

[0029] The sealing tube B is fixed to one end of the driven clamping arm or the active clamping arm, and the push rod B is slidably disposed at the inner end of the sealing tube B;

[0030] The two ends of the connecting hose are connected to the sealing tube A and the sealing tube B respectively through sealing joint A and sealing joint B, forming a closed hydraulic chamber. A fixing block is fixedly connected to one end of the connecting hose near the driven clamping arm or the active clamping arm, and the other end of the fixing block is fixedly connected to the driven clamping arm, the active clamping arm, the active rotating arm, and the driven rotating arm.

[0031] Preferably, the push rod A is equipped with a connecting plate, and the pressure rod is fixed to the connecting plate;

[0032] The outer wall of the push rod A is fixedly connected to the slide rod A, and the surface of the sealing tube A is provided with a recessed structure. The slide rod A is slidably connected to the recessed structure of the sealing tube A.

[0033] The outer wall of the push rod B is fixedly connected to the slide rod B, and the surface of the sealing tube B is provided with a recessed structure. The slide rod B is slidably connected to the recessed structure of the sealing tube B.

[0034] Preferably, the cutting assembly includes a push plate, a blade, a compression spring, and a guide rod;

[0035] The push plate is fixed to one end of the push rod B, and the blade is fixed to the push plate;

[0036] The active gripping arm is provided with a clearance hole, and the blade is configured to be inserted into the clearance hole;

[0037] The push plate is elastically connected to the driven clamping arm or the active clamping arm via the compression spring.

[0038] The correction rod is fixed to one end of the push plate, the compression spring is sleeved on the outer wall of the correction rod, and the correction rod is slidably connected to the inner wall of the driven clamping arm or the driven rotating arm.

[0039] Preferably, the guiding assembly includes a connecting rod, a fixing plate, a rotating shaft, a guide plate, a round rod, a pull plate, a rotating block, and a slider;

[0040] The connecting rod is fixed to both ends of the push plate, and the connecting rod has a sliding groove.

[0041] The driven clamping arm and the active clamping arm are both fixedly connected to the fixing plates on both sides, and the rotating shaft is rotatably connected to the inner surface of the fixing plates.

[0042] The guide plate is fixed to one end of the rotating shaft, and the round rod is fixed to the outer wall of the guide plate;

[0043] One end of the pull plate is hinged to the round rod, and the other end of the pull plate is rotatably connected to the rotating block;

[0044] The slider is fixed to the rotating block, and the slider is slidably connected to the inner wall of the groove.

[0045] Preferably, the clamping assembly further includes a protective cover A and a protective cover B, both of which have through slots, and the connecting rod passes through the inner wall of the through slots;

[0046] The guide plate that matches the driven gripping arm and the guide plate that matches the active gripping arm are staggered.

[0047] Preferably, the mounting frame is made of lightweight alloy material; the surface of the control box, the servo chassis, and the positioning component are all made of insulating engineering plastic; the hydraulic transmission pipes and hoses in the fixing mechanism are all wrapped with insulating material; the cutting component is equipped with a blade, and the surface of the blade is coated with an insulating coating.

[0048] This invention provides a drone-mounted foreign object insulation removal device for high-voltage power lines. It has the following beneficial effects:

[0049] 1. This invention includes a fixing mechanism for clamping and cleaning foreign objects on high-voltage power lines. During clamping, it can cut entangled foreign objects. The device utilizes the transmission characteristics of a sealed hydraulic chamber. A pressure rod pushes push rod A, causing hydraulic oil in sealed pipe A to drive push rod B via a connecting hose. This, in turn, moves the front-end blade. When the active clamping arm and the driven clamping arm approach each other, the blade can insert into the clearance hole, achieving a cutting effect. This effectively solves the technical problem of removing strong entangled objects such as kite strings by simply pulling them away.

[0050] 2. This invention is equipped with a specialized guiding structure, in which the guiding component is used to guide entangled foreign objects. Since various foreign objects such as kite strings and plastic bags on high-voltage lines are prone to movement, the guiding aid ensures that the foreign object is aligned with the clamping point, ensuring accurate and stable clamping. Its core linkage mechanism is that when the clamping component closes, the connecting rod moves with the clamping arm, driving the guide plate to retract towards the center via the slider and pull plate, thus guiding the foreign object and effectively preventing it from slipping before clamping or cutting, improving the overall cleaning success rate of the device.

[0051] 3. This invention incorporates a positioning component that adjusts the clamping height, orientation, and angle when the drone is hovering, ensuring accurate clamping position. During spatial attitude adjustment, the orientation and angle of the fixing mechanism can be flexibly changed by driving rotary servos A, B, and C, thereby adjusting the cleaning position. Furthermore, the distance between fixing plates A and B can be altered by extending and retracting the output shaft of the electric push rod, thus changing the relative position of connecting arms A and B. This endows the device with flexible multi-degree-of-freedom adjustment capabilities, improving the accuracy of high-altitude aiming at foreign objects. Attached Figure Description

[0052] Figure 1 This is a perspective view of the present invention;

[0053] Figure 2 This is a schematic diagram showing the disassembled control box and positioning components of the present invention;

[0054] Figure 3This is a schematic cross-sectional view of connecting arm A and connecting arm B of the present invention;

[0055] Figure 4 This is a schematic diagram showing the disassembled fixing frame and fixing mechanism of the present invention;

[0056] Figure 5 This is a schematic diagram showing the connection seat and fixing mechanism of the present invention disassembled.

[0057] Figure 6 This is a top view of the driving component and clamping component of the present invention;

[0058] Figure 7 This is a side view of the drive component of the present invention;

[0059] Figure 8 This is a schematic cross-sectional view of the push rod A, slide rod A, and sealing tube A of the present invention;

[0060] Figure 9 This is a cross-sectional exploded view of the drive assembly, driven clamping arm, and protective cover B of the present invention;

[0061] Figure 10 This is a cross-sectional exploded view of the sealing tube B, push rod B, slide rod B, cutting assembly, and guide assembly of the present invention.

[0062] Figure 11 This is a schematic diagram showing the disassembly of the guide component of the present invention;

[0063] Figure 12 This is a schematic diagram showing the cross-sectional breakdown of the guide component of the present invention;

[0064] Figure 13 This is a schematic diagram showing the disassembled guide component and cutting component of the present invention;

[0065] Figure 14 This is a cross-sectional exploded view of the active clamping arm, protective cover A, and guide assembly of the present invention.

[0066] The components are as follows: 1. Mounting bracket; 2. Control box; 3. Servo chassis; 4. Positioning assembly; 41. Mounting bracket; 42. Bearing A; 43. Rotary servo A; 44. Connecting arm A; 45. Fixing plate A; 46. Electric push rod; 47. Fixing plate B; 48. Connecting arm B; 49. Rotary servo B; 410. Bearing B; 411. Fixing bracket; 412. Rotary servo C; 413. Connecting seat; 500. Fixing mechanism; 5. Clamping assembly; 51. Bearing plate; 52. Clamping servo; 531. Active rotating arm; 532. Active clamping arm; 533. Active positioning rod; 534. Protective cover A; 541. Driven rotating arm; 542. Driven clamping arm; 543. Driven positioning rod; 54 4. Protective cover B; 6. Drive assembly; 61. Guide plate; 62. Pressure rod; 63. Connecting plate; 64. Push rod A; 65. Slide rod A; 66. Sealing tube A; 67. Fixing rod; 68. Sealing joint A; 69. Connecting hose; 610. Fixing block; 611. Sealing joint B; 612. Sealing tube B; 613. Push rod B; 614. Slide rod B; 7. Cutting assembly; 71. Compression spring; 72. Correction rod; 73. Push plate; 74. Blade; 701. Clearance hole; 8. Guide assembly; 81. Connecting rod; 82. Fixing piece; 83. Rotating shaft; 84. Guide plate; 85. Round rod; 86. Pull plate; 87. Rotating block; 88. Slider; 801. Slide groove; 802. Through groove. Detailed Implementation

[0067] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] Example:

[0069] Please see the appendix Figure 1 - Appendix Figure 14 This invention provides a drone-mounted foreign object insulation removal device for high-voltage power lines, comprising:

[0070] Mounting bracket 1 is made of high-strength, lightweight alloy material and is rigidly connected to the bottom mounting holes of the drone via a set of standard bolts to ensure a stable connection. This facilitates the subsequent movement of the drone carrying the high-voltage power line foreign object insulation removal device to the cleaning location. The mounting bracket's load-bearing capacity is adapted to the weight requirements of the entire device and the foreign object it grasps, and it is compatible with mainstream multi-rotor drone specifications, including multi-rotor drones with built-in camera observation capabilities. Control box 2 is located at the bottom of mounting bracket 1 and is rigidly connected to the bottom mounting holes of mounting bracket 1 via a set of standard bolts to ensure a stable connection. Control box 2 is made of high-strength insulating engineering plastic in one piece and has good waterproof and dustproof performance. Servo chassis 3 is located at the right end of control box 2 and is mounted to the right end of control box 2 via a set of standard bolts. The rigid connection of the hole ensures a stable connection. The surface of the servo chassis 3 is made of insulating engineering plastic, which meets the insulation requirements. The positioning component 4 is located at the right end of the servo chassis 3. When the UAV is hovering, the positioning component 4 is used to adjust the clamping height, orientation, and angle to ensure accurate clamping position. The fixing mechanism 500 is located at the right end of the positioning component 4. The fixing mechanism 500 is used to clamp and clean foreign objects on high-voltage power lines. During the clamping process, it can cut entangled foreign objects, such as kite strings and tangled plastic bags. At the same time, the fixing mechanism 500 can also guide foreign objects such as kite strings that need to be cut. These foreign objects are prone to fluctuation. The guiding assistance can ensure that the foreign objects are aligned with the clamping point, ensuring the accuracy and stability of the clamping.

[0071] The positioning component 4 includes a mounting bracket 41, which is located at the right end of the servo chassis 3 and rigidly connected to the mounting holes at the right end of the servo chassis 3 via a set of standard bolts. The mounting bracket 41 is a U-shaped structure with its opening facing right. Two sets of bearings A42 are fixedly connected through the inner wall of the mounting bracket 41. The two sets of bearings A42 are symmetrically distributed about the centerline of the mounting bracket 41, and both sets of bearings A42 provide the rotation axis. Both sets of bearings A42 are rigidly connected to the mounting holes on the mounting bracket 41 by bolts. A rotary servo A43 is located on the adjacent surfaces of the two sets of bearings A42. The rotary servo A43 is a high-torque digital servo and is a dual-axis servo. Dual-axis servos are a conventional existing technology, and... This is something that those skilled in the art can implement, so it will not be described in detail. The rotary servo motor A43 is used to achieve the up-and-down swinging function. The output shaft of the rotary servo motor A43 is fixedly connected to two sets of bearings A42. A connecting arm A44 is fixedly installed on the outer wall of the rotary servo motor A43. The connecting arm A44 is a U-shaped structure with the opening facing downwards. The connecting arm A44 is rigidly connected to the right half of the outer wall of the rotary servo motor A43 by fixing bolts. Driven by the rotary servo motor A43, the mounting bracket 41 and the connecting arm A44 can swing relative to each other around the rotation center of the bearing A42. A fixing plate A45 is fixedly connected to the inner surface of the connecting arm A44. The fixing plate A45 is rigidly connected to the left half of the inner surface of the connecting arm A44 by welding. The right side of the fixing plate A45... An electric actuator 46 is hinged to the surface. The end of the output shaft of the electric actuator 46 away from the fixed plate A45 is hinged to a fixed plate B47. Hinges are installed on adjacent surfaces of the connecting arm A44 and the fixed plate B47. The two sets of hinges are rotatably connected to the left end of the electric actuator 46 and the right end of the output shaft of the electric actuator 46, respectively. The hinge is a conventional technology, consisting of a metal base and a pin, used to achieve hinge connection between components. A connecting arm B48 is fixedly connected to the outer wall of the fixed plate B47. The connecting arm B48 is a U-shaped structure with its opening facing downwards, and square protrusions are provided on the left ends of both the front and rear surfaces of the connecting arm B48. Long strip grooves are formed on the front and rear surfaces of the inner surface of the connecting arm A44. The square protrusions and the long strip grooves are in a sliding fit, with the direction of the protrusions being... The sliding mechanism is clearance-fitted with the elongated groove to ensure smooth sliding and provide guidance. The distance between the fixed plate A45 and the fixed plate B47 can be changed by extending or retracting the output shaft of the electric push rod 46, thereby changing the relative position of the connecting arm A44 and the connecting arm B48, and thus changing the total length formed by the connecting arms A44 and B48. A rotary servo B49 is installed at the right end of the inner surface of the connecting arm B48. The rotary servo B49 is rigidly connected to the right end of the inner surface of the connecting arm B48 via a standard bolt set. The rotary servo B49 is a high-torque digital servo and is a dual-axis servo. Dual-axis servos are a conventional existing technology and can be implemented by those skilled in the art, so they will not be described in detail.A fixed frame 411 is movably mounted on the right section of the outer wall of the rotary servo B49 via bearings B410. There are two sets of bearings B410, symmetrically distributed front and back about the center line of the fixed frame 411. The bearings B410 are rigidly connected to the fixed frame 411 via standard bolts. Both sets of bearings B410 are fixedly connected to the output shaft of the rotary servo B49. A rotary servo C412 is mounted on the right end of the inner surface of the fixed frame 411. The rotary servo C412 is rigidly connected to the fixed frame 411 via standard bolts, and a circular notch is provided on the right end of the fixed frame 411. The output shaft of 412 is aligned with the circular notch at the right end of the mounting bracket 411, and the output shaft of the rotary servo C412 passes through the circular notch at the right end of the mounting bracket 411. The rotary servo C412 is a single-axis servo. Single-axis servos are a conventional existing technology and can be implemented by those skilled in the art, so they will not be described in detail. The output shaft of the rotary servo C412 is fixedly connected to the connecting seat 413, mounting bracket 41, bearing A42, rotary servo A43, connecting arm A44, and other components that may come into contact with electrical equipment. The surface of all these components is made of insulating engineering plastic, which meets the insulation requirements.

[0072] The fixing mechanism 500 includes a clamping assembly 5, which is used to clamp and fix foreign objects. The clamping assembly 5 includes a support plate 51, which is rigidly connected to the connecting seat 413 by a set of standard bolts. A clamping servo motor 52 is provided at the top of the support plate 51. The clamping servo motor 52 is a single-axis servo motor. Single-axis servo motors are a conventional existing technology and can be implemented by those skilled in the art, so they will not be described in detail. The clamping servo motor 52 is rigidly connected to the support plate 51 by a set of standard bolts, and a circular notch is provided through the upper surface of the support plate 51. The output shaft of the clamping servo motor 52 passes through the circular notch, and the output shaft of the clamping servo motor 52 is fixedly connected to an active rotating arm 531. The active rotating arm 531 is plate-shaped, and the front half of the main body is disc-shaped. The right end of the disc has meshing teeth, and the center of the disc has a spline hole for rigid connection with the output shaft of the clamping servo 52. The rear half is plate-shaped and protrudes to the left and rear. The active rotating arm 531 is hinged to the bearing plate 51 by a pin. The rear end of the active rotating arm 531 is hinged to the active clamping arm 532, which is hinged to the active rotating arm 531 by a pin. The middle section of the active clamping arm 532 is hinged to one end of the active positioning rod 533 by a pin, and the other end of the active positioning rod 533 is hinged to the bearing plate 51 by a pin. The active rotating arm 531 and the active positioning rod 533 are arranged in a parallel manner. A protective cover A534 is fixedly installed on the lower surface of the active positioning rod 533, and the active positioning rod 533 and the protective cover A534 are rigidly connected by a standard bolt group. The active positioning rod 533 and the protective cover A534 are flush with the center of the bearing plate 51 and have anti-slip texture. The anti-slip texture is wavy and concave. The bottom of the bearing plate 51 is hinged to the driven rotating arm 541 by a pin. The driven rotating arm 541 is plate-shaped, with the front half being disc-shaped and having meshing teeth on the left end. The meshing teeth on the active rotating arm 531 and the driven rotating arm 541 mesh with each other. The rear half of the driven rotating arm 541 is plate-shaped and protrudes to the right rear. The driven rotating arm 541 is hinged to the bearing plate 51 by a pin. The rear end of the driven rotating arm 541 is hinged to the driven clamping arm 542, which is hinged to the driven rotating arm 541 by a pin. The middle section of the driven clamping arm 542 is hinged to the driven positioning rod 541 by a pin. One end of the positioning rod 543 and the other end of the driven positioning rod 543 are hinged to the bearing plate 51 by a pin. The driven rotating arm 541 and the driven positioning rod 543 are arranged in parallel. A protective cover B544 is fixedly installed on the upper surface of the driven positioning rod 543. The driven positioning rod 543 and the protective cover B544 are rigidly connected by a standard bolt group. The driven positioning rod 543 and the protective cover B544 are flush with the center of the bearing plate 51 and have anti-slip texture. The anti-slip texture is wavy and concave. The active clamping arm 532 and the driven clamping arm 542 are symmetrically distributed from left to right. The active positioning rod 533 and the protective cover A534 are oppositely distributed from left to right to the driven positioning rod 543 and the protective cover B544, which facilitates the subsequent cleaning of foreign objects on the high-voltage power line.

[0073] The fixing mechanism 500 also includes a drive assembly 6, which is a hydraulic drive component. The drive assembly 6 includes a guide plate 61, which is fixed to the right end of the fixing frame 411 by welding. The guide plate 61 is generally annular and collinear with the central axis of the rotating servo C412. The right surface of the guide plate 61 is set as an inclined structure that gradually bulges to the right from top to bottom. A fixing rod 67 is fixedly connected to the lower surface of the support plate 51 by welding. A sealing tube A66 is fixedly connected to the bottom end of the fixing rod 67. The sealing tube A66 is a metal pipe with a hard material that is not easily deformed. A push rod A64 is slidably arranged on the inner wall of the sealing tube A66, and the push rod A64 penetrates the sealing tube. The left end of the sealing tube A66 and the right half of the push rod A64 are made of rubber, with an interference fit between the rubber and the contact surface of the sealing tube A66 to achieve a sealing effect. A connecting plate 63 is fixedly connected to the left end of the push rod A64, and a pressure rod 62 is fixedly connected to the middle of the left end of the connecting plate 63. The pressure rod 62 is a combination structure with a spherical left side and a columnar right side. The central axis of the pressure rod 62 is aligned with the central axis of the guide plate 61, and the left end of the pressure rod 62 abuts against the right surface of the guide plate 61. A sliding rod A65 is fixedly connected to the outer wall of the push rod A64. The right end of the top of the inner surface of the sliding rod A65 is designed as a downward protruding structure. A long strip-shaped recessed structure is opened on the upper surface of the sealing tube A66, and the protruding structure is slidably connected to the inner wall of the recessed structure. A connecting hose 69 is fixedly installed at the right end of the sealing tube A66 via a sealing joint A68. The length and curvature of the connecting hose 69 can accommodate the movement trajectories of the driven rotating arm 541 and the driven clamping arm 542, and the active rotating arm 531 and the active clamping arm 532. The length of the connecting hose 69 has a margin to accommodate the movement of the driven rotating arm 541 and the driven clamping arm 542, or the active rotating arm 531 and the active clamping arm 532. A fixing block 610 is fixedly connected to the side of the connecting hose 69 closest to the driven rotating arm 541 and the driven clamping arm 542, or the active rotating arm 531 and the active clamping arm 532. The end of the fixing block 610 away from the connecting hose 69 is connected to the driven rotating arm 541, the driven clamping arm 542, and the active rotating arm 532. 531. One of the active clamping arms 532 is fixed. A sealing tube B612 is fixedly connected to the end of the driven clamping arm 542 or the active clamping arm 532 away from the center of the support plate 51. A push rod B613 is provided at the end of the sealing tube B612 near the center of the support plate 51. The surface layer of the half of the outer wall of the push rod B613 away from the center of the support plate 51 is made of rubber, and the contact surface with the sealing tube B612 is interference-fitted to achieve a sealing effect. A slide rod B614 is fixedly connected to the outer wall of the push rod B613. The top of the inner surface of the slide rod B614 near the sealing tube B612 is set as a downward protruding structure. A long strip-shaped recessed structure is opened on the upper surface of the sealing tube B612. The protruding structure is slidably connected to the inner wall of the recessed structure.The end of the sealing tube B612 furthest from the push rod B613 is fixedly installed to the connecting hose 69 via the sealing joint B611. The sealing tube B612 is a metal pipe, made of hard material and not easily deformed. Push rod A64, slide rod A65, sealing tube A66, fixing rod 67, sealing joint A68, connecting hose 69, fixing block 610, sealing joint B611, sealing tube B612, push rod B613, and slide rod B614 are all arranged in two groups, distributed in opposite directions to the left and right of the center line of the connecting plate 63. The sealing tube A66, connecting hose 69, and sealing tube B612 form a closed hydraulic chamber, filled with hydraulic oil to ensure the stability and sealing of the hydraulic transmission. Through hydraulic transmission, the push rod A64 is pushed by the pressure rod 62, causing the hydraulic oil in the sealing tube A66 to drive the push rod B613 via the connecting hose 69. The sealing tubes A66 and B612, and the connecting hose 69 of the drive assembly 6 are all wrapped with insulating material.

[0074] The fixing mechanism 500 also includes a cutting assembly 7, which is used to cut entangled foreign objects. The cutting assembly 7 includes a push plate 73, which is fixedly connected to the end of the push rod B613 away from the sealing tube B612. A blade 74 is fixedly connected to the end of the push plate 73 away from the push rod B613. The blade 74 is made of metal, is hard, and has an insulating coating on its surface. The blade 74 passes through the end of the driven clamping arm 542 near the center of the support plate 51. The end of the active clamping arm 532 near the center of the support plate 51 has a clearance hole 701. When the active clamping arm 532 and the driven clamping arm 542 approach each other, the blade 74 can be inserted into the clearance hole 701 to achieve the cutting effect. And because the protective cover B544 and the driven clamping arm 542 are close together, the blade 74 can be inserted into the clearance hole 701 to achieve the cutting effect. Arm 542 and protective cover A534 can be separated from active clamping arm 532, so it is convenient to repair and maintain the components between protective cover B544 and driven clamping arm 542 and between protective cover A534 and active clamping arm 532. Each push plate 73 is elastically connected to the corresponding driven clamping arm 542 or active clamping arm 532 through compression spring 71. The end of push plate 73 away from the center of bearing plate 51 is fixedly connected to correction rod 72. Correction rod 72 is used to guide compression spring 71. Compression spring 71 is sleeved on the outer wall of correction rod 72 to prevent the compression spring 71 from shifting during compression. Correction rod 72 is slidably connected to the inner wall of driven clamping arm 542 or driven rotating arm 541.

[0075] The fixing mechanism 500 also includes a guide assembly 8, which guides the entangled foreign object. The guide assembly 8 includes two sets of connecting rods 81, which are fixed to the left and right ends of the push plate 73. The connecting rods 81 are Z-shaped, and the left and right sides of the protective cover B544 and the protective cover A534 are provided with through slots 802. The connecting rods 81 penetrate the inner wall of the through slots 802. Two sets of fixing plates 82 are fixedly connected to the left and right sides of the driven clamping arm 542 and the active clamping arm 532. The two sets of fixing plates 82 are symmetrically distributed vertically. The inner surfaces of each pair of fixing plates 82 are rotatably connected to a rotating shaft 83. A guide plate 84 is fixedly connected to the end of the rotating shaft 83 away from the driven clamping arm 542 or the active clamping arm 532. The guide plate 84 is arc-shaped and is used to guide the entangled foreign object. A round rod 85 is fixedly connected to the outer wall of the guide plate 84. The round rod 85, which matches the driven clamping arm 542, is located on the upper surface of the guide plate 84, and the round rod 85, which matches the active clamping arm 532, is located on the lower surface of the guide plate 84. The guide plates 84 and 84 are staggered vertically. One end of a pull plate 86 is hinged to the outer wall of the round rod 85. The pull plate 86 is L-shaped, and the other end of the pull plate 86 is rotatably connected to a rotating block 87. The rotating block 87 is located at... A slider 88 is fixedly connected to one end of the pull plate 86. A groove 801 is provided at the end of the connecting rod 81 near the slider 88. Both the slider 88 and the groove 801 are T-shaped structures. The slider 88 is slidably connected to the inner wall of the groove 801. The slider 88 and the groove 801 are in clearance fit. When the clamping assembly 5 is closed, the connecting rod 81 moves with the clamping arm. The slider 88 and the pull plate 86 drive the guide plate 84 to retract towards the center, thereby guiding the foreign object.

[0076] Control box 2 houses a control system based on an embedded architecture using an STM32F103 microcontroller. It consists of two parts: a ground-based button-type remote controller and a device main control actuator. The device main control actuator, integrated into control box 2, establishes a connection via a 2.4GHz radio frequency communication module. This actuator, powered by an STM32F103 series microcontroller, receives wireless commands from the ground remote controller, generates independent PWM control signals, and precisely controls the movements of rotary servos A43, electric actuator 46, rotary servos B49, rotary servos C412, and clamping servo 52. It also collects feedback signals from each component in real time, achieving closed-loop control and ensuring accurate response to operating commands. Furthermore, the ground-based button-type remote controller uses a non-handle design and is equipped with a unique... The control box 2 is equipped with control buttons, which correspond to controlling the upward or downward swing of rotary servo A43, the extension and retraction of the output shaft of electric push rod 46, the upward or downward swing of rotary servo B49, the clockwise or counterclockwise rotation of rotary servo C412, and the opening or closing of clamping assembly 5. It also features a power switch and status indicator lights, allowing operators to monitor the equipment status in real time and control it precisely through the feedback from the drone's built-in camera. The control box 2 is equipped with a power supply system using a lithium battery pack as the main power source, directly matching the operating voltage requirements of each electrical device. The lithium battery pack is equipped with a dedicated safety charger to ensure continuous operation. The control box 2 also has a power monitoring module; when the battery is low, an alarm is triggered via the remote control's status indicator light, reminding the operator to return to base.

[0077] Working principle: Before operation, rigidly connect the device to the drone via the mounting bracket 1, check the power of the lithium battery pack built into the control box 2 and the insulation performance of each component, start the control system, establish 2.4GHz radio frequency communication with the device's main control actuator via the ground button remote controller, debug each component to ensure that each component responds normally, and the drone carrying the device flies to the airspace above the work area and hovers.

[0078] During the positioning phase, the operator observes the location of the foreign object through the drone's built-in camera, controls the ground remote controller to send commands, and the STM32F103 microcontroller in the control box 2 generates a PWM control signal to drive the positioning component 4 to move. The rotating servo motor A43 drives the connecting arm A44 to swing up and down to adjust the clamping height. The electric push rod 46 extends and retracts to change the relative length of the connecting arm A44 and the connecting arm B48 to adjust the clamping distance. The rotating servo motor B49 adjusts the orientation and angle of the fixing mechanism 500 so that the clamping component 5 is aligned with the foreign object.

[0079] During the clamping stage, the first step is to determine whether the cutting and guiding functions are needed based on the type of foreign object. If the foreign object is a kite string, a wrapped plastic bag, or other entangled foreign object, then the cutting and guiding functions are required. During clamping, the state of the rotary servo C412 is adjusted so that it drives the connecting seat 413 to rotate 180 degrees. The pressure rod 62 will be squeezed and moved to the right, which in turn drives the connecting plate 63 to move and push the push rod A64. The push rod A64 will push the hydraulic oil in the sealing tube A66, the connecting hose 69, and the sealing tube B612, which in turn pushes the push rod B613 and the push plate 73 toward the center of the bearing plate 51. At this time, the blade 74 will be pushed out and stabilized, and the push plate 73 will push the connecting rod 81 to push the slider 88, the rotating block 87, the pull plate 86, the round rod 85, and the guide plate 84 toward the center of the bearing plate 51. When the push plate 73 moves, it will also stretch and compress the spring 71 to generate a reaction force. The approaching guide plate 84 can provide a space for the entangled foreign object that needs to be cut later. The object is guided, and then the clamping servo 52 is operated by the remote control to drive the active rotating arm 531 to rotate. Through the meshing teeth, the driven rotating arm 541 is driven to rotate in the opposite direction, so that the active clamping arm 532 and the driven clamping arm 542 come together. The anti-slip texture on the active clamping arm 532, the driven clamping arm 542, the protective cover A 534, and the protective cover B 544 is used to adhere to the foreign object and fix it. During the clamping process, the guide plate 84 can provide guidance to gather the foreign object to the cutting point. When the blade 74 is inserted into the clearance hole 701 to cut the foreign object, after cutting and clamping, the remote controller is used to control the drone to leave the cleaning point, and then the clamping servo 52 is controlled to reverse the action, so that the active clamping arm 532 and the driven clamping arm 542 open to release the cleaned foreign object. Then the rotation servo C412 is adjusted to the initial state, and the push plate 73, the pressure rod 62, the connecting plate 63, the push rod A64, and the push rod B613 will all return to their original state under the pull of the compression spring 71.

[0080] If the foreign object is a tree branch or similar object that does not need to be cut, there is no need to adjust the state of the rotating servo C412. You can directly control the clamping servo 52 to perform the clamping operation by controlling the remote controller. After clamping, control the drone to leave the cleaning point by controlling the remote controller, and then control the clamping servo 52 to reverse the action, so that the active clamping arm 532 and the driven clamping arm 542 open to release the cleaned foreign object.

[0081] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone-mounted high-voltage power line foreign object insulation removal device, characterized in that, include: Mounting bracket (1) for connection to the bottom of the drone; The control box (2) is located at the bottom of the mounting frame (1); The servo chassis (3) is located at one end of the control box (2); The positioning component (4) is located at the end of the servo chassis (3) away from the control box (2) and is used to adjust the spatial operating angle; The fixing mechanism (500) is located at the output end of the positioning component (4). The fixing mechanism (500) includes a clamping component (5) for clamping foreign objects, a driving component (6) for driving the cutting action, and a cutting component (7) for cutting off foreign objects.

2. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 1, characterized in that: The positioning component (4) includes a mounting bracket (41) mounted on a servo chassis (3). A rotary servo A (43) is mounted in the mounting bracket (41) via a bearing A (42). A connecting arm A (44) is fixed to the output end of the rotary servo A (43). An electric push rod (46) is provided in the connecting arm A (44). The output shaft of the electric push rod (46) is connected to a connecting arm B (48), and the connecting arm B (48) and the connecting arm A (44) are in a sliding fit.

3. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 2, characterized in that: The end of the connecting arm B (48) is equipped with a rotary servo B (49), which is connected to a fixed frame (411) via a bearing B (410). A rotary servo C (412) is installed inside the fixed frame (411), and the output shaft of the rotary servo C (412) is fixedly connected to a connecting seat (413), which is rigidly connected to the clamping assembly (5).

4. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 3, characterized in that: The clamping assembly (5) includes a support plate (51) connected to a connecting seat (413). A clamping servo motor (52) is mounted on the support plate (51). The output shaft of the clamping servo motor (52) is fixed with an active rotating arm (531) with meshing teeth. The active rotating arm (531) drives a driven rotating arm (541) connected to the support plate (51) to perform reverse synchronous motion through the meshing teeth.

5. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 4, characterized in that: One end of the active rotating arm (531) is hinged to an active clamping arm (532), and the middle section of the active clamping arm (532) forms a parallelogram linkage mechanism with the bearing plate (51) through an active positioning rod (533); one end of the driven rotating arm (541) is hinged to a driven clamping arm (542), and the middle section of the driven clamping arm (542) forms a parallelogram linkage mechanism with the bearing plate (51) through a driven positioning rod (543).

6. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 4, characterized in that: The drive assembly (6) includes a guide plate (61) fixed to the end of the fixed frame (411). The surface of the guide plate (61) is provided with an inclined structure that gradually protrudes to the right from top to bottom. The lower surface of the bearing plate (51) is provided with a push rod A (64). One end of the push rod A (64) is provided with a pressure rod (62) that abuts against the guide plate (61). When the rotating servo C (412) drives the bearing plate (51) to rotate, the pressure rod (62) moves along the inclined structure and pushes the push rod A (64) axially.

7. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 6, characterized in that: The drive assembly (6) also includes a sealing tube A (66) that cooperates with the push rod A (64). The sealing tube A (66) is connected to a sealing tube B (612) provided on the active clamping arm (532) or the driven clamping arm (542) via a connecting hose (69). The push rod B (613) is slidably provided inside the sealing tube B (612). The sealing tube A (66), the connecting hose (69) and the sealing tube B (612) constitute a closed hydraulic chamber filled with hydraulic medium.

8. The UAV-mounted high-voltage power line foreign object insulation removal device according to claim 7, characterized in that: The cutting assembly (7) includes a push plate (73) fixed to the end of the push rod B (613), a blade (74) fixed on the push plate (73), the blade (74) passing through the driven clamping arm (542); an avoidance hole (701) is provided on the active clamping arm (532) corresponding to the position of the blade (74); the push plate (73) and the driven clamping arm (542) are elastically connected by a compression spring (71).

9. A UAV-mounted high-voltage power line foreign object insulation removal device according to claim 8, characterized in that: It also includes a guide assembly (8), which includes a connecting rod (81) fixed on the push plate (73), and the connecting rod (81) is hinged to the guide plate (84) via a pull plate (86); when the push plate (73) moves with the push rod B (613), the guide plate (84) is driven to retract toward the central axis of the bearing plate (51) via the connecting rod (81) and the pull plate (86) to form a foreign object guide slope.

10. A UAV-mounted high-voltage power line foreign object insulation removal device according to claim 9, characterized in that: The mounting frame (1) is made of high-strength lightweight alloy material; the surface of the control box (2), servo chassis (3), mounting bracket (41) and connecting arm A (44) is made of insulating engineering plastic; the surface of the blade (74) is coated with an insulating coating.

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