A device for assembling and disassembling high-hanging objects of power transmission tower using unmanned aerial vehicle

Abstract

The application belongs to the technical field of power transmission line high-altitude operation equipment, and discloses a device for assembling and disassembling high-altitude suspension of a power transmission tower by using a UAV, which comprises a UAV part and a suspension assembly, and the suspension assembly comprises a main frame assembly and a locking mechanism; the device is characterized in that the locking tongue piece is pushed by the self weight of the tower suspension beam, thereby completing mechanical self-locking, the locking tongue piece is linearly upwardly slid to close the suspension inlet and outlet, and the tower suspension beam can be prevented from accidentally falling off without additional power, thereby meeting the safety requirements of high-altitude power operation; when disassembling, the UAV lifts the main frame assembly, the locking tongue piece is driven by the spring to move downward and reset, the suspension inlet and outlet are slowly opened, the tower suspension beam is naturally slid along the disengaging slope, and the situation of being stuck and jammed does not occur, and the smoothness of disassembling and assembling operation and the overall practicality of the device are further improved.

Description

Technical Field

[0001] This invention belongs to the technical field of high-altitude operation equipment for power transmission lines, specifically a device for using drones to load and unload suspended objects at high altitudes on power transmission towers. Background Technology

[0002] In the operation and maintenance of power transmission lines, in order to ensure the safety of high-altitude tower climbing operations, it is usually necessary to complete the installation and removal of suspended components such as climbing ropes at the top of the transmission tower in advance. Traditional operation methods rely on manual tower climbing. The first person to climb the tower has no prior safety protection conditions and must climb the tower naked to lay the safety rope, which poses a great risk of falling from a height and cannot guarantee the safety of the operation. However, with the development of intelligent power operation and maintenance technology, drones, with their advantages of maneuverability and the ability to achieve non-contact high-altitude operations, are widely used in auxiliary operations of power transmission lines. They provide a new solution for the installation and removal of suspended objects at the top of the tower and can effectively replace high-risk manual tower climbing operations.

[0003] Currently, drone-mounted devices used for assembling and disassembling suspended objects on power poles still have many technical defects, making it difficult to adapt to the standardized and safe operation requirements of power sites. Existing devices generally lack reliable anti-detachment locking structures, and there are no safety protection limits after the suspension operation is completed, which does not comply with the power safety tool usage specifications and results in a low operational safety factor. At the same time, the overall operation of the device relies entirely on electronic circuit control, and the electronic control components are concentrated at the suspension operation end. During the operation, they are susceptible to failure due to external forces such as suspension tension and pole collisions, resulting in poor equipment stability and a high failure rate. In addition, the existing devices have extremely low fault tolerance. Mounting requires precise alignment of the suspension ring, and disassembly requires precise matching of the disengagement outlet. In beyond-line-of-sight operation scenarios, jamming failures are very likely to occur, making operation difficult and impractical, and hindering large-scale promotion and application. Therefore, this paper proposes a device for assembling and disassembling suspended objects at high altitudes on transmission towers using drones to solve the problems mentioned in the background technology. Summary of the Invention

[0004] To address the problems mentioned in the background section, the present invention provides a device for using drones to install and remove objects suspended high up on power transmission towers.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a device for using a drone to install and remove suspended objects at high altitudes on power transmission towers, comprising a drone part and a suspension assembly, wherein the suspension assembly includes a main frame assembly and a locking mechanism; The main frame assembly includes a protective shell, a connecting top is fixedly connected to the top of the protective shell, a release ramp is fixedly connected to one end of the bottom of the protective shell, a circumferential groove is formed on the outer wall of the connecting top, and a suspension inlet and outlet are formed on the bottom end of one side of the protective shell. The locking mechanism includes a locking tongue that is movably connected inside the main frame assembly. The protective housing has two symmetrically arranged fixing points fixedly connected inside, and a spring is fixedly connected to the bottom end of each fixing point. The drone component consists of drone mechanical components and an electronic circuit control system. The drone mechanical components include a gripping cover, an electromagnetic drive lock, and an electromagnetic locking tongue.

[0006] Preferably, the upper end of the gripping cover is used to attach to the drone body, the gripping cover is embedded in the top of the connecting top, the electromagnetic drive lock is fixedly embedded in one side inside the gripping cover, and the inner wall of the gripping cover is a smooth flared curved surface.

[0007] Preferably, the inner cavity of the electromagnetic drive lock is fixedly connected with an elastic element, the electromagnetic lock tongue is slidably connected to the electromagnetic drive lock through the elastic element, the bottom of the electromagnetic lock tongue is inclined, and after the electromagnetic lock tongue is extended, it is engaged with the connecting top through a circumferential groove.

[0008] Preferably, the electronic circuit control system consists of a receiver, a relay, a 12V DC power supply, and a BEC step-down module. The electronic circuit control system is electrically connected to the electromagnetic drive lock and is used to control the on / off state of the electromagnetic drive lock.

[0009] Preferably, the locking tongue is a frame-shaped component formed by integral bending, the bottom end of the locking tongue penetrates the protective housing downward and extends to the outside of the protective housing, and the inner wall of the main frame assembly is provided with a sliding groove that cooperates with the locking tongue.

[0010] Preferably, the end of the spring away from the fixed point is fixedly connected to the locking tongue, the inner wall of one side of the locking tongue slides against one end of the protective shell, and the locking tongue moves upward to block the suspension inlet and outlet.

[0011] Preferably, the interior of the protective housing can accommodate the tower suspension beam, and both ends of the tower suspension beam are fixedly connected to the suspension objects by connecting lines. The tower suspension beam enters the interior of the protective housing through the suspension inlet and outlet and pushes the locking tongue upward.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes the self-weight of the tower suspension beam to push the locking tongue, thus achieving mechanical self-locking. The locking tongue slides upward in a straight line to close the suspension inlet and outlet, preventing the tower suspension beam from accidentally falling off without additional power, meeting the safety requirements for high-altitude power operations. During dismantling operations, the drone lifts the main frame assembly, which in turn drives the locking tongue to move downward and reset via a spring, allowing the suspension inlet and outlet to open slowly. This allows the tower suspension beam to slide out naturally along the release ramp without jamming or getting stuck, further improving the smoothness of dismantling and assembly operations and the overall practicality of the device.

[0013] This invention employs a dual-mode structure of mechanical locking and electric unlocking. Grabbing and docking rely on the inclined surface of the electromagnetic locking tongue to achieve passive retraction, requiring no electrical control throughout the process. The electromagnetic drive lock is only energized during separation and unlocking, eliminating the reliance on electronic circuits for dismantling operations and effectively avoiding device failures caused by circuit malfunctions. At the same time, the annular opening of the circumferential locking groove allows the electromagnetic locking tongue to engage from any angle, enabling the drone to complete the grab without precise alignment, greatly reducing the operational difficulty of beyond-visual-range high-altitude operations. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention in a suspended state; Figure 3 This is a flowchart illustrating the process of mounting the suspension beam on the tower according to the present invention; Figure 4 This is a structural schematic diagram of the suspension process of the tower suspension beam of the present invention; Figure 5 This is a schematic diagram of the process of removing the suspension beam of the tower according to the present invention.

[0015] In the picture: 1. Main frame assembly; 101. Protective shell; 102. Connecting top; 103. Circumferential groove; 104. Release ramp; 2. Mechanical components of the unmanned aerial vehicle (UAV); 201. Grasping cover; 202. Electromagnetic drive lock; 203. Electromagnetic locking tongue; 3. Display at entrances and exits; 4. Locking mechanism; 401. Locking tongue; 402. Fixing point; 403. Spring; 404. Slide groove; 5. Tower suspension beams; 6. Hanging objects. Detailed Implementation

[0016] The technical solutions of 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.

[0017] like Figures 1 to 5 As shown, the present invention provides a device for using a drone to install and remove objects suspended high up on a power transmission tower, including a drone part and a suspension assembly, the suspension assembly including a main frame assembly 1 and a locking mechanism 4; The main frame assembly 1 includes a protective shell 101. A connecting top 102 is fixedly connected to the top of the protective shell 101. A release ramp 104 is fixedly connected to one end of the bottom of the protective shell 101. A circumferential groove 103 is provided on the outer wall of the connecting top 102. A hanging inlet and outlet 3 is provided on the bottom end of one side of the protective shell 101. The locking mechanism 4 includes a locking tongue 401 that is movably connected inside the main frame assembly 1. The protective housing 101 has two symmetrically arranged fixing points 402 fixedly connected inside, and a spring 403 is fixedly connected to the bottom end of the fixing point 402. The drone part consists of drone mechanical components 2 and electronic circuit control system. Drone mechanical components 2 include gripping cover 201, electromagnetic drive lock 202 and electromagnetic lock tongue 203.

[0018] The above solution is adopted: the circumferential groove 103 is designed in a 360° circle, so that the electromagnetic locking tongue 203 can be locked into any position of the circumferential groove 103, thereby allowing the UAV to grab the suspension component through the grab cover 201 without angle restriction, and further reducing the difficulty of operation.

[0019] like Figure 1 As shown, the upper end of the gripping cover 201 is used to attach to the drone body. The gripping cover 201 is embedded in the top of the connecting top 102. The electromagnetic drive lock 202 is fixedly embedded in one side inside the gripping cover 201. The inner wall of the gripping cover 201 is a smooth flared curved surface.

[0020] The above solution employs a smooth, flared inner wall for the gripping cover 201. This widens the contact area between the gripping cover 201 and the connecting top 102. The smooth inner wall allows the gripping cover 201 to easily slide into the connecting top 102 when it contacts the protective shell 101. Furthermore, when the drone removes the suspended object 6, the gripping operation requires high precision and beyond visual range, making it difficult to operate. The large contact area and curved surface design solve the problem of high precision requirements for the drone removal device. The drone can grip the suspended component without aligning it with the suspension opening, greatly reducing the operational difficulty.

[0021] like Figure 1 As shown, an elastic element is fixedly connected to the inner cavity of the electromagnetic drive lock 202. The electromagnetic lock tongue 203 is slidably connected to the electromagnetic drive lock 202 through the elastic element. The bottom of the electromagnetic lock tongue 203 is inclined. After the electromagnetic lock tongue 203 extends out, it is engaged with the connecting top 102 through the circumferential groove 103. The electronic circuit control system consists of a receiver, a relay, a 12V DC power supply and a BEC step-down module. The electronic circuit control system is electrically connected to the electromagnetic drive lock 202 and is used to control the on and off of the electromagnetic drive lock 202.

[0022] The above-mentioned solution employs a dual-mode operation: purely mechanical locking and electrically powered retraction unlocking. During docking and locking, the electromagnetic latch 203 is compressed by the inclined surface at its bottom, compressing the internal elastic element to achieve passive retraction. After alignment, the elastic element resets and pushes the electromagnetic latch 203 out to engage with the circumferential slot 103. No electricity is required throughout the process; locking can be completed solely through the mechanical structure, resulting in high stability. Only when unlocking and separation are needed is the electromagnetic drive lock 202 powered by the electronic circuit control system. The electromagnetic attraction drives the electromagnetic latch 203 to actively retract and complete the unlocking. This approach balances mechanical reliability with the convenience of electrical control, avoiding the defects of fully electrically controlled structures that are prone to failure at high altitudes.

[0023] The electromagnetic latch 203 is controlled by an electronic circuit control system. The 12V DC power supply powers the receiver through the BEC step-down module. The receiver is frequency-synchronized with the flight controller. When the receiver receives the instruction information from the flight controller, it transmits the control signal to the relay. The relay controls the opening and closing of the circuit between the 12V DC power supply and the electromagnetic drive lock 202, thereby controlling the action of the electromagnetic latch 203.

[0024] It is worth noting that the electronic circuit control system of this device is installed on the drone, thereby avoiding damage to the electronic circuit components during suspension and reducing the incidence of electronic circuit failure. The suspension assembly only contains a simple mechanical structure, reducing the complexity of the device, extending its service life, improving safety and durability, and reducing maintenance costs.

[0025] like Figures 1 to 5 As shown, the locking tongue 401 is a frame-shaped component formed by integral bending. The bottom end of the locking tongue 401 penetrates the protective housing 101 downwards and extends to the outside of the protective housing 101. The inner wall of the main frame assembly 1 is provided with a sliding groove 404 that cooperates with the locking tongue 401. The end of the spring 403 away from the fixing point 402 is fixedly connected to the locking tongue 401. The inner wall of one side of the locking tongue 401 slides against one end of the protective housing 101. After the locking tongue 401 moves upward, it is used to block the suspension inlet and outlet 3.

[0026] The above solution is adopted: the locking tongue 401 with an integrated bent frame structure and the sliding groove 404 realize vertical sliding. Through the extension and contraction deformation of the spring 403, the locking tongue 401 is driven to slide up and down. During the hanging operation, the locking tongue 401 moves up to block the hanging inlet and outlet 3, forming a mechanical self-locking anti-detachment structure. It does not rely on electric control and structurally prevents the hanging object from falling off accidentally, thus meeting the safety regulations for high-altitude power operations.

[0027] like Figure 1 As shown, the interior of the protective housing 101 can accommodate the tower suspension beam 5. The two ends of the tower suspension beam 5 are fixedly connected to the suspension objects 6 through connecting lines. The tower suspension beam 5 enters the interior of the protective housing 101 through the suspension inlet and outlet 3 and pushes the locking tongue 401 upward.

[0028] The above-mentioned solution utilizes the self-weight of the tower suspension beam 5 and the suspended object 6 as the driving force. The jacking locking tongue 401 automatically completes the sealing and locking without manual operation or power assistance, achieving automatic locking of the load. During dismantling, after the top support limit is released, the spring 403 resets and automatically opens the suspension inlet and outlet 3. It also works with the release ramp 104 to achieve fast and unobstructed material removal. The entire process is automated, replacing the traditional manual tower climbing operation and completely eliminating the risk of falling from heights. The design of the detachment ramp 104 effectively prevents the tower suspension beam 5 from getting stuck inside the suspension assembly, thereby improving the practicality of the device.

[0029] The working principle and usage process of this invention: Suspension installation stage: The drone takes off with the drone mechanical component 2. At this time, the electromagnetic locking tongue 203 is in a de-energized state. Then, the grabbing cover 201 is embedded into the top of the connecting top 102. During the process of the connecting top 102 entering the grabbing cover 201, its outer wall can squeeze the bottom slope of the electromagnetic locking tongue 203, forcibly retracting it. After the alignment is completed, the electromagnetic locking tongue 203 will automatically reset under the action of the elastic force of the elastic element, thereby locking into the interior of the circumferential slot 103, thereby achieving rigid locking between the drone mechanical component 2 and the main frame component 1. Then, the drone carries the main frame component 1 to the work site. Since the suspension inlet and outlet 3 is in an open state, the tower suspension beam 5 is inserted into the protective shell 101 through the suspension inlet and outlet 3. Mechanical self-locking stage: Subsequently, the electronic circuit control system controls the electromagnetic drive lock 202 to be energized. The electromagnetic drive lock 202 generates electromagnetic force to drive the electromagnetic lock tongue 203 to retract, thereby releasing the electromagnetic lock tongue 203 from the connection top 102. At this time, the entire suspension assembly falls rapidly, so that the inner wall of the top of the lock tongue 401 is suspended on the tower suspension beam 5. Then, the tower suspension beam 5 uses its own weight and the weight of the suspended object 6 to push the lock tongue 401 upward, so that the lock tongue 401 rises in a straight line relative to the protective shell 101 along the trajectory of the slide groove 404, compressing the spring 403. At the same time, after the lock tongue 401 moves upward, it completely blocks the suspension inlet and outlet 3, forming a purely mechanical anti-detachment locking structure. It can limit the tower suspension beam 5 from detaching without the need for electronic control assistance, thereby achieving high-altitude safety self-locking and avoiding the risk of suspended objects falling. When dismantling is required, the drone drives the drone mechanical component 2 to re-engage with the top of the connecting top 102, and then lifts the main frame component 1 upward, thereby eliminating the top support limiting force of the tower suspension beam 5. At this time, the compressed spring 403 elastically resets, thereby pulling the locking tongue 401 to slide downward along the slide groove 404, thus releasing the blockage of the suspension inlet and outlet 3. Subsequently, the drone continues to lift the suspension component through the engagement of the drone mechanical component 2 with the main frame component 1. Finally, the tower suspension beam 5 slides smoothly out against the release ramp 104 at the bottom of the protective shell 101. The entire process does not require precise alignment and relies on the ramp guide to achieve unimpeded material removal, efficiently completing the dismantling operation of the suspended object.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] 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 device for installing and removing suspended objects at high altitudes on power transmission towers using a drone, comprising a drone component and a suspension assembly, characterized in that: The suspension assembly includes a main frame assembly (1) and a locking mechanism (4). The main frame assembly (1) includes a protective shell (101), a connecting top (102) is fixedly connected to the top of the protective shell (101), a release ramp (104) is fixedly connected to one end of the bottom of the protective shell (101), a circumferential groove (103) is provided on the outer wall of the connecting top (102), and a hanging inlet and outlet (3) is provided on the bottom end of one side of the protective shell (101). The locking mechanism (4) includes a locking tongue (401) movably connected inside the main frame assembly (1), and two symmetrically arranged fixing points (402) are fixedly connected inside the protective housing (101), with a spring (403) fixedly connected to the bottom end of the fixing point (402). The drone part consists of a drone mechanical component (2) and an electronic circuit control system. The drone mechanical component (2) includes a gripping cover (201), an electromagnetic drive lock (202), and an electromagnetic locking tongue (203).

2. The device for using a drone to load and unload objects suspended high on power transmission towers according to claim 1, characterized in that: The upper end of the gripping cover (201) is used to attach to the drone body. The gripping cover (201) is embedded in the top of the connecting top (102). The electromagnetic drive lock (202) is fixedly embedded in one side inside the gripping cover (201). The inner wall of the gripping cover (201) is a smooth flared curved surface.

3. The device for using a drone to install and dismantle objects suspended high on power transmission towers according to claim 1, characterized in that: The inner cavity of the electromagnetic drive lock (202) is fixedly connected with an elastic element. The electromagnetic lock tongue (203) is slidably connected to the electromagnetic drive lock (202) through the elastic element. The bottom of the electromagnetic lock tongue (203) is inclined. After the electromagnetic lock tongue (203) extends out, it is engaged with the connecting top (102) through the circumferential groove (103).

4. The device for using a drone to load and unload objects suspended high on power transmission towers according to claim 1, characterized in that: The electronic circuit control system consists of a receiver, a relay, a 12V DC power supply and a BEC step-down module. The electronic circuit control system is electrically connected to the electromagnetic drive lock (202) and is used to control the power supply to and from the electromagnetic drive lock (202).

5. The device for using a drone to install and dismantle objects suspended high on power transmission towers according to claim 1, characterized in that: The locking tongue (401) is a frame-shaped component formed by integral bending. The bottom end of the locking tongue (401) penetrates the protective shell (101) downward and extends to the outside of the protective shell (101). The inner wall of the main frame assembly (1) is provided with a sliding groove (404) that cooperates with the locking tongue (401).

6. The device for using a drone to install and remove objects suspended high on power transmission towers according to claim 1, characterized in that: The end of the spring (403) away from the fixed point (402) is fixedly connected to the locking tongue (401). The inner wall of one side of the locking tongue (401) slides against one end of the protective shell (101). After the locking tongue (401) moves up, it is used to block the suspended inlet and outlet (3).

7. The device for using a drone to install and remove objects suspended high on power transmission towers according to claim 1, characterized in that: The protective housing (101) can accommodate the tower suspension beam (5). The two ends of the tower suspension beam (5) are fixedly connected to the suspension object (6) by the connecting line. The tower suspension beam (5) enters the protective housing (101) through the suspension inlet and outlet (3) and pushes the locking tongue (401) upward.

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