Suspension damping device, conductor de-icing system and control method

Abstract

The embodiment of the application provides a suspension damping device, a wire deicing system and a control method. The suspension damping device comprises a movable part, an elastic part and a damper. The movable part is used for connecting a deicing part. The elastic part and the damper are connected with a UAV. One end of the elastic part and one end of the damper are respectively used for connecting with the UAV. The other end of the elastic part and the other end of the damper are respectively used for connecting with the movable part. The elastic part and the damper are arranged in parallel between the UAV and the movable part. The instantaneous impact force generated by the impact of the knocking rod on the wire is shunted to two independent energy dissipation paths on the transmission path, the load intensity of a single path is reduced, the impact force is effectively attenuated, the high-amplitude impact force is avoided from directly acting on the UAV body, the attitude stability of the UAV in the deicing operation is ensured, the risk of damage of the UAV structure due to repeated impact is reduced, and the service life of the UAV and the mounted equipment is prolonged.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a suspension buffer device, a wire de-icing system, and a control method. Background Technology

[0002] Ice accumulation on overhead power transmission lines poses a serious threat to the safe operation of the power grid. Currently, drones are often used to swing and strike the conductors with a hammer to remove the ice. However, the hammer strikes the conductor and generates an extremely high instantaneous impact force. This impact force is transmitted directly to the drone's fuselage through the suspension rope, which can easily cause the drone to lose control, sway, or even crash. Summary of the Invention

[0003] In view of this, this application aims to provide a suspension buffer device, a wire de-icing system, and a control method to solve the problem that the impact force generated by the de-icing knock is transmitted to the drone and can easily cause it to lose control.

[0004] In a first aspect, this application provides a suspension buffer device for a drone, including a movable member, an elastic member, and a damper. The movable member is used to connect to a de-icing component. One end of the elastic member and one end of the damper are respectively used to connect to the drone, and the other ends of the elastic member and the damper are respectively used to connect to the movable member, such that the elastic member and the damper are arranged in parallel between the drone and the movable member.

[0005] In some embodiments, the elastic element includes a spring, which is sleeved on the outside of the damper, with the central axis of the spring coinciding with the central axis of the damper, so that the spring and the damper are coaxially connected in parallel.

[0006] In some implementations, the spring includes a helical compression spring.

[0007] In some implementations, the damper includes a miniature hydraulic damper.

[0008] In some embodiments, the suspension buffer device further includes a housing and a locking element. An elastic element and a damper are disposed within the housing, and a movable element is movably disposed at one end of the housing. The locking element is disposed between the movable element and the housing, and includes a locked state and an unlocked state. In the locked state, the locking element restricts the movement of the movable element relative to the housing. In the unlocked state, the locking element releases the restriction on the movable element, allowing the movable element to move relative to the housing.

[0009] In some embodiments, the locking element includes an electromagnetic component and a stop block, with the electromagnetic component disposed on the housing. The stop block is connected to the drive end of the electromagnetic component. In the locked state, the electromagnetic component is de-energized to cause the stop block to extend and abut against the movable component. In the unlocked state, the electromagnetic component is energized to cause the stop block to retract and separate from the movable component.

[0010] In some embodiments, the suspension buffer also includes a connecting frame, on which one end of the elastic element and one end of the damper are disposed, and the connecting frame is used to connect to the drone.

[0011] In some embodiments, the connecting frame includes a fixed plate and multiple brackets. The fixed plate is located at the end of the elastic element and damper away from the moving element, and the fixed plate has connection holes for the UAV. Multiple brackets are arranged around the fixed plate, with one end of each bracket connected to the fixed plate and the other end of each bracket for connection to the UAV's landing gear.

[0012] Secondly, this application provides a wire de-icing system, including a drone, a de-icing component, and a suspension buffer device as provided in any of the above embodiments. The elastic element and damper of the suspension buffer device are connected to the drone. The de-icing component is disposed on the movable element of the suspension buffer device.

[0013] In some implementations, the electromagnetic components of the suspension buffer are electrically connected to the drone.

[0014] Thirdly, this application provides a control method for the wire de-icing system provided in any of the above embodiments, comprising: In response to the drone's operating commands, the locking mechanism of the suspension buffer device is locked to restrict the movement of moving parts relative to the shell. When the distance between the de-icing component and the target wire meets the preset distance, the control latch is switched to the unlocked state, and the impact force between the de-icing component and the target wire is transmitted to the elastic component and the damper through the moving component.

[0015] Compared with the prior art, the beneficial effects of this application are: The suspension buffer device provided in this application, by setting an elastic element and a damper in parallel between the UAV and the moving parts, diverts the instantaneous impact force generated by the striking rod hitting the wire into two independent energy dissipation paths on the transmission path, reducing the load intensity of a single path, effectively attenuating the impact force, avoiding high-amplitude impact force directly acting on the UAV fuselage, ensuring the attitude stability of the UAV during de-icing operations, reducing the risk of damage to the UAV structure due to repeated impacts, and extending the service life of the UAV and the mounted equipment.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is one of the partial structural schematic diagrams of the suspension buffer device provided in the embodiments of this application; Figure 2 A second partial structural schematic diagram of a suspension buffer device provided in one embodiment of this application; Figure 3 A schematic diagram of a wire de-icing system provided in one embodiment of this application; Figure 4 A flowchart of a control method for a wire de-icing system provided in one embodiment of this application; Figure 5 One of the simulated force comparison diagrams of a suspension buffer device provided in one embodiment of this application; Figure 6 The second simulated force comparison diagram of the suspension buffer device provided in one embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 1. Suspension buffer device, 11 active items, 12 elastic elements, 13 dampers, 14. Shell 15 Locking fastener, 151 Electromagnetic component, 152 Stop block, 2 connecting brackets, 21 fixing plates, 22 brackets, 3. Unmanned aerial vehicles (UAVs). Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0025] Firstly, this application provides a suspension buffer device 1 for a drone 3, such as... Figures 1 to 3 As shown, the device includes a movable component 11, an elastic component 12, and a damper 13. The movable component 11 is used to connect to the de-icing component. One end of the elastic component 12 and one end of the damper 13 are respectively used to connect to the drone 3, and the other ends of the elastic component 12 and the damper 13 are respectively used to connect to the movable component 11, so that the elastic component 12 and the damper 13 are arranged in parallel between the drone 3 and the movable component 11.

[0026] The movable component 11 is positioned between the UAV 3 and the de-icing component. A portion of the movable component 11 is connected to the de-icing component, allowing it to receive the impact force transmitted from it. The other portion of the movable component 11 is connected to both the elastic component 12 and the damper 13, enabling it to transmit the impact force to both components. As a node for collecting and distributing impact force, the movable component 11 bears the impact load from the direction of the de-icing component and distributes it to the two load-bearing paths of the elastic component 12 and the damper 13.

[0027] Optionally, the movable part 11 is a movable part 11, the upper surface of the movable part 11 is connected to the elastic part 12 and the damper 13 respectively, and the lower surface of the movable part 11 is connected to the de-icing part.

[0028] The de-icing component is used to remove ice from the wire. Optionally, the de-icing component includes, but is not limited to, a de-icing rope, a striking rod, a striking hammer, etc. Optionally, the de-icing component may include a de-icing rope and a striking rod, wherein the de-icing rope serves as a flexible connecting element, and the striking rod serves as an impact actuating element, striking the icy wire. The de-icing component is suspended below the movable component 11 and can swing and impact the icy wire under the traction of the drone 3.

[0029] Optionally, the movable part 11 is provided with a hook, which can be used to connect with the de-icing part to facilitate the disassembly of the de-icing part.

[0030] The elastic element 12 undergoes recoverable deformation under external force and generates an elastic restoring force proportional to the displacement. In this application, the elastic element 12 is used to receive the impact force transmitted by the moving element 11. By compressing and deforming itself, the elastic element 12 converts part of the impact kinetic energy into elastic potential energy for temporary storage and releases it slowly after the impact ends, thereby preventing the instantaneous impact from being directly transmitted to the UAV 3.

[0031] The damper 13 is used to receive the impact force transmitted by the moving part 11. The mechanical energy is converted into heat energy and dissipated by the flow resistance of the medium inside the damper 13, thereby attenuating the transmission of impact energy.

[0032] Specifically, the two ends of the elastic element 12 and the damper 13 are respectively connected between the UAV 3 and the moving part 11, so that the elastic element 12 and the damper 13 can withstand the same displacement input and share the load. By setting the elastic element 12 and the damper 13 in parallel, when the moving part 11 is displaced relative to the UAV 3, the elastic element 12 and the damper 13 will deform accordingly at the same time, and the forces on the two are independent of each other and superimposed in the same direction. In the initial stage of impact, the impact force causes the moving part 11 to move rapidly, and the damper 13 generates a large damping force to suppress the velocity peak. As the displacement increases, the elastic element 12 generates a gradually increasing restoring force to limit the displacement peak. The two complement each other and realize the coordinated dissipation of force and energy during the impact process.

[0033] The suspension buffer device 1 provided in this application, by setting an elastic element 12 and a damper 13 in parallel between the UAV 3 and the moving part 11, diverts the instantaneous impact force generated by the striking rod hitting the wire to two independent energy dissipation paths on the transmission path, reducing the load intensity of a single path, effectively attenuating the impact force, avoiding the direct action of high-amplitude impact force on the fuselage of the UAV 3, ensuring the attitude stability of the UAV 3 in de-icing operations, reducing the risk of damage to the structure of the UAV 3 due to repeated impacts, and extending the service life of the UAV 3 and the mounted equipment.

[0034] In some implementations, such as Figure 1 As shown, the elastic element 12 includes a spring, which is sleeved on the outside of the damper 13. The central axis of the spring coincides with the central axis of the damper 13, so that the spring and the damper 13 are coaxially connected in parallel.

[0035] The spring is arranged in a surrounding manner around the damper 13. Specifically, the inner diameter of the spring is larger than the outer diameter of the damper 13, so that the damper 13 is entirely located in the internal space enclosed by the spring. A radial clearance is maintained between the spring and the damper 13 to avoid contact interference between the two during operation.

[0036] The spring is sleeved on the outside of the damper 13, and their central axes coincide, so that the deformation path of the spring and the movement path of the damper 13 coincide on the same axis. When the moving part 11 moves along the axis, the compression of the spring and the stroke of the damper 13 always remain consistent, and both generate reaction forces simultaneously. Since the force transmission paths are collinear, the restoring force of the spring and the damping force of the damper 13 are superimposed in the same direction at the moving part 11, with no component force loss.

[0037] In the initial stage of the impact, the velocity is relatively high and the displacement is relatively small. At this time, the damping force plays the main role in energy dissipation. In the later stage of the impact, the velocity decreases and the displacement increases. The elastic restoring force plays the main role in limiting and releasing energy. The two complement each other in chronological order.

[0038] Furthermore, since the spring and damper 13 are coaxial, the moving part 11 only bears axial force and has no deflection torque. The movement of the moving part 11 in the housing 14 is constrained to a single axial translation, and will not tilt, jam or wear due to torque. This ensures the stability and guiding accuracy of the buffering process, and allows the spring and damper 13 to be nested in the same axial length, reducing the radial projection area of ​​the mounting space at the bottom of the UAV 3, which is convenient for installation in a limited space.

[0039] In this embodiment, the force transmission paths of the spring and the damper 13 are collinear, eliminating the additional torque generated by the eccentric load, ensuring the smoothness of the movement of the moving part 11 and the accuracy of the guidance, while improving the structural compactness and facilitating installation in the limited bottom space of the UAV 3.

[0040] Optionally, the spring can be a helical compression spring with a wire diameter of 3mm~5mm, an outer diameter of 50mm~70mm, and a free length of 120mm~180mm. Optionally, the helical compression spring is made of 60Si2Mn spring steel. 60Si2Mn spring steel has a high elastic limit and fatigue resistance, and can withstand the high-frequency impact load generated by the impact of the striking rod without plastic deformation or fracture, making it suitable for working conditions with repeated impacts.

[0041] If the spring wire diameter is too small, the stiffness is insufficient and it is difficult to withstand the high impact force generated by the striking rod. If the wire diameter is too large, the stiffness is too large, resulting in insufficient buffer stroke.

[0042] If the outer diameter of the spring is too small, the internal space is insufficient to accommodate the damper 13; if the outer diameter is too large, it occupies too much space and is not suitable for the limited mounting space at the bottom of the UAV 3.

[0043] If the free length is too small, the buffer stroke will be insufficient; if the free length is too large, the overall height will be too large, affecting the center of gravity stability of the UAV 3.

[0044] Optionally, the damper 13 may be a miniature hydraulic damper 13 with 1 to 2 damping holes of 1 mm to 2 mm in diameter on the piston.

[0045] In some implementations, the spring includes a helical compression spring, which can be configured with an appropriate stiffness coefficient according to different load conditions to achieve precise matching of the elastic restoring force. Specifically, the stiffness coefficient of the helical compression spring can be flexibly configured by adjusting parameters such as wire diameter, outer diameter, and free length.

[0046] In some embodiments, the damper 13 includes a miniature hydraulic damper 13. The miniature hydraulic damper 13 provides damping force by utilizing the resistance generated when fluid flows through a damping orifice, and the damping coefficient of the miniature hydraulic damper 13 can be adjusted by adjusting the diameter of the damping orifice and the viscosity of the fluid.

[0047] In the coaxial parallel structure, the axial dimension of the miniature hydraulic damper 13 is compact, making it suitable for nesting within the internal space of the helical compression spring, forming an internal and external coaxial arrangement with the spring. When the moving part 11 undergoes axial displacement relative to the UAV 3, the piston rod of the damper 13 reciprocates within the cylinder, and the fluid through the damping orifice generates a damping force proportional to the movement speed, thereby dissipating impact energy.

[0048] In some implementations, such as Figure 1 As shown, the suspension buffer device 1 also includes a housing 14 and a locking element 15.

[0049] The elastic element 12 and the damper 13 are disposed within the housing 14, and the movable element 11 is movably disposed at one end of the housing 14. The housing 14 is a hollow cover structure disposed between the UAV 3 and the movable element 11, having a cylindrical or box-shaped shape, and forming an internal accommodating space. The upper end of the housing 14 is used for direct or indirect connection with the UAV 3, and the lower end of the housing 14 is open or has an opening. The housing 14 serves to accommodate and protect the elastic element 12 and the damper 13, preventing external debris from entering and affecting operation. Simultaneously, the housing 14 also provides guidance and constraint for the movement of the movable element 11 and provides a mounting base for the locking element 15.

[0050] Alternatively, the housing 14 may be made of aluminum alloy or engineering plastic, featuring lightweight and structural strength.

[0051] Optionally, at least a portion of the movable member 11 extends into the housing 14 and connects to the elastic member 12 and the damper 13. The movable member 11 is capable of displacement relative to the housing 14 along the axial direction, the amount of displacement being limited by the deformation capacity of the elastic member 12 and the damper 13 and the internal space of the housing 14. A clearance fit or a sliding guide structure may be used between the movable member 11 and the housing 14 to ensure smooth movement of the movable member 11 without deflection.

[0052] A locking element 15 is disposed between the movable member 11 and the housing 14. The locking element 15 is used to selectively restrict or release the movement of the movable member 11 relative to the housing 14. The locking element 15 is mounted on the housing 14, and the movable part of the locking element 15 can extend or retract to form contact or separation with the movable member 11.

[0053] Specifically, the locking element 15 has two switchable working states, which are switched by an external control signal.

[0054] In the locked state, the locking element 15 restricts the movement of the movable element 11 relative to the housing 14. In the locked state, the moving part of the locking element 15 contacts the movable element 11 and applies a restraining force, preventing the movable element 11 from displacing relative to the housing 14 in the impact direction or bidirectionally. The movable element 11 is fixed by the locking element 15 to a predetermined position at the end of the housing 14, maintaining a fixed connection between the housing 14 and the movable element 11.

[0055] In the unlocked state, the locking element 15 releases its restriction on the movable element 11, allowing the movable element 11 to move relative to the housing 14. In the unlocked state, the moving part of the locking element 15 disengages from the movable element 11, no longer exerting a constraint on it, and the movable element 11 can move freely axially relative to the housing 14. The ability to switch between locked and unlocked states allows for adjustment of the control device's operating mode according to different operational stages, improving operational reliability and flexibility.

[0056] This embodiment solves the contradictory requirements of rigid transmission for swing acceleration and flexible isolation for impact buffer by setting a locking fastener 15 and switching it between locked and unlocked states. During the swing phase of the de-icing component, the suspension buffer device 1 can transmit driving force in a rigid connection state to ensure that the striking rod obtains sufficient speed, and during the impact phase, it can attenuate the impact force in a buffer state.

[0057] Specifically, the locking element 15 is disposed between the movable part 11 and the housing 14, and its action path is independent of the force transmission paths of the elastic element 12 and the damper 13. In the locked state, the locking element 15 independently bears the force transmission, and the elastic element 12 and the damper 13 do not bear the load, thus avoiding fatigue damage to the elastic element 12 and the damper 13 caused by repeated force during the swinging phase, and extending the service life of the elastic element 12 and the damper 13.

[0058] In addition, the housing 14 provides motion guidance and constraint for the moving part 11, so that the direction of motion of the moving part 11 is consistent with the deformation direction of the elastic element 12 and the damper 13, ensuring the efficiency of force transmission and avoiding jamming or uneven wear of the moving part 11 due to skewness.

[0059] In some implementations, such as Figure 1 As shown, the locking element 15 includes an electromagnetic element 151 and a stop block 152. The electromagnetic element 151 is disposed on the housing 14. The stop block 152 is connected to the drive end of the electromagnetic element 151. In the locked state, the electromagnetic element 151 is de-energized, causing the stop block 152 to extend and abut against the movable element 11. In the unlocked state, the electromagnetic element 151 is energized, causing the stop block 152 to retract and separate from the movable element 11.

[0060] An electromagnetic component 151 is disposed on the housing 14, and a stop block 152 is connected to the drive end of the electromagnetic component 151. In the locked state, the electromagnetic component 151 is de-energized, and the drive end of the electromagnetic component 151 extends, causing the stop block 152 to extend to a position abutting against the movable component 11. The stop block 152 abuts against the bottom surface or lower edge of the side of the movable component 11, restricting the movement of the movable component 11 relative to the housing 14 by mechanical blocking, so that the movable component 11 is fixed at a predetermined position at the end of the housing 14.

[0061] In the unlocked state, the electromagnetic component 151 is energized, which enables the stop block 152 to disengage from the movable component 11. The abutment relationship between the stop block 152 and the movable component 11 is released, and the movable component 11 is no longer constrained by the stop block 152, allowing it to move freely relative to the housing 14.

[0062] The electromagnetic component 151 is in a locked state when de-energized and in an unlocked state when energized. This allows the drone to be unlocked via remote control when the power system is working properly. In the event of an accidental power outage, the locking component 151 automatically remains locked, providing fail-safe protection. The PWM signal from the remote control controls the energization and de-energization of the electromagnetic component 151. The operator can issue an unlocking command just before the striking rod hits the wire, enabling on-demand switching between the locked and unlocked states.

[0063] This embodiment achieves rapid and reliable switching between the locked and unlocked states of the locking element 15 through the cooperation of the electromagnetic component 151 and the stop block 152. The control logic of extending when power is off and retracting when power is on ensures that the locking element 15 automatically remains locked in the event of an accidental power failure, thereby improving operational safety. The stop block 152 constrains the moving part 11 through mechanical abutment, which has a simple structure, strong load-bearing capacity, and can reliably withstand the driving force during the swinging phase.

[0064] Optionally, the electromagnetic component 151 includes an electromagnet and a return spring. The electromagnet consists of an iron core, a coil, and a push rod connected to the iron core. When the coil is energized, it generates an electromagnetic force that drives the push rod to move. When the coil is de-energized, the electromagnetic force disappears, and the return spring provides a biasing force to reset the push rod. The push rod of the electromagnetic component 151 can be switched between an extended position and a retracted position. In the de-energized state, the return spring extends the push rod; in the energized state, the electromagnetic force retracts the push rod.

[0065] In some implementations, such as Figure 2 and Figure 3 As shown, the suspension buffer device 1 also includes a connecting frame 2, one end of the elastic element 12 and one end of the damper 13 are disposed on the connecting frame 2, and the connecting frame 2 is used to connect with the UAV 3.

[0066] One end of the elastic element 12 and one end of the damper 13 are respectively set on the connecting frame 2. The connecting frame 2 serves as a common mounting base, bringing together the upper ends of the elastic element 12 and the damper 13 on the same structural component. The connecting frame 2 is then connected and fixed to the bottom of the UAV 3 through its connecting structure.

[0067] When the moving part 11 is impacted, the impact force is transmitted through the moving part 11 to the other end of the elastic part 12 and the damper 13, and then through the elastic part 12 and the damper 13 to the connecting frame 2. Finally, the connecting frame 2 transmits the buffered resultant force to the UAV 3. The connecting frame 2 can combine the dispersed loads of the elastic part 12 and the damper 13 into a single resultant force, realizing the adaptation with the single-point or multi-point mounting interface of the UAV 3.

[0068] In some implementations, such as Figure 2 and Figure 3As shown, the connecting frame 2 includes a fixed plate 21 and multiple brackets 22. The fixed plate 21 is located at the end of the elastic member 12 and damper 13 away from the movable member 11, and the fixed plate 21 has a connection hole for the UAV 3. The multiple brackets 22 are arranged around the fixed plate 21, one end of the bracket 22 is connected to the fixed plate 21, and the other end of the bracket 22 is used to connect to the landing gear of the UAV 3.

[0069] A fixing plate 21 is located at the end of the elastic element 12 and damper 13 away from the moving element 11, that is, the end closer to the drone 3. One end of the elastic element 12 and one end of the damper 13 are fixed to the fixing plate 21, so that the elastic element 12 and the damper 13 remain in a fixed position relative to the fixing plate 21. The fixing plate 21 is provided with a connecting hole, and the fixing plate 21 can be directly connected to the bottom of the drone 3 by fasteners passing through the connecting hole.

[0070] One end of the bracket 22 is connected to the fixed plate 21, and the other end extends to the landing gear of the UAV 3 and is connected to the landing gear. Multiple brackets 22 are arranged around the fixed plate 21, that is, they are evenly or symmetrically distributed around the fixed plate 21 to form a multi-support point structure, which can distribute the load of the suspension buffer device 1 to multiple landing gear struts of the UAV 3, avoiding the load from being concentrated at a single point.

[0071] In this embodiment, the fixed plate 21 and multiple brackets 22 enable the suspension buffer device 1 to have multiple connection points with the drone 3, thus achieving a reliable connection with the drone 3.

[0072] Optionally, the symmetrical arrangement of multiple supports 22 ensures that the center of gravity of the entire suspension buffer device 1 is located within the longitudinal symmetry plane of the UAV 3, thus guaranteeing the balance of the UAV 3 after it is mounted.

[0073] Secondly, this application provides a wire de-icing system, such as... Figure 3 As shown, the device includes a drone 3, a de-icing component, and a suspension buffer device 1 as provided in any of the above embodiments. The elastic element 12 and the damper 13 of the suspension buffer device 1 are connected to the drone 3. The de-icing component is disposed on the movable element 11 of the suspension buffer device 1.

[0074] The UAV 3 serves as the carrier platform and power source, providing flight power and aerial operation capabilities for the entire system. The suspension buffer device 1 is connected between the UAV 3 and the de-icing component, undertaking the transmission and buffering functions of force and motion. The de-icing component achieves de-icing operation by swinging and impacting the guide wire.

[0075] During the swing phase, the driving force of the UAV 3 is transmitted to the de-icing component through the suspension buffer device 1, which drives the de-icing component to swing and accelerate. At this time, the locking component 15 in the suspension buffer device 1 is in a locked state, and the suspension buffer device 1 is rigid. During the impact phase, the locking element 15 is in the unlocked state, and the elastic element 12 and the damper 13 can move relative to the housing 14 under the action of the movable element 11. The impact force generated by the de-icing element hitting the wire is buffered and attenuated by the suspension buffer device 1 and then transmitted to the drone 3 to avoid the drone 3 being disturbed by the impact.

[0076] The connection between the elastic element 12 and the damper 13 and the drone 3 is achieved through the connecting frame 2. The connection between the de-icing component and the movable component 11 is a detachable connection, which makes it easy to replace the de-icing component of different specifications according to the working conditions.

[0077] In some embodiments, the electromagnetic component 151 of the suspension buffer device 1 is electrically connected to the drone 3.

[0078] In this embodiment, the electromagnetic component 151 is electrically connected to the UAV 3. On the one hand, the electromagnetic component 151 can be powered by the onboard power supply of the UAV 3, eliminating the need for a separate power supply for the suspension buffer device 1, thus reducing the weight of the device. On the other hand, the remote control system of the UAV 3 can realize remote control of the locking component 15, and the switching between the locked and unlocked states can be controlled from a safe distance, improving the convenience of operation and the safety of operation.

[0079] Optionally, the power supply to the electromagnetic component 151 is controlled by an electronic switch. The control terminal of the electronic switch is connected to the PWM signal receiving channel of the drone 3 remote controller. The operator can control the electromagnetic component 151 to be powered on or off by issuing commands through the remote controller, thereby remotely switching the working state of the locking component 15.

[0080] Thirdly, this application provides a control method for the wire de-icing system provided in any of the above embodiments, such as... Figure 4 As shown, it includes: S100, in response to the working command of the UAV 3, controls the locking element 15 of the suspension buffer device 1 to be locked in a locked state to restrict the movement of the moving part 11 relative to the shell 14.

[0081] The work instruction refers to the command issued by the operator via remote control to put the drone 3 into de-icing operation mode. The work instruction can trigger the locking fastener 15 to automatically enter the locked state, or the operator can manually control the locking fastener 15 to lock.

[0082] S200, when the distance between the de-icing component and the target wire meets the preset distance, the control latch 15 is switched to the unlocked state, and the impact force between the de-icing component and the target wire is transmitted to the elastic component 12 and the damper 13 through the movable component 11.

[0083] The preset distance refers to the position point of the de-icing component at a certain distance from the target guide wire on its swing trajectory. Optionally, the distance between the de-icing component and the target guide wire can be automatically measured by a sensor, or it can be determined by the operator based on visual observation or images from an onboard camera, representing a short distance before impact with the guide wire.

[0084] In one implementation, the operator observes the relative position between the striking rod and the wire in real time using the onboard camera of the drone 3. When the operator visually determines that the striking rod is about to hit the wire, the operator manually flips the remote control switch to issue an unlocking command.

[0085] In another embodiment, the system uses a visual sensor or laser rangefinder mounted on the drone 3 or the suspension buffer device 1 to detect the distance between the striking rod and the wire in real time. When the detected distance reaches a preset threshold, the locking fastener 15 is automatically triggered to switch to the unlocked state. Both of the above methods are within the protection scope of this application.

[0086] In one implementation, after the impact ends, the control latch 15 switches to the locked state.

[0087] Optionally, the operator issues a locking command via remote control, de-energizing the electromagnetic component 151. The stop block 152 extends under the action of the return spring and abuts against the movable component 11, restoring the locking component 15 to its locked state in preparation for the next de-icing cycle. This step creates a complete closed loop in the control method, enabling cyclic de-icing operations.

[0088] In one specific embodiment, the operator issues a working command for the drone 3, and the drone 3 begins to perform a swinging acceleration action. At this time, the locking fastener 15 is in a locked state, the moving part 11 is restricted from moving, the suspension buffer device 1 is rigidly connected, and the driving force of the drone 3 is transmitted to the de-icing part through a rigid path, driving the knocking rod to swing faster.

[0089] When the operator visually observes that the striking rod is about to hit the wire, the preset distance condition is met, the operator issues an unlocking command, the locking fastener 15 switches to the unlocked state, and the movable part 11 is released.

[0090] Subsequently, the striking rod impacts the wire, and the impact force is transmitted through the moving part 11 to the elastic part 12 and the damper 13. After being buffered and attenuated by the two, it is transmitted to the UAV 3. This timing control separates the rigid transmission during the swing phase from the flexible buffering during the impact phase in time, realizing a time-sharing working mode of first rigid acceleration and then flexible buffering.

[0091] During the experiment, a 2m long 0.18kg de-icing rope and a 1m long 3kg de-icing rod were used, and simulation was performed using MATLAB / Simulink.

[0092] Figure 5 This is a force diagram of the connection point between the UAV 3 and the de-icing rope before and after adding the damper 13 in the suspension buffer device 1.

[0093] Figure 6 This is a force diagram of the connection point between the UAV 3 and the de-icing rope before and after adding the elastic element 12 in the suspension buffer device 1.

[0094] The spring coefficient of the suspension buffer device 1 is set to 4500 N. m / deg, damping coefficient selected as 45 N m / (deg / s).

[0095] After the Figure 5 Analysis of the data shows that, in terms of time, the impact force with the added damper 13 decays much faster, reaching near the standard value within 0.389s. In contrast, the impact force of the system without the added damper 13 decays slowly, relying solely on the damping of the de-icing rope itself and the damping at the connection between the de-icing rope and the de-icing rod, resulting in a much longer decay time, exceeding 5s.

[0096] After the Figure 6 Analysis of the data showed that before the elastic element 12 was installed, the force amplitude reached 407.716. After the elastic element 12 was installed, due to the presence of the spring coefficient and the fact that the device took effect before the impact, the impact time changed. The impact occurred before the device was installed. At this time, the force amplitude received by the three ends of the UAV was 158.853, which was 61% lower than 407.715, confirming the effectiveness of the device.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A suspension buffer device for unmanned aerial vehicles, characterized in that, include: Movable component, the movable component being used to connect to the de-icing component; An elastic element and a damper are provided, with one end of the elastic element and one end of the damper respectively used for connection with the drone, and the other end of the elastic element and the other end of the damper respectively used for connection with the moving part, so that the elastic element and the damper are arranged in parallel between the drone and the moving part.

2. The suspension buffer device according to claim 1, characterized in that, The elastic element includes a spring, which is sleeved on the outside of the damper. The central axis of the spring coincides with the central axis of the damper, so that the spring and the damper are coaxially connected in parallel.

3. The suspension buffer device according to claim 2, characterized in that, The spring includes a helical compression spring; and / or, the damper includes a miniature hydraulic damper.

4. The suspension buffer device according to claim 1, characterized in that, The suspension buffer device also includes: The housing, the elastic element and the damper are disposed inside the housing, and the movable element is movably disposed at one end of the housing; A locking element is disposed between the movable member and the housing. The locking element includes a locked state and an unlocked state. In the locked state, the locking element restricts the movement of the movable member relative to the housing. In the unlocked state, the locking element releases the restriction on the movable member, and the movable member can move relative to the housing.

5. The suspension buffer device according to claim 3, characterized in that, The locking element includes: Electromagnetic components are mounted on the housing. The stop block is connected to the drive end of the electromagnetic component; In the locked state, the electromagnetic component is de-energized, causing the stop block to extend and abut against the movable component; In the unlocked state, the electromagnetic component is energized to retract the stop block and separate it from the movable component.

6. The suspension buffer device according to any one of claims 1 to 5, characterized in that, The suspension buffer device also includes: A connecting frame is provided, with one end of the elastic element and one end of the damper disposed on the connecting frame, which is used to connect with the drone.

7. The suspension buffer device according to claim 6, characterized in that, The connecting frame includes: A fixing plate is disposed at the end of the elastic member and the damper away from the movable member, and the fixing plate is provided with a connection hole for the UAV; Multiple brackets are arranged around the fixed plate, one end of each bracket is connected to the fixed plate, and the other end of each bracket is used to connect to the landing gear of the UAV.

8. A wire de-icing system, characterized in that, include: Drones; The suspension buffer device as described in any one of claims 1 to 7, wherein the elastic element and damper of the suspension buffer device are connected to the UAV; The de-icing component is mounted on the movable part of the suspension buffer device.

9. The wire de-icing system according to claim 8, characterized in that, The electromagnetic component of the suspension buffer device is electrically connected to the UAV.

10. A control method for the wire de-icing system according to claim 8 or 9, characterized in that, include: In response to the drone's operating instructions, the locking mechanism of the suspension buffer device is locked to restrict the movement of the moving parts relative to the shell. When the distance between the de-icing component and the target wire meets the preset distance, the locking component is controlled to switch to the unlocked state, and the impact force between the de-icing component and the target wire will be transmitted to the elastic component and the damper through the moving component.

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