An overhead line live maintenance device based on unmanned aerial vehicle mounting

Abstract

The application discloses a kind of overhead line live-line maintenance device based on unmanned aerial vehicle mounting, belong to transmission line maintenance technical field.The device includes rack, walking mechanism, manipulator and front face repair mechanism, front face repair mechanism is connected to manipulator execution end by support, utilizes lifting drive assembly to realize the Z direction space avoidance of bolt clamping and pin press fitting, the opening and closing action of bolt chuck and pin chuck is accurately controlled respectively by opening and closing drive device and tensioning drive device;Cooperate multi-camera visual monitoring system real-time feedback operating state, in light weight design, operating range and precision are considered, use equipotential wheel and press assembly to improve live-line work safety, effectively solve the defects that traditional equipment cannot adapt multi-line spacing, difficult to align front face pin hole and difficult to go online.

Description

Technical Field

[0001] This invention relates to the field of online maintenance technology, and in particular to a live-line maintenance device for overhead lines based on drone mounting. Background Technology

[0002] Four-split transmission lines, as an important component of ultra-high voltage and extra-high voltage transmission networks, typically consist of four transmission lines arranged in a rectangular or diamond shape. These lines are connected by fasteners such as fittings and bolts, all fixed to a connecting plate to form a stable spatial load-bearing structure. During long-term operation, due to factors such as wind vibration, icing loads, electromagnetic forces, and atmospheric corrosion, bolt pins on the front of the connecting plate are prone to becoming missing. Failure to promptly identify and replace missing pins will lead to fitting failure, and in severe cases, even cause transmission line strand breakage or line derailment.

[0003] In existing technologies, the installation of such high-altitude pins mainly relies on manual labor. Workers must use insulated bucket trucks or climb along the tension section of the line to manually align and hammer the pins into place within a confined electric field space. This work mode not only faces extremely high risks of falls and electric shock, but also, due to the small size of the pins, it is difficult for personnel to maintain a stable force application posture at height, resulting in low efficiency of the pin installation. Furthermore, it is difficult to ensure that the pins are installed correctly on the first attempt, and the pins are prone to bending or falling off again due to installation angle deviations. The quality of the work is greatly affected by fluctuations in the worker's skill level.

[0004] While traditional inspection robots can assist in detecting defects, they have significant shortcomings when performing front-side pinning operations: the equipment lacks a dedicated end effector for coordinating pin and bolt operations, and the conventional linear propulsion mechanism cannot simultaneously accommodate both bolt positioning and pin pressing within a limited space, making it difficult for the actuator to complete precise pressing within the narrow front area; in addition, the equipment relies on manual hoisting for deployment, lacks the ability to adaptively adjust to the work point, and does not have fall protection and equipotential bonding protection measures, making it impossible to safely and reliably complete high-precision front-side pinning tasks in a high-voltage environment. Summary of the Invention

[0005] In order to address the technical deficiencies mentioned in the background art, the purpose of this invention is to provide an overhead line live-line maintenance device based on UAV mounting. By setting up a front-mounted pin-repair mechanism with lifting and obstacle avoidance functions and a multi-degree-of-freedom adjustment component, the technical problems of severe spatial interference, inaccuracy, and insecure pressing of traditional equipment during front-line operation are solved.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A live-line maintenance device for overhead power lines based on UAV mounting includes a frame, a traveling mechanism, a robotic arm, and a front pin-repairing mechanism. The frame has hooks at its upper end for suspending the UAV; the traveling mechanism includes front traveling components on both sides of the front end of the frame and rear traveling components on both sides of the rear end of the frame, both of which travel on the conductor; the robotic arm is mounted on the frame; the front pin-repairing mechanism is connected to the actuator of the robotic arm and specifically includes a bracket, a bolt clamping assembly, a lifting drive assembly, and a pin clamping assembly. The bracket is detachably fixed to the actuator end of the robot arm; the bolt clamping assembly includes two bolt clamps and an opening and closing drive device, which is fixed to the bracket and is used to drive the two bolt clamps to move towards or away from each other along the X direction, forming a bolt clamping area between the two bolt clamps; the lifting drive assembly is fixed to the bracket, and its drive end is arranged along the Z direction; the pin clamping assembly includes two pin clamps and a tensioning drive device, which is connected to the drive end of the lifting drive assembly and is used to drive the two pin clamps to move towards or away from each other along the X direction, forming a pin clamping area between the two pin clamps.

[0007] Specifically, the opening and closing drive device includes a first motor fixed on the bracket, a first screw connected to the output end of the first motor, and two first threaded sleeves that are threadedly engaged with the first screw. Two bolt clamps are respectively fixed to the two first threaded sleeves. The first screw has two threaded segments with opposite thread directions, and the two first threaded sleeves are threadedly engaged with the two threaded segments respectively. The lifting drive assembly is a lead screw module.

[0008] Specifically, the tensioning drive device includes a mounting bracket fixed to the drive end of the lifting drive assembly, a second motor fixed on the mounting bracket, a second screw connected to the output end of the second motor, and a second threaded sleeve that is threadedly engaged with the second screw. The upper ends of the two pin chucks are respectively hinged to the mounting bracket, and the middle part of the pin chucks is hinged to the second threaded sleeve through a connecting rod.

[0009] Specifically, the front-mounted pin-replenishing mechanism also includes a first camera and a sixth camera fixed on the bracket. The first camera is positioned facing the pin clamping area, and the sixth camera is arranged along the Y direction and located below the pin clamping area.

[0010] Specifically, the robotic arm's actuator is fixed with a connecting plate, and the bracket is detachably fixed to the connecting plate by a first locking pin.

[0011] Specifically, the bottom inner side of the frame is provided with a front-to-back adjustment assembly, which includes a base fixed to the bottom inner side of the frame, a slide rail fixed to the base, a slider that slides with the slide rail, a sliding seat fixed to the slider, and a first lead screw module for driving the sliding seat to move in the front-to-back direction. The robot arm is fixed to the sliding seat.

[0012] Specifically, the front of the rack has a second camera facing forward; the rear of the rack has a third camera facing backward; the upper left and right sides of the rack have fourth cameras facing downward; and the upper part of the rack has a fifth camera facing upward.

[0013] Specifically, the forward travel assembly includes a front adjustment rail fixed to the frame, a front translation seat that slides along the front adjustment rail in the left-right direction, a forward travel drive motor fixed to the front translation seat, a front travel wheel connected to the output shaft of the front travel drive motor, and a front locking pin for locking the front translation seat. The front adjustment rail has several first positioning holes in the left-right direction, and the front locking pin selectively engages with any of the first positioning holes. The rear travel assembly includes a rear adjustment rail fixed to the frame, a rear translation seat that slides along the rear adjustment rail in the left-right direction, a rear travel drive motor fixed to the rear translation seat, a rear travel wheel connected to the output shaft of the rear travel drive motor, and a rear locking pin for locking the rear translation seat. The rear adjustment rail has several second positioning holes in the left-right direction, and the rear locking pin selectively engages with any of the second positioning holes.

[0014] Specifically, a V-shaped guide frame is provided at the bottom of the frame. The V-shaped guide frame includes a first profile and a second profile. The upper end of the first profile is hinged to the bottom of the frame, and the lower end is hinged to the lower end of the second profile through a connecting rod. The upper end of the second profile is locked to the frame through a second locking pin.

[0015] Specifically, both the first and second profiles have several elongated holes.

[0016] Beneficial effects: This application utilizes a drone-mounted lifting system combined with an adjustable-gauge walking component to achieve rapid deployment and stable movement of the robot on four- and six-split power transmission lines. Equipotential wheels and clamping components ensure safety and fall prevention during live-line work. The front-end pin-repairing mechanism employs a lifting drive component to achieve Z-axis spatial avoidance, cleverly resolving the interference problem between bolt clamping and pin pressing. Screw transmissions from the opening / closing drive and tensioning drive provide stable clamping force and precise pressing stroke, respectively. Combined with visual monitoring from multiple cameras, this design significantly improves operational accuracy and reliability under complex conditions while maintaining a lightweight footprint, greatly reducing the risks of manual high-altitude work and increasing maintenance efficiency. Attached Figure Description

[0017] Figure 1 A perspective view of the overhead line live-line maintenance device of this application being used for maintenance on a four-split conductor; Figure 2 for Figure 1 Enlarged view of section A; Figure 3 A perspective view of the overhead line live-line maintenance device of this application; Figure 4 A perspective view of the frontal supplementary repair agency of this application; Figure 5 for Figure 4 A three-dimensional sectional view along line BB; Figure 6 for Figure 4 A three-dimensional sectional view along the CC line; Figure 7 The overhead line live-line maintenance device of this application eliminates the need for a front-mounted pin mechanism in a three-dimensional configuration. Figure 1 ; Figure 8 This is a perspective view of the rear-walking component of this application; Figure 9 The overhead line live-line maintenance device of this application eliminates the need for a front-mounted pin mechanism in a three-dimensional configuration. Figure 2 .

[0018] Reference numerals: Front pin replenishment mechanism 10, bracket 11, bolt chuck 12, opening and closing drive device 13, first motor 131, first screw 132, first threaded sleeve 133, lifting drive assembly 14, pin chuck 15, tensioning drive device 16, mounting bracket 161, second motor 162, second screw 163, second threaded sleeve 164, connecting rod 165, first camera 171, sixth camera 172, frame 20, hook 21, second camera 22, third camera 23, fourth camera 24, fifth camera 25, V-shaped guide frame 26, first profile 261, oblong hole 2611, second profile 262, second locking pin 264, forward travel assembly 30, front adjusting rail 31, etc. Positioning hole 311, front translation seat 32, front travel drive motor 33, front travel wheel 34, front locking pin 35, rear travel assembly 40, rear adjustment rail 41, second positioning hole 411, rear translation seat 42, rear travel drive motor 43, rear travel wheel 44, rear locking pin 45, robotic arm 50, second rotary drive device 53, connecting plate 51, first locking pin 52, front and rear adjustment assembly 60, base 61, slide rail 62, slider 63, sliding seat 64, first lead screw module 65, lower extension frame 71, equipotential wheel 72, clamping assembly 80, frame 81, swing arm 82, clamping bottom wheel 83, second lead screw module 84, power transmission line 91, connecting plate 92, hardware 93, bolt 94, pin hole 95, pin 96. Detailed Implementation

[0019] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this application, unless otherwise expressly specified and limited, the terms “installation,” “connection,” “linking,” “fixing,” etc., shall be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral part; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; they may refer to the internal connection of two components or the interaction between two components, unless otherwise expressly limited.

[0023] like Figure 1 and Figure 2 As shown, the four-split transmission line, as an important component of ultra-high voltage and extra-high voltage transmission networks, typically consists of four transmission lines 91 arranged in a rectangular or diamond shape. Each transmission line 91 is connected to a connecting plate 92 by fasteners such as hardware 93 and bolts 94, forming a stable spatial load-bearing structure. During long-term operation, due to multiple factors such as wind vibration, icing loads, electromagnetic forces, and atmospheric corrosion, the pin holes 95 of the bolts 94 on the front of the connecting plate 92 are prone to losing pins 96. If the missing pins 96 are not detected and replaced in time, the hardware 93 connection will fail, and in severe cases, it may even lead to strand breakage or line drop accidents in the transmission line 91.

[0024] Based on the above issues, such as Figures 1 to 3As shown, this embodiment discloses a live-line maintenance device for overhead lines based on UAV mounting, including a frame 20, a walking mechanism, a robotic arm 50, and a front-mounted pinning mechanism 10. The frame 20 has a hook 21 at its upper end for suspending the UAV; the walking mechanism includes front walking components 30 located on both sides of the front end of the frame 20 and rear walking components 40 located on both sides of the rear end of the frame 20, both of which travel on the conductor 91; the robotic arm 50 is mounted on the frame 20; and the front-mounted pinning mechanism 10 is connected to the actuator of the robotic arm 50.

[0025] like Figures 4 to 6 As shown, the front-end pin-replenishing mechanism 10 includes a bracket 11, a bolt clamping assembly, a lifting drive assembly 14, and a pin clamping assembly. The bracket 11 is detachably fixed to the actuator end of the robot arm 50. The bolt clamping assembly includes two bolt chucks 12 and an opening / closing drive device 13 fixed to the bracket 11 for driving the two bolt chucks 12 to move towards or away from each other in the X direction, forming a bolt clamping area between the two bolt chucks 12. The lifting drive assembly 14 is fixed to the bracket 11, and its drive end is arranged along the Z direction. The pin clamping assembly includes two pin chucks 15 and a tensioning drive device 16 connected to the drive end of the lifting drive assembly 14 for driving the two pin chucks 15 to move towards or away from each other in the X direction, forming a pin clamping area between the two pin chucks 15.

[0026] In actual operation, the tensioning drive device 16 drives the two pin clamps 15 to close on the ground, clamping the pin 96 to be installed. Then, the entire maintenance device is hoisted to the target conductor by a drone and, after being connected, the robot arm 50 moves to the front of the connecting plate 92 to be inspected. At this time, the opening and closing drive device 13 drives the two bolt clamps 12 to close, firmly holding the shank of the bolt 94, preventing the bolt 94 from rotating or moving axially during the pressing of the pin 96. Subsequently, the lifting drive assembly 14 is activated, driving the entire pin clamping assembly to move along the Z-axis, avoiding other protruding hardware 93 on the connecting plate 92, thus solving the spatial interference problem. Finally, guided by the vision system, the lifting drive assembly 14 reverses its direction, pressing the pin 96 into the pin hole 95, completing the pin replacement operation.

[0027] like Figure 4 and Figure 5As shown, the opening and closing drive device 13 includes a first motor 131 fixed on the bracket 11, a first screw 132 connected to the output end of the first motor 131, and two first threaded sleeves 133 threadedly engaged with the first screw 132. Two bolt chucks 12 are respectively fixed to the two first threaded sleeves 133. The first screw 132 has two threaded segments with opposite thread directions, and the two first threaded sleeves 133 are threadedly engaged with the two threaded segments respectively. This structure, employing a screw with opposite thread directions and threaded sleeves, converts rotational motion into linear synchronous opening and closing motion of the two bolt chucks 12, offering advantages such as good self-locking, large clamping force, and smooth operation, ensuring rigid fixation of the bolt 94. Of course, the screw-driven method described above is only a preferred embodiment; in other embodiments, a gear and rack mechanism or a parallel opening and closing cylinder can also be used to achieve the opening and closing of the chucks.

[0028] like Figure 4 and Figure 6 As shown, the tensioning drive device 16 includes a mounting bracket 161 fixed to the drive end of the lifting drive assembly 14, a second motor 162 fixed to the mounting bracket 161, a second screw 163 connected to the output end of the second motor 162, and a second threaded sleeve 164 threadedly engaged with the second screw 163. The upper ends of the two pin chucks 15 are respectively hinged to the mounting bracket 161, and the middle part of the pin chucks 15 is hinged to the second threaded sleeve 164 through a connecting rod 165. This structure essentially constitutes a double rocker slider mechanism. When the second motor 162 drives the second threaded sleeve 164 to move linearly along the second screw 163, the connecting rod 165 pulls the two pin chucks 15 to swing around their upper hinge points, thereby realizing the opening and closing of the chucks. This linkage-driven clamping method can provide a large clamping stroke and adaptive clamping force, which is very suitable for gripping pins 96 of different specifications. Of course, the above-mentioned linkage hinge method is only a preferred implementation method. In other embodiments, a parallel gripper cylinder can be used to directly drive the pin chuck 15 to open and close.

[0029] Furthermore, to improve the clamping stability of the bolt 94 head and prevent the bolt 94 from slipping or rotating during the pressing of the pin 96, crisscrossing anti-slip grooves are provided on the opposing clamping end faces of the two bolt clamps 12, or high-friction rubber anti-slip pads are embedded on the clamping end faces. The anti-slip grooves or anti-slip pads significantly increase the friction of the contact surfaces, ensuring that the bolt 94 remains stationary even under large axial pressing forces, providing reliable rigid support for the precise pressing of the pin 96.

[0030] like Figure 4As shown, the front-facing pin-replenishing mechanism 10 also includes a first camera 171 and a sixth camera 172 fixed on the bracket 11. The sixth camera 172 is arranged along the Y-axis and located below the pin clamping area. As a front-mounted detection sensor, it is primarily responsible for environmental perception during the large-scale movement of the robotic arm 50. It is used to scan and lock in advance the specific position of the bolt 94 on the hardware 93 and the approximate orientation of the pin hole 95, assisting the control system in planning the movement path of the robotic arm 50, achieving rapid coarse positioning of the work point, and avoiding interference with surrounding hardware during movement.

[0031] The first camera 171 is positioned facing the pin clamping area and serves as the main visual sensor, primarily responsible for monitoring the entire process of the pin 96 being inserted into the pin hole 95. During the critical stage of the pressing operation, the first camera 171 focuses on the contact state between the tip of the pin 96 and the opening of the pin hole 95, providing real-time feedback on the axial posture of the pin 96. It is specifically used to monitor lateral deviation of the pin 96 during insertion, preventing the pin 96 from bending or jamming due to angular deviation.

[0032] like Figure 4 and Figure 7 As shown, the actuator end of the robotic arm 50 is fixed with a connecting plate 51, and the bracket 11 is detachably fixed to the connecting plate 51 by a first locking pin 52. This modular quick-release connection design gives the device extremely high operational flexibility. The front-end replenishing pin mechanism 10 can be used as a standardized end effector, which can be quickly installed on the front end of the robotic arm 50 by the first locking pin 52, or quickly disassembled for replacement of other functional modules (such as a nut tightening mechanism). When the device is transported or stored in a non-operating state, the detachable design also facilitates maintenance and management. Of course, the above-described method of fixing with the first locking pin 52 is only a preferred embodiment. In other embodiments, an electric quick-change disc or electromagnetic adsorption can also be used to achieve quick replacement of the mechanism.

[0033] like Figure 7As shown, a front-to-back adjustment assembly 60 is provided on the inner bottom of the frame 20. The front-to-back adjustment assembly 60 includes a base 61 fixed to the inner bottom of the frame 20, a slide rail 62 fixed to the base 61, a slider 63 that slides with the slide rail 62, a sliding seat 64 fixed to the slider 63, and a first lead screw module 65 for driving the sliding seat 64 to move in the front-to-back direction. The robot arm 50 is fixed to the sliding seat 64. The design purpose of the front-to-back adjustment assembly 60 is to solve the contradiction between the working range and the storage size of the robot arm 50. In the working state, the first lead screw module 65 drives the sliding seat 64 to move forward along the slide rail 62, pushing the robot arm 50 out in front of the frame 20, thereby greatly expanding the working radius of the robot arm 50, enabling it to reach the hardware 93 located further outside the frame 20. In transport or non-operational states, the first lead screw module 65 drives the robotic arm 50 to retract, bringing its joints as close as possible to the frame 20. This lowers the overall center of gravity, reduces space requirements, and prevents loss of control due to excessive wind resistance during drone lifting. This telescopic design significantly improves the device's environmental adaptability. Of course, the aforementioned method using the first lead screw module 65 is only a preferred implementation. In other embodiments, a rack and pinion mechanism or a linear motor can also be used to move the sliding seat 64.

[0034] like Figure 7 As shown, the frame 20 has a second camera 22 facing forward at the front end; a third camera 23 facing backward at the rear end; a fourth camera 24 facing downward on both the left and right sides of the upper end of the frame 20; and a fifth camera 25 facing upward at the top of the frame 20. These four sets of cameras constitute an all-around visual perception system. The second camera 22 is used to observe the condition of the guide wire and hardware in front, assisting in navigation; the third camera 23 is used to observe the rear environment to prevent collisions when retreating; the fourth camera 24 looks downward to monitor the contact status between the walking wheels and the guide wire, preventing derailment; and the fifth camera 25 looks upward to monitor the relative position of the drone and the frame 20, assisting the drone in precise hooking and unhooking.

[0035] like Figure 7As shown, the forward travel assembly 30 includes a forward adjusting rail 31 fixed on the frame 20, a forward translation seat 32 that slides with the forward adjusting rail 31 in the left-right direction, a forward travel drive motor 33 fixed on the forward translation seat 32, a forward travel wheel 34 connected to the output shaft of the forward travel drive motor 33, and a forward locking pin 35 for locking the forward translation seat 32. The forward adjusting rail 31 has several first positioning holes 311 in the left-right direction, and the forward locking pin 35 selectively locks into any of the first positioning holes 311. Since there are various standard specifications for the spacing between four-split or six-split transmission lines 91 (such as 400mm, 450mm, 500mm, etc.), the forward travel assembly 30 is designed with an adjustable track gauge structure to adapt to different line parameters. During the ground preparation phase before the device goes online, maintenance personnel can loosen the front locking pin 35 based on the measured distance of the target line, push the front translation seat 32 to slide along the front adjustment track 31, adjust the span of the left and right front traveling wheels 34 until it matches the line spacing, and then insert the front locking pin 35 into the corresponding first positioning hole 311 to complete the hard locking. This pre-adjustment method ensures that the device can be accurately positioned in one go when hanging the line, without the need for tedious fine-tuning in the air, greatly improving the efficiency and success rate of going online. Of course, in addition to manual pin locking, electric push rods combined with position sensors can also be used in other embodiments to achieve automatic adjustment.

[0036] like Figure 8 As shown, the rear travel assembly 40 includes a rear adjustment rail 41 fixed on the frame 20, a rear translation seat 42 that slides with the rear adjustment rail 41 in the left-right direction, a rear travel drive motor 43 fixed on the rear translation seat 42, a rear travel wheel 44 connected to the output shaft of the rear travel drive motor 43, and a rear locking pin 45 for locking the rear translation seat 42. The rear adjustment rail 41 has several second positioning holes 411 in the left-right direction, and the rear locking pin 45 selectively locks into any of the second positioning holes 411. The adjustment principle of the rear travel assembly 40 is similar to that of the front travel assembly 30, also designed to adapt to different line spacings. Both the front and rear travel assemblies adopt an adjustable structure, which not only ensures stable operation of the device on various specifications of split conductors, but also improves the overall anti-tipping ability of the machine through four-point support.

[0037] like Figure 8As shown, a lower extension frame 71 is rotatably connected to the front end of the rear translation seat 42, and an equipotential wheel 72 is provided at the lower end of the lower extension frame 71. The equipotential wheel 72 is a core component for ensuring the safety of live-line work. At the moment the device is hoisted from the drone and descends to contact the power transmission line 91, if there is a potential difference between the device and the conductor, a strong arc discharge will occur, endangering equipment and personnel safety. The lower extension frame 71 adopts a gravity-diving design, so that the installation height of the equipotential wheel 72 is slightly lower than that of the rear traveling wheel 44. Therefore, during the wire hanging process, the equipotential wheel 72 will contact the power transmission line 91 before the rear traveling wheel 44. Through the conductive contact of the equipotential wheel 72, the device body can quickly establish an equipotential connection with the high-voltage power transmission line 91, eliminating the potential difference and ensuring the safe conduct of subsequent operations. Even during movement, the equipotential wheel 72 always maintains a light contact with the conductor 91, providing continuous equipotential protection. Of course, the rim of the equipotential wheel 72 is usually made of conductive rubber or copper alloy to ensure good conductivity and wear resistance.

[0038] like Figure 8 As shown, a clamping assembly 80 is provided at the rear end of the rear translation seat 42. The clamping assembly 80 includes a frame 81 fixed to the rear end of the rear translation seat 42, a swing arm 82 rotatably disposed inside the frame 81, a clamping bottom wheel 83 rotatably disposed at the lower end of the swing arm 82, and a second lead screw module 84 disposed on the frame 81 in the left-right direction for pushing or pulling the upper end of the swing arm 82. The clamping bottom wheel 83 is used to clamp the bottom of the conductor 91. The clamping assembly 80 is an important safety guarantee to prevent the device from falling from a height. When the device reaches the working position and is ready to perform the pinning operation, the second lead screw module 84 is activated, pushing the upper end of the swing arm 82, forcing the swing arm 82 to rotate around the fulcrum, thereby clamping the lower end of the clamping bottom wheel 83 to the bottom of the transmission line 91. At this time, the rear traveling wheel 44 bears the weight of the machine body, and the clamping bottom wheel 83 provides an upward clamping force, forming an upper and lower clamping structure. This structure not only effectively resists the reaction force of the robotic arm 50 during operation and prevents the frame 20 from overturning, but also prevents the device from falling off the power line 91 in the event of strong winds or emergencies, greatly improving the safety factor of high-altitude operations. Of course, the above-mentioned screw-driven method is only a preferred implementation method. In other embodiments, hydraulic cylinders or electric push rods can also be used to realize the swing clamping action of the swing arm 82.

[0039] In the appendix Figure 9 In the design, the frame 20 has a second forward-facing camera 22 at its front end; a third rear-facing camera 23 at its rear end; a fourth downward-facing camera 24 on both the left and right sides of its upper end; and a fifth upward-facing camera 25 at the top of the frame 20. These cameras form a comprehensive visual perception system to assist operators in monitoring the robot's surrounding environment.

[0040] like Figure 9 As shown, a V-shaped guide frame 26 is provided at the bottom of the frame 20. The V-shaped guide frame 26 includes a first profile 261 and a second profile 262. The upper end of the first profile 261 is hinged to the bottom of the frame 20, and the lower end is hinged to the lower end of the second profile 262 via a connecting rod 263. The upper end of the second profile 262 is locked to the frame 20 via a second locking pin 264. To solve the problem of difficulty in aligning multiple split lines when hanging cables, the V-shaped guide frame 26 adopts a foldable linkage mechanism design. When the UAV carrying the device descends from above, the V-shaped guide frame 26 will first insert between the two wires 91. Utilizing the guiding effect of the V-shaped structure, the device will be automatically corrected in attitude, guiding the front wheels 34 and rear wheels 44 on both sides to smoothly slide onto the wires 91 and finally be hung in place. This design greatly reduces the precision requirements for the UAV pilot's operation and realizes blind landing cable hanging. When not in use, the second locking pin 264 can be removed, and the first profile 261 and the second profile 262 can be folded and stored at the bottom of the frame 20, reducing the space occupied by the equipment and avoiding the risk of scratches during transportation. Of course, the above-described method of using hinges and locking pins is only a preferred implementation. In other embodiments, magnetic snap-fit ​​or buckle connection can also be used to achieve the quick unfolding and storage of the V-shaped guide frame 26.

[0041] like Figure 9 As shown, both the first profile 261 and the second profile 262 have several elongated holes 2611. To further reduce the load on the frame 20, a series of elongated holes 2611 are provided on both the first profile 261 and the second profile 262. These elongated holes 2611 effectively remove excess material without affecting the structural strength of the profiles, achieving structural lightweighting and extending the drone's flight time.

[0042] The above-described embodiments are merely illustrative of several specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A live-line maintenance device for overhead lines based on UAV mounting, characterized in that, include: A frame (20) is provided at the upper end of which a hook (21) is provided for the drone to be suspended; The walking mechanism includes a front walking assembly (30) located on both sides of the front end of the frame (20) and a rear walking assembly (40) located on both sides of the rear end of the frame (20). Both the front walking assembly (30) and the rear walking assembly (40) travel on the guide wire. A robotic arm (50) is mounted on the frame (20); A front-facing replenishment mechanism (10), connected to the actuator of the robotic arm (50), includes: A bracket (11) is detachably fixed to the actuator end of the robotic arm (50); The bolt clamping assembly includes two bolt clamps (12) and an opening and closing drive device (13) fixed on the bracket (11) for driving the two bolt clamps (12) to move towards or away from each other in the X direction, and a bolt clamping area is formed between the two bolt clamps (12). The lifting drive assembly (14) is fixed on the bracket (11), and its drive end is arranged along the Z direction; The pin clamping assembly includes two pin clamps (15) and a tensioning drive device (16) connected to the drive end of the lifting drive assembly (14) and used to drive the two pin clamps (15) to move towards or away from each other in the X direction, with a pin clamping area formed between the two pin clamps (15).

2. The overhead line live-line maintenance device according to claim 1, characterized in that, The opening and closing drive device (13) includes a first motor (131) fixed on the bracket (11), a first screw (132) connected to the output end of the first motor (131), and two first threaded sleeves (133) threadedly engaged with the first screw (132). The two bolt clamps (12) are respectively fixed to the two first threaded sleeves (133). The first screw (132) has two threaded segments with opposite thread directions, and the two first threaded sleeves (133) are respectively threadedly engaged with the two threaded segments. The lifting drive assembly (14) is a lead screw module.

3. The overhead line live-line maintenance device according to claim 1, characterized in that, The tensioning drive device (16) includes a mounting bracket (161) fixed to the drive end of the lifting drive assembly (14), a second motor (162) fixed on the mounting bracket (161), a second screw (163) connected to the output end of the second motor (162), and a second threaded sleeve (164) threadedly engaged with the second screw (163). The upper ends of the two pin chucks (15) are respectively hinged to the mounting bracket (161), and the middle part of the pin chucks (15) is hinged to the second threaded sleeve (164) through a connecting rod (165).

4. The overhead line live-line maintenance device according to claim 1, characterized in that, The front-mounted pin-replenishing mechanism (10) further includes a first camera (171) and a sixth camera (172) fixed on the bracket (11). The first camera (171) is positioned facing the pin clamping area, and the sixth camera (172) is arranged along the Y direction and located below the pin clamping area.

5. The overhead line live-line maintenance device according to claim 1, characterized in that, The actuator of the robotic arm (50) is fixed with a connecting plate (51), and the bracket (11) is detachably fixed to the connecting plate (51) by a first locking pin (52).

6. The overhead line live-line maintenance device according to claim 1, characterized in that, The frame (20) is provided with a front-to-back adjustment assembly (60) at the bottom inner side. The front-to-back adjustment assembly (60) includes a base (61) fixed to the bottom inner side of the frame (20), a slide rail (62) fixed to the base (61), a slider (63) slidably engaged with the slide rail (62), a sliding seat (64) fixed to the slider (63), and a first lead screw module (65) for driving the sliding seat (64) to move in the front-to-back direction. The robot (50) is fixed to the sliding seat (64).

7. The overhead line live-line maintenance device according to claim 1, characterized in that: The front end of the frame (20) is provided with a second camera (22) facing forward; The rear end of the rack (20) is provided with a third camera (23) facing rearward; The frame (20) is equipped with a fourth camera (24) facing downwards on both the left and right sides of the upper end; The upper part of the frame (20) is provided with a fifth camera (25) facing upward.

8. The overhead line live-line maintenance device according to claim 1, characterized in that, The forward travel assembly (30) includes a forward adjustment rail (31) fixed on the frame (20), a forward translation seat (32) that slides with the forward adjustment rail (31) in the left-right direction, a forward travel drive motor (33) fixed on the forward translation seat (32), a forward travel wheel (34) connected to the output shaft of the forward travel drive motor (33), and a forward locking pin (35) for locking the forward translation seat (32). The forward adjustment rail (31) is provided with a plurality of first positioning holes (311) in the left-right direction, and the forward locking pin (35) selectively locks with any of the first positioning holes (311). The rear walking assembly (40) includes a rear adjustment rail (41) fixed on the frame (20), a rear translation seat (42) that slides with the rear adjustment rail (41) in the left-right direction, a rear walking drive motor (43) fixed on the rear translation seat (42), a rear walking wheel (44) connected to the output shaft of the rear walking drive motor (43), and a rear locking pin (45) for locking the rear translation seat (42). The rear adjustment rail (41) is provided with a plurality of second positioning holes (411) in the left-right direction, and the rear locking pin (45) selectively locks with any of the second positioning holes (411).

9. The overhead line live-line maintenance device according to claim 1, characterized in that, The bottom of the frame (20) is provided with a V-shaped guide frame (26), which includes a first profile (261) and a second profile (262). The upper end of the first profile (261) is hinged to the bottom of the frame (20), and the lower end is hinged to the lower end of the second profile (262) through a connecting rod (263). The upper end of the second profile (262) is locked to the frame (20) through a second locking pin (264).

10. The overhead line live-line maintenance device according to claim 9, characterized in that, Both the first profile (261) and the second profile (262) have a plurality of elongated holes (2611).

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