Bent pipe Z-shaped folding mechanism for power transmission line operation unmanned aerial vehicle

Abstract

The utility model discloses a bent pipe Z-shaped folding mechanism for a power transmission line operation unmanned aerial vehicle. The bent pipe Z-shaped folding mechanism comprises an upper bent pipe connected to the lower portion of a flying platform, N middle bent pipes connected to the lower portion of the upper bent pipe and a lower bent pipe connected to the lower portions of the middle bent pipes, N is larger than or equal to 1, and the lower portion of the lower bent pipe is fixedly connected with an operation tool. Wherein the upper bent pipe, the middle bent pipe and the lower bent pipe are connected with one another through rotating arms, the contraction form is in a folded multi-layer Z shape, and the expansion form is in a hook arc shape; the lower parts of the upper bent pipe and the middle bent pipe are respectively provided with a lower rotating shaft penetrating left and right; the upper parts of the middle bent pipe and the lower bent pipe are respectively provided with an upper rotating shaft penetrating left and right; and the rotating arm between the upper bent pipe and the middle bent pipe is respectively connected with the lower rotating shaft of the upper bent pipe and the upper rotating shaft of the middle bent pipe. The tree obstacle cleaning flying robot is convenient to transport, and meanwhile, the stable posture of the flying robot can be kept while the cutting efficiency is guaranteed to the maximum extent.

Description

Technical Field

[0001] This invention relates to a bent tube Z-shaped folding mechanism for a drone used for power transmission line operations, and more particularly to a drone suitable for quickly clearing large areas of tree obstructions, belonging to the technical field of power transmission line tree obstruction clearing devices. Background Technology

[0002] Tree obstructions pose a safety hazard to power transmission line corridors, manifesting as the continuous growth of trees within the corridors gradually threatening the operational safety of the transmission lines. Therefore, power departments at all levels invest significant manpower, resources, and funds annually in clearing and managing tree obstructions along their jurisdictions. Current tree obstruction clearing methods primarily rely on manual labor, which is inefficient and carries significant safety risks. Therefore, there is an urgent need for an automated flying robot for clearing tree obstructions along power line corridors.

[0003] Patent application CN112586218A, published on April 2, 2021, entitled "A Tree Clearing Flying Robot with a Suspended Cutting Tool System," discloses a tree clearing flying robot that uses a straight rod connected to a naturally suspended cutting tool at the bottom of a drone. Because the cutting tool is connected by a straight rod, the reaction force from tree branches may be too great during the clearing process, affecting the attitude stability of the flight platform. Furthermore, the flying robot using a straight rod connection may not be able to cut the main trunk of trees with dense side branches, resulting in low clearing efficiency.

[0004] Patent application CN118270235A, published on July 2, 2024, entitled "A Tree Clearing Flying Robot Using a Rigid-Flexible Hybrid Suspension Mechanism," discloses a tree clearing flying robot that uses a curved tube connected to a naturally suspended cutting tool at the bottom of a drone. The use of a curved tube connection for the flying robot presents certain inconveniences for transportation; furthermore, using a fixed-length curved tube may cause instability in flight attitude or a smaller cutting range, posing certain difficulties in actual operation.

[0005] The above-mentioned research on pipe bending for UAVs used in power transmission line operations has shortcomings: the pipes are of fixed length; too long a pipe can cause flight instability, while too short a pipe can reduce the cutting range and efficiency; they also pose certain difficulties for UAV transportation. It is evident that current UAVs for power transmission line operations struggle to balance efficiency and safety. Summary of the Invention

[0006] The technical problem solved by this invention is: a bent tube Z-shaped folding mechanism for UAVs used in power transmission line operations. The bent tube Z-shaped folding mechanism is connected to the cutting tool system by mounting the mechanism on a multi-rotor flight platform, so as to achieve large-area and high-efficiency clearing of tree obstacles in the line passage, and meet the requirements of safe tree obstacle clearing operation in the power transmission line environment.

[0007] The technical solution of the present invention is as follows: a curved tube Z-shaped folding mechanism for a UAV used for power transmission line operation, including an upper curved tube connected below the flight platform, N sections of middle curved tubes connected below the upper curved tube, N≥1, and a lower curved tube connected below the middle curved tubes, with the lower part of the lower curved tube fixed to the operating tool; the upper curved tube, middle curved tube and lower curved tube are connected to each other by a rotating arm, and its contracted form is a folded multi-layer "Z" shape, and its unfolded form is a hook arc shape.

[0008] Preferably, the lower parts of the upper bend and the middle bend are respectively provided with lower rotating shafts that pass through the left and right sides, and the upper parts of the middle bend and the lower bend are respectively provided with upper rotating shafts that pass through the left and right sides; the rotating arms between the upper bend and the middle bend are respectively connected to the lower rotating shaft of the upper bend and the upper rotating shaft of the middle bend; the rotating arms between two adjacent middle bend sections are respectively connected to the lower rotating shaft of the upper middle bend section and the upper rotating shaft of the lower middle bend section; the rotating arms between the middle bend and the lower bend are respectively connected to the lower rotating shaft of the middle bend and the upper rotating shaft of the lower bend.

[0009] Preferably, the upper parts of the middle bend and the lower bend are different parts of the same circular ring. Depending on the number of middle bends and the different cutting angles, the lengths of the upper bend, middle bend and lower bend are different.

[0010] Preferably, the bottom of the upper bend and the middle bend are equipped with a locking device that has both limiting and position locking functions.

[0011] Preferably, the upper or lower rotating shaft is equipped with a drive motor, the locking device is equipped with an electromagnet or a linear servo, and there is a steel plate or locking hole corresponding to the locking position. In the locked state, the electromagnet (1101) will be energized to attract the steel plate (1102); the linear servo (1103) will extend a push rod to insert into the locking hole.

[0012] The beneficial effects of the present invention are as follows: Compared with the prior art, the present invention has the following advantages:

[0013] 1) The folding mechanism greatly reduces the space required for the bent tube during transportation, effectively utilizing the transportation space;

[0014] 2) The locking device can lock the bend, forming a rigid bend structure, which enhances the flight stability of the drone.

[0015] 3) The locking device has a limiting function to prevent the middle and lower bend tubes from exceeding the limit when the folding mechanism is unfolded;

[0016] 4) The folding mechanism can automatically fold or unfold, reducing the burden on staff. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the unfolded state of the tube bending and folding mechanism;

[0018] Figure 2This is a schematic diagram of the retracted state of the tube bending and folding mechanism;

[0019] Figure 3 This is a schematic diagram of the unfolding structure of the tube bending and folding mechanism.

[0020] Figure 4 This is a schematic diagram of the upper bend pipe structure;

[0021] Figure 5 This is a schematic diagram of the structure of the bend in the pipe.

[0022] Figure 6 This is a schematic diagram of the downward bend in the pipe.

[0023] Figure 7 A schematic diagram of the curved tube unfolding of a flying robot;

[0024] Figure 8 A schematic diagram of the tube retraction of a flying robot;

[0025] Figure 9 This is a cross-sectional view of the connection between the upper bend and the middle bend (the locking device is an electromagnet).

[0026] Figure 10 This is a cross-sectional view of the connection between the upper and middle bends (the locking device is a linear servo).

[0027] In the diagram, 1—upper bend, 2—middle bend, 3—lower bend, 4—flight platform;

[0028] 11—Locker, 12—Upper pivot, 13—Lower pivot, 14—Rotating arm;

[0029] 1101—Electromagnet, 1102—Steel sheet, 1103—Linear servo. Detailed Implementation

[0030] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0031] Implementation Case 1: For example Figures 1 to 7 As shown, a Z-shaped folding mechanism for a UAV used for power transmission line operations includes an upper curved pipe 1 connected below the flight platform 4, N sections of middle curved pipe 2 connected below the upper curved pipe 1 (N≥1), and a lower curved pipe 3 connected below the middle curved pipe 2. The lower part of the lower curved pipe 3 is fixedly connected to the working tool. The upper curved pipe 1, middle curved pipe 2, and lower curved pipe 3 are interconnected by a rotating arm 14. Its contracted form is a multi-layered folded "Z" shape, and its unfolded form is a hook-shaped arc.

[0032] Preferably, the lower parts of the upper bend 1 and the middle bend 2 are respectively provided with lower rotating shafts 13 that pass through the left and right sides, and the upper parts of the middle bend 2 and the lower bend 3 are respectively provided with upper rotating shafts 12 that pass through the left and right sides; the rotating arm 14 between the upper bend 1 and the middle bend 2 is connected to the lower rotating shaft 13 of the upper bend 1 and the upper rotating shaft 12 of the middle bend 2 respectively; the rotating arm 14 between two adjacent middle bend sections 2 is connected to the lower rotating shaft 13 of the previous middle bend section 2 and the upper rotating shaft 12 of the next middle bend section 2 respectively; the rotating arm 14 between the middle bend 2 and the lower bend 3 is connected to the lower rotating shaft 13 of the middle bend 2 and the upper rotating shaft 12 of the lower bend 3 respectively.

[0033] Preferably, the upper part of the middle bend 2 is different parts of the same ring, and the length of the middle bend 2 varies depending on the number of middle bends 2 and the cutting angle.

[0034] Preferably, the bottom of the upper bend 1 and the middle bend 2 are provided with a locking device 11 that has both limiting and position locking functions.

[0035] Preferably, the upper rotating shaft 12 or the lower rotating shaft 13 is equipped with a drive motor, the locking device 11 is equipped with an electromagnet 1101 or a linear servo motor 1102, and a steel plate 1102 or a locking hole is provided at the corresponding locking position.

[0036] Example 2: Figure 8 As shown, a Z-shaped folding mechanism for a UAV used in power transmission line operations is described. In embodiment 1, the locking device 11 is equipped with an electromagnet 1101, and the next section of the folding tube 2 or the lower tube 3 connected to it has a steel sheet 1103 inside. When the electromagnet 1101 is energized, the upper shaft 12 or the lower shaft 13 is rotated by the drive motor to unfold the tube. The electromagnet 1101 will automatically attract the iron block 1103 to form a rigid tube structure. When the electromagnet 1101 is de-energized, the magnetic force disappears. The upper shaft 12 or the lower shaft 13 is rotated by the drive motor to place the folding tube 2 and the lower tube 3 in the corresponding positions and retract the tube.

[0037] Example 3: As Figure 9 As shown, a curved tube Z-shaped folding mechanism for a UAV used for power transmission line operations is described. In embodiment 1, the locking device 11 is equipped with a linear servo 1102. When retracting, the linear servo 1102 is opened, and the upper rotating shaft 12 or the lower rotating shaft 13 is rotated by the drive motor to fold the curved tube. When unfolding the curved tube, the upper rotating shaft 12 or the lower rotating shaft 13 is rotated by the drive motor to place the folded curved tube 2 and the lower curved tube 2 in the corresponding positions, and the linear servo 1102 is lowered to form a rigid curved tube structure.

[0038] The above description is merely a specific embodiment example of the present invention, and the scope of protection of the present invention is not limited thereto. Those skilled in the art can easily find variations or substitutions within the technical scope disclosed in this invention, and these should all be included within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A Z-shaped folding mechanism for a UAV used in power transmission line operations, characterized in that: It includes an upper curved pipe (1) connected to the bottom of the flight platform (4), N sections of middle curved pipe (2) connected to the bottom of the upper curved pipe (1), N≥1, and a lower curved pipe (3) connected to the bottom of the middle curved pipe (2). The lower curved pipe (3) is fixedly connected to the working tool. The upper curved pipe (1), middle curved pipe (2), and lower curved pipe (3) are connected to each other by a rotating arm (14). Its contracted form is a folded multi-layer "Z" shape, and its unfolded form is a hook arc shape. The lower parts of the upper bend (1) and the middle bend (2) are respectively provided with lower rotating shafts (13) that pass through the left and right sides, and the upper parts of the middle bend (2) and the lower bend (3) are respectively provided with upper rotating shafts (12) that pass through the left and right sides; the rotating arm (14) between the upper bend (1) and the middle bend (2) is connected to the lower rotating shaft (13) of the upper bend (1) and the upper rotating shaft (12) of the middle bend (2) respectively; the rotating arm (14) between two adjacent middle bends (2) is connected to the lower rotating shaft (13) of the previous middle bend (2) and the upper rotating shaft (12) of the next middle bend (2) respectively; the rotating arm (14) between the middle bend (2) and the lower bend (3) is connected to the lower rotating shaft (13) of the middle bend (2) and the upper rotating shaft (12) of the lower bend (3) respectively; The bottom of the upper bend (1) and the middle bend (2) are equipped with a locking device (11) that has both limiting and position locking functions.

2. The Z-shaped folding mechanism for a UAV used in power transmission line operations according to claim 1, characterized in that: The middle bend (2) is different parts of the same ring. The length of the middle bend (2) varies depending on the number of middle bends (2) and the cutting angle.

3. The Z-shaped folding mechanism for a UAV used in power transmission line operations according to claim 1, characterized in that: The upper rotating shaft (12) or the lower rotating shaft (13) is equipped with a drive motor, and the locking device (11) is equipped with an electromagnet (1101) or a linear servo (1103). The corresponding locking position has a steel plate (1102) and a locking hole. When locked, the electromagnet (1101) will be energized to attract the steel plate (1102); the linear servo (1103) will extend a push rod and insert it into the locking hole.

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