Intelligent traction all-weather aerial cable laying unmanned vehicle

Abstract

The utility model discloses an intelligent traction all-weather aerial cable laying unmanned vehicle which comprises an installation frame, a driving wheel, a lifting type cable pressing mechanism, a power device, an electrical control assembly and a rechargeable battery are sequentially arranged on the installation frame from top to bottom, and the power device is in transmission connection with the driving wheel. The upper end of the lifting type wire pressing mechanism is matched with the driving wheel to be used for pressing a laid cable, and the left side and the right side of the upper portion of the installation frame are each provided with an installation frame inclination preventing device which rolls and advances along the laid cable. The cable laying device solves the problem of cable laying in complex terrains, and has the characteristics of efficient traction, safety, reliability, strong adaptability, convenience in operation and carrying, and capability of being put through an unmanned aerial vehicle. The cable laying device is scientific and reasonable in working principle, can be widely applied to cable laying projects in the fields of electric power, communication, traffic and the like, and particularly has remarkable advantages in remote areas and complex terrains.

Description

Technical Field

[0001] This utility model belongs to the field of power grid construction technology, specifically relating to an unmanned vehicle for all-weather high-altitude cable laying with intelligent traction. Background Technology

[0002] With the rapid development of modern power grid communication technologies, cable laying has become a crucial part of power infrastructure construction. However, in complex terrains such as mountains, canyons, and rivers, traditional cable laying methods suffer from high risks, are time-consuming and labor-intensive, and involve cumbersome procedures, severely hindering construction efficiency. Currently, high-altitude cable laying utilizes improved traction equipment, and even more advanced methods employ drones, which are particularly suitable for complex terrains such as mountains and river areas. However, drones cannot operate in all weather conditions and are significantly affected by weather conditions. Robot-assisted cable laying systems are also used, but robots are primarily employed for laying cables in urban underground pipelines. Utility Model Content

[0003] The purpose of this invention is to provide an intelligent, all-weather, unmanned aerial vehicle for laying high-altitude cables that is highly efficient, safe, reliable, unaffected by weather, and capable of uninterrupted operation.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: An intelligent traction-based all-weather high-altitude cable laying unmanned vehicle is characterized by: a mounting frame, on which, from top to bottom, are arranged a drive wheel, a lifting cable pressing mechanism, a power unit, an electrical control component, and a rechargeable battery. The power unit is connected to the drive wheel via a transmission. The upper end of the lifting cable pressing mechanism cooperates with the drive wheel to press the laid cable. The upper left and right sides of the mounting frame are respectively provided with anti-tilting devices that allow the mounting frame to roll along the laid cable. The electrical control component includes a UBEC (Unmanned Base Circuit Control Unit) and a remote control receiver. The rechargeable battery is connected to the remote control receiver via the UBEC. The rechargeable battery supplies power to the lifting cable pressing mechanism and the power unit. The remote control receiver is connected to the lifting cable pressing mechanism and the power unit via signal connections.

[0005] The mounting bracket includes a front guard plate and a rear mounting plate spaced apart. The front guard plate and the rear mounting plate are connected by several bolts. There is an installation space between the front guard plate and the rear mounting plate. The upper side of the front guard plate is lower than the upper side of the rear mounting plate. The upper part of the rear mounting plate is provided with a handle hole, and the lower part of the rear mounting plate is provided with a traction rope connection hole.

[0006] The lifting-type wire pressing mechanism includes an electric push rod, a first DC motor forward and reverse drive, an upper slide, a lower slide, an L-shaped fixed base, a first micro switch, and two slide rails. The two slide rails are vertically fixed on the front side of the rear mounting plate. The upper slide and the lower slide are slidably connected to the two slide rails respectively. The first micro switch and the L-shaped fixed base are fixed on the front side of the rear mounting plate. The first micro switch is located below the L-shaped fixed base, which is located between the lower ends of the two slide rails. Two vertical rods are fixedly installed at the lower end of the lower slide, and a spring is sleeved on each vertical rod. The lower ends of the two vertical rods pass through the L-shaped fixed base and are screwed together. The device has an adjusting nut located directly above the first micro switch. The electric push rod is vertically positioned, with its lower and upper ends connected to the lower slide seat and upper slide seat respectively via bolts. Two pressure rollers are rotatably mounted on the upper slide seat. The two pressure rollers are at the same height, spaced apart to the left and right, and symmetrically arranged about the center line of the drive wheel. The signal output terminal of the first micro switch is connected to the signal input terminal of the first DC motor forward and reverse drive. The input terminal of the first DC motor forward and reverse drive is connected to the signal output terminal of the remote control receiver. The output terminal of the first DC motor forward and reverse drive is connected to the signal input terminal of the push rod motor of the electric push rod.

[0007] The power unit includes a travel motor and a second DC motor forward and reverse drive. The travel motor is mounted on the front side of the rear mounting plate. The main shaft of the travel motor passes through the rear mounting plate and is coaxially connected to a drive pulley. The drive pulley is coaxially connected to a driven pulley located on the rear side of the rear mounting plate. The drive pulley and the driven pulley are connected by a synchronous belt drive. The signal input terminal of the travel motor is connected to the signal output terminal of the second DC motor forward and reverse drive. The signal input terminal of the second DC motor forward and reverse drive is connected to the signal output terminal of the remote control receiver.

[0008] The two anti-tilt mounting bracket devices have identical structures and are symmetrically arranged. The anti-tilt mounting bracket device on the right side includes a horizontal bar, a diagonal brace, an auxiliary guide wheel, and a second micro switch. The horizontal bar is arranged in the left-right direction, and its left end is hinged to the rear mounting plate. The diagonal brace is inclined with the left end lower than the right end, and its left end is hinged to the rear mounting plate. Its right end is hinged to the horizontal bar. The second micro switch is located at the right end of the second horizontal bar. The auxiliary guide wheel is rotatably located on the second horizontal bar and is located to the right of the second micro switch. The auxiliary guide wheel is at the same height as the drive wheel and corresponds to it on the left and right. The output terminal of the second micro switch is connected to the signal input terminal of the second DC motor forward and reverse drive.

[0009] By adopting the above technical solution, this utility model has the following innovations and beneficial effects compared with the prior art:

[0010] 1. Driven by the walking motor, the drive wheels propel the unmanned tractor vehicle to move along the laid overhead cables. Two clamping wheels, made of polyurethane, clamp the laid overhead cables via an electric push rod and springs, increasing friction. The clamping force can be adjusted by an adjusting nut, which is positioned on the vertical rod. When the vertical rod moves downwards, the adjusting nut contacts the first microswitch, stopping the push rod motor and thus giving the springs different elastic forces.

[0011] The travel motor and rechargeable battery are located below the mounting frame to minimize the impact of existing overhead cables. The mounting frame is made of insulating material to ensure the safety of the equipment in high-voltage environments. A synchronous belt, drive pulley, and driven pulley ensure synchronized movement between the drive wheel and the travel motor. A second microswitch provides automatic stop protection, ensuring safer movement of the unmanned tractor on existing overhead cables between two power towers.

[0012] 2. The design of the auxiliary guide wheels ensures the stability of the unmanned towing vehicle during operation, preventing lateral tilting of the towing vehicle mounting frame due to cable swaying or complex terrain. The two crossbars of the anti-tilt device can be adjusted in height using diagonal braces of different lengths, thus ensuring friction between the auxiliary guide wheels and the laid overhead cables to guarantee stability. Furthermore, the diagonal braces can be disassembled and folded parallel to the rear mounting plate for convenient transportation and storage.

[0013] In summary, this invention solves the problem of cable laying in complex terrain, featuring efficient traction, safety and reliability, strong adaptability, convenient operation, easy portability, and the ability to be deployed by drones. The working principle of this invention is scientifically sound and can be widely applied to cable laying projects in power, communication, and transportation fields, with significant advantages, especially in remote areas and complex terrains. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the front three-dimensional structure of this utility model;

[0015] Figure 2 This is a three-dimensional structural diagram of the rear side of this utility model;

[0016] Figure 3 This is a schematic diagram of the front three-dimensional structure of the present invention after the front guard plate has been removed;

[0017] Figure 4 This is a schematic diagram of the electrical control principle of this utility model. Detailed Implementation

[0018] like Figures 1-4As shown, the intelligent traction all-weather high-altitude cable laying unmanned vehicle of this utility model includes a mounting frame. From top to bottom, the mounting frame is provided with a drive wheel 1, a lifting cable pressing mechanism, a power unit, an electrical control component 3, and a rechargeable battery 2. The power unit is connected to the drive wheel 1. The upper end of the lifting cable pressing mechanism cooperates with the drive wheel 1 to press the laid cable. The upper left and right sides of the mounting frame are respectively provided with anti-tilting devices for rolling along the laid cable. The electrical control component 3 includes a UBEC and a remote control receiver. The rechargeable battery 2 is connected to the remote control receiver through the UBEC. The rechargeable battery 2 supplies power to the lifting cable pressing mechanism and the power unit. The remote control receiver is connected to the lifting cable pressing mechanism and the power unit for signal transmission.

[0019] The mounting frame includes a front guard plate 4 and a rear mounting plate 5 spaced apart. The front guard plate 4 and the rear mounting plate 5 are connected by several bolts. There is an installation space between the front guard plate 4 and the rear mounting plate 5. The upper side of the front guard plate 4 is lower than the upper side of the rear mounting plate 5. The upper end of the rear mounting plate 5 is provided with a handle hole 7 (also used for drone hoisting). The lower part of the rear mounting plate 5 is provided with a traction rope connection hole 8.

[0020] The lifting-type wire pressing mechanism includes an electric push rod 9, a first DC motor forward and reverse drive, an upper slide 10, a lower slide 11, an L-shaped fixed base 12, a first micro switch 13, and two slide rails 14. The two slide rails 14 are vertically fixed to the front side of the rear mounting plate 5. The upper slide 10 and lower slide 11 are slidably connected to the two slide rails 14. The first micro switch 13 and the L-shaped fixed base 12 are fixed to the front side of the rear mounting plate 5. The first micro switch 13 is located below the L-shaped fixed base 12, which is located between the lower ends of the two slide rails 14. Two vertical rods 15 are fixedly mounted on the lower end of the lower slide 11, and a spring 16 is fitted onto each vertical rod 15. The lower end passes through the L-shaped fixing seat 12 and is threadedly connected to an adjusting nut located directly above the first micro switch 13. The electric push rod 9 is vertically arranged. The lower end and upper end of the electric push rod 9 are respectively connected to the lower slide seat 11 and the upper slide seat 10 by bolts. Two pressure rollers 17 are rotatably arranged on the upper slide seat 10. The two pressure rollers 17 are at the same height, spaced apart on the left and right, and symmetrically arranged about the center line of the drive wheel 1. The signal output terminal of the first micro switch 13 is connected to the signal input terminal of the first DC motor forward and reverse drive. The input terminal of the first DC motor forward and reverse drive is connected to the signal output terminal of the remote control receiver. The output terminal of the first DC motor forward and reverse drive is connected to the push rod motor signal input terminal of the electric push rod 9.

[0021] The power unit includes a walking motor 18 and a second DC motor forward and reverse drive. The walking motor 18 is mounted on the front side of the rear mounting plate 5. The main shaft of the walking motor 18 passes through the rear mounting plate 5 and is coaxially connected to the drive pulley 19. The drive wheel 1 is coaxially connected to the driven pulley 6 located on the rear side of the rear mounting plate 5. The drive pulley 19 and the driven pulley 6 are connected by a synchronous belt 20. The signal input terminal of the walking motor 18 is connected to the signal output terminal of the second DC motor forward and reverse drive. The signal input terminal of the second DC motor forward and reverse drive is connected to the signal output terminal of the remote control receiver.

[0022] The two anti-tilting devices for the mounting brackets are identical in structure and symmetrically arranged on the left and right. The anti-tilting device on the right side includes a horizontal bar 21, a diagonal brace 22, an auxiliary guide wheel 23, and a second micro switch 24. The horizontal bar 21 is arranged in the left and right direction, and the left end of the horizontal bar 21 is hinged to the rear mounting plate 5. The diagonal brace 22 is inclined with the left side lower than the right side, and the left end of the diagonal brace 22 is hinged to the rear mounting plate 5. The right end of the diagonal brace 22 is hinged to the horizontal bar 21. The second micro switch 24 is located at the right end of the second horizontal bar 21. The auxiliary guide wheel 23 is rotatably arranged on the second horizontal bar 21 and located to the right of the second micro switch 24. The auxiliary guide wheel 23 is at the same height as the drive wheel 1 and corresponds to it on the left and right. The output end of the second micro switch 24 is connected to the signal input end of the second DC motor forward and reverse drive.

[0023] The specific method for cable laying operations using this utility model includes the following steps:

[0024] S1. Connect the towing rope to the unmanned towing vehicle, and then place the unmanned towing vehicle on the laid overhead cable;

[0025] S2. Operate the unmanned tractor to press down the laid high-altitude cables;

[0026] S3. An unmanned tractor pulls a tow rope from one power tower to the next.

[0027] S4. Tie the cable to be laid with the traction rope, and lay the cable between two adjacent power towers by pulling the traction rope.

[0028] The specific process of step S1 is as follows: First, connect one end of the traction rope to the traction rope connection hole 8 at the bottom of the rear mounting plate 5. Then, place the auxiliary guide wheels 23 on the left and right sides of the unmanned traction vehicle above the laid high-altitude cable, and place the drive wheel 1 of the unmanned traction vehicle below the laid high-altitude cable. The entire unmanned traction vehicle is suspended on the laid high-altitude cable.

[0029] Step S2 is as follows: The remote control starts the push rod motor. The remote control receiver receives the signal and transmits it to the first DC motor forward and reverse drive. The first DC motor forward and reverse drive starts the push rod motor to rotate forward. The electric push rod 9 extends and drives the upper slide 10 to move upward along the two guide rails. The two pressure rollers 17 on the upper slide 10 also move upward, pressing the laid high-altitude cable upward. The electric push rod 9 continues to extend. Under the obstruction of the drive wheel 1, the upper slide 10 no longer moves upward. The lower slide 11 overcomes the elastic force of the two springs 16 and moves downward along the two guide rails. The two vertical rods 15 also move downward until the adjusting nut at the lower end of the vertical rod 15 touches the first micro switch 13. The first micro switch 13 sends a signal to the first DC motor forward and reverse drive that the pressure rollers 17 are pressed into place. The first DC motor forward and reverse drive controls the push rod motor to stop. The length of the electric push rod 9 is fixed, and the pressure of the two pressure rollers 17 on the laid high-altitude cable reaches the set value.

[0030] Step S3 is as follows: The remote control starts the walking motor 18. After receiving the signal, the receiver sends a command to the second DC motor forward and reverse drive to start the walking motor 18. The walking motor 18 starts and drives the drive wheel 1 to rotate through the synchronous belt 20. The drive wheel 1 travels on the laid high-altitude cable. The two pressure rollers 17 and the two auxiliary guide rollers 23 also travel along the laid high-altitude cable. As the traction rope becomes longer, it generates a certain pulling force on the mounting frame. Since the two auxiliary guide rollers 23 are on the upper part of the laid high-altitude cable, the mounting frame can be prevented from tilting in the left and right directions. When the unmanned traction vehicle approaches the power tower, the second micro switch 24 first touches the insulating terminal on the power tower. The second micro switch 24 sends a signal to the second DC motor forward and reverse drive to indicate that the vehicle has reached the destination. The second DC motor forward and reverse drive controls the walking motor 18 to stop, completing the transport of the traction rope from one power tower to the next.

[0031] The first micro switch 13, the second micro switch 24, the first DC motor forward and reverse drive, the second DC motor forward and reverse drive, the electric push rod 9, the push rod motor, the UBEC, and the remote control receiver in this utility model are all existing technologies and are commercially available. Their specific structures and working principles will not be elaborated further. Furthermore, the automatic control involved in this utility model does not involve any new computer programs.

[0032] The above embodiments are only used to illustrate and not limit the technical solutions of this utility model. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the utility model without departing from the spirit and scope of the utility model. Any modifications or partial substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An all-weather high-altitude cable-laying unmanned vehicle with intelligent traction, characterized in that: The mounting rack is provided with driving wheels, a lifting type line pressing mechanism, a power device, an electrical control assembly and a rechargeable battery from top to bottom, the power device is in transmission connection with the driving wheels, the lifting type line pressing mechanism is in cooperation with the driving wheels at the upper end for pressing the laid cable, the mounting rack is provided with an anti-inclination device on the left and right sides of the upper part of the mounting rack for rolling along the laid cable; the electrical control assembly comprises a UBEC and a remote control receiver, the rechargeable battery is connected with the remote control receiver through the UBEC, the rechargeable battery supplies power to the lifting type line pressing mechanism and the power device, and the remote control receiver is in signal connection with the lifting type line pressing mechanism and the power device respectively.

2. The intelligent towed all-weather high-altitude cable-laying drone of claim 1, wherein: The mounting rack comprises front and rear mounting plates which are arranged at intervals, and the front and rear mounting plates are connected by a plurality of bolts, the mounting rack has a mounting space between the front and rear mounting plates, the upper side of the front mounting plate is lower than the upper side of the rear mounting plate, the upper end of the rear mounting plate is provided with a handle hole, and the lower part of the rear mounting plate is provided with a traction rope connecting hole.

3. The intelligent towed all-weather high-altitude cable-laying drone of claim 2, wherein: The lifting type line pressing mechanism comprises an electric push rod, a first DC motor forward and reverse driver, an upper sliding seat, a lower sliding seat, an L-shaped fixing seat, a first micro switch and two sliding rails, the two sliding rails are vertically fixed on the front side of the rear mounting plate, the upper and lower sliding seats are slidably connected to the two sliding rails respectively, the first micro switch and the L-shaped fixing seat are fixed on the front side of the rear mounting plate, the first micro switch is located below the L-shaped fixing seat, the L-shaped fixing seat is located between the lower ends of the two sliding rails, the lower end of the lower sliding seat is fixed with two vertical rods, a spring is sleeved on each vertical rod, the lower ends of the two vertical rods pass through the L-shaped fixing seat and are threadedly connected with an adjusting nut located directly above the first micro switch, the electric push rod is vertically arranged, the lower and upper ends of the electric push rod are connected to the lower and upper sliding seats by bolts, two line pressing wheels are rotatably arranged on the upper sliding seat, the two line pressing wheels are arranged at the same height and at intervals left and right and symmetrically about the center line of the driving wheel, the signal output end of the first micro switch is connected to the signal input end of the first DC motor forward and reverse driver, the input end of the first DC motor forward and reverse driver is connected to the signal output end of the remote control receiver, and the output end of the first DC motor forward and reverse driver is connected to the signal input end of the push rod motor of the electric push rod.

4. The intelligent towed all-weather high-altitude cable-laying drone of claim 3, wherein: The power device comprises a walking motor and a second DC motor forward and reverse driver, the walking motor is installed on the front side of the rear mounting plate, the main shaft of the walking motor passes through the rear mounting plate and is coaxially connected with a driving pulley, the driving wheel is coaxially connected with a driven pulley located on the rear side of the rear mounting plate, the driving pulley and the driven pulley are in transmission connection through a synchronous belt, the signal input end of the walking motor is connected to the signal output end of the second DC motor forward and reverse driver, and the signal input end of the second DC motor forward and reverse driver is connected to the signal output end of the remote control receiver.

5. The intelligent towed all-weather high-altitude cable-laying drone of claim 4, wherein: The two anti-mounting rack tilting devices are symmetrical in structure and left and right arrangement; the right anti-mounting rack tilting device comprises a horizontal rod, an inclined support rod, an auxiliary guide wheel and a second micro switch, the horizontal rod is arranged along the left-right direction, the left end of the horizontal rod is hinged to the rear mounting plate, the inclined support rod is arranged in an inclined manner with the left end being lower than the right end, the left end of the inclined support rod is hinged to the rear mounting plate, the right end of the inclined support rod is hinged to the horizontal rod, the second micro switch is arranged at the right end of the second horizontal rod, the auxiliary guide wheel is rotatably arranged on the second horizontal rod and located at the right side of the second micro switch, the auxiliary guide wheel is in correspondence with the driving wheel in height and left-right arrangement, and the output end of the second micro switch is connected with the signal input end of the second DC motor forward-reverse rotation driver.

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