Take-up and pay-off mechanism, docking device and cable maintenance equipment

Abstract

The utility model provides a take-up and pay-off mechanism, a docking device and cable maintenance equipment. The take-up and pay-off mechanism comprises a bearing frame; the releasing mechanism comprises a hook assembly rotationally arranged on the bearing frame and a first connecting piece arranged on the target object and used for being hooked by the hook assembly; the bearing frame drives the hook assembly to descend relative to the first connecting piece, so that the hook assembly is separated from the first connecting piece, and the hook assembly rotates to be away from the first connecting piece. The withdrawing mechanism comprises a second connecting piece arranged on the bearing frame and a clamping arm rotationally arranged on the target object; the bearing frame drives the second connecting piece to descend relative to the clamping arm, so that the second connecting piece pushes the clamping arm to rotate, and after the second connecting piece crosses the clamping arm, the second connecting piece is connected with the clamping arm. According to the take-up and pay-off mechanism, the inspection robot can automatically fall on a high-altitude cable and automatically break away from the high-altitude cable, maintenance personnel do not need to climb to the high-altitude cable, and therefore the safety risk brought to the maintenance personnel by high-altitude operation can be avoided.

Description

Technical Field

[0001] This application relates to the field of cable maintenance technology, specifically to a cable retraction mechanism, a docking device, and cable maintenance equipment. Background Technology

[0002] With the continuous development of the power system, high-voltage transmission lines, as the backbone network for power transmission, are of paramount importance for safe and stable operation. However, high-altitude cables are exposed to a complex and ever-changing natural environment for extended periods, facing numerous challenges and being highly susceptible to problems such as insulation aging, mechanical damage, and connection failures.

[0003] Currently, the maintenance of overhead cables mainly relies on manual high-altitude operations. Maintenance personnel need to climb to heights of tens or even hundreds of meters to perform inspections in dangerous environments such as high voltage and strong electromagnetic fields, posing significant safety risks. Even though auxiliary equipment such as cable inspection robots have emerged in recent years, in practical applications, personnel still need to climb to deliver the inspection robots to the overhead cables, making it impossible to completely eliminate the safety risks associated with high-altitude operations. Utility Model Content

[0004] In view of this, this application provides a deployment and retrieval mechanism that can solve the safety risks associated with manually climbing high-altitude cables to deploy and retrieve inspection robots. Furthermore, this application also provides a docking device including this deployment and retrieval mechanism, and a cable maintenance device including the docking device.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A receiving and releasing mechanism for receiving and releasing a target object, comprising:

[0007] Support frame;

[0008] The release mechanism includes: a hook assembly rotatably connected to the support frame, and a first connector disposed on the target object and for being hooked by the hook assembly; wherein the support frame causes the hook assembly to descend relative to the first connector, thereby separating the hook assembly from the first connector, and the hook assembly rotates away from the first connector.

[0009] The retraction mechanism includes: a second connector disposed on the support frame, and a locking arm rotatably disposed on the target object; wherein the support frame drives the second connector to descend relative to the locking arm, causing the second connector to push the locking arm to rotate, and the locking arm connection is reset after the second connector passes the locking arm.

[0010] Optionally, in the above-mentioned retracting mechanism, multiple second connecting members are provided, multiple clamping arms are provided, and:

[0011] The clamping arms can be connected one-to-one to the second connector, or all the clamping arms can cooperate to connect all the second connectors.

[0012] Optionally, in the above-mentioned retracting mechanism, the second connector has a guide portion, the two ends of which have a height difference, and the locking arm connected to the second connector can slide to a preset position under the guidance of the guide portion.

[0013] Optionally, in the above-mentioned retracting mechanism, the second connecting member is a connecting rod, the middle part of the connecting rod is bent so that the two ends of the connecting rod are higher than the middle part, and the two ends of the connecting rod are connected to the support frame through the first connecting frame. The guide part is the part from the two ends of the connecting rod to the middle part, and the preset position is the middle part.

[0014] Optionally, in the above-mentioned retracting mechanism, multiple hook assemblies are provided, and are respectively arranged on opposite sides of all the second connectors; multiple first connectors are provided, and are hooked one-to-one with the hook assemblies, and are respectively located on opposite sides of all the locking arms.

[0015] Optionally, in the above-described retraction mechanism, the hook assembly is connected to the support frame via a fixing block, and the hook assembly includes:

[0016] At least two hooks, connected by a support member;

[0017] A first pin passes through the fixing block and the hook, and is rotatably connected to at least one of the fixing block and the hook;

[0018] A first torsion spring is sleeved on the first pin, and the two lever arms of the first torsion spring abut against the fixed block and the support member, respectively.

[0019] Optionally, in the above-described retraction mechanism, the first connector and the locking arm are connected to the target object via a second connecting frame, the second connecting frame comprising:

[0020] Frame body;

[0021] Multiple first connecting legs are connected to the bottom of the frame body for fixed connection with the target object;

[0022] Multiple second connecting legs are connected to the top of the frame body and are connected to the first connecting member and the clamping arm;

[0023] The second connecting leg is provided with a second pin, a second torsion spring and a limiting member. The locking arm is rotatably connected to the second connecting leg through the second pin. The second torsion spring is sleeved on the second pin to drive the locking arm to reset. The limiting member limits the locking arm to the initial position.

[0024] A docking device includes a docking component and a drone that drives the docking component to fly, the docking component including the aforementioned deployment and take-off mechanism.

[0025] Optionally, in the above-mentioned docking device, the docking assembly includes:

[0026] A connection frame, used for connecting to overhead cables;

[0027] A lifting mechanism, connected to the docking frame, is used to drive the retraction mechanism to move up and down relative to the docking frame;

[0028] The deployment and retraction mechanism, connected to the lifting mechanism, is used to release the inspection robot from the overhead cable and to retract the inspection robot from the overhead cable.

[0029] A cable inspection device includes an inspection robot and a docking device for connecting and disconnecting the inspection robot from the high-altitude cable, wherein the docking device is the aforementioned docking device.

[0030] The deployment and retrieval mechanism provided in this application can be used to release an inspection robot (i.e., the target object) onto an overhead power line, and also to retrieve the inspection robot from the overhead power line. Before the deployment and retrieval operation, the inspection robot is first hooked onto the release mechanism by the hook assembly connecting it to the first connecting member. Then, the inspection robot is gradually moved closer to the overhead power line. After the inspection robot lands on the overhead power line, it is supported by the overhead power line. At this time, the support frame drives the release mechanism to descend a certain distance, that is, the hook assembly descends a certain distance relative to the first connecting member, thereby removing the first connecting member from the hook space of the hook assembly. Then, the hook assembly is rotated to move away from the first connecting member, thus completely detaching the release mechanism from the inspection robot. At this point, the inspection robot has completed its deployment on the overhead power line. Upon release, the inspection robot can perform its inspection tasks, while the support frame drives the release mechanism to rise and return to its original position. After the inspection task is completed, the robot returns to the release position along the overhead cable. Then, the support frame drives the retraction mechanism downwards. During this descent, the second connecting piece presses down on the locking arm mounted on the inspection robot, forcing the locking arm to rotate downwards to avoid the second connecting piece. Once the lowered second connecting piece passes the locking arm, the locking arm no longer bears the downward pressure and resets. The reset locking arm then blocks the upward path of the second connecting piece, thus establishing a connection. The support frame then drives the second connecting piece upwards, and the inspection robot, via the locking arm, attaches to the second connecting piece and rises with it, ultimately detaching the inspection robot from the overhead cable and achieving retrieval. This retraction mechanism allows the inspection robot to automatically land on and detach from the overhead cable, eliminating the need for maintenance personnel to climb onto it. This completely avoids the safety risks associated with working at heights and improves inspection efficiency by eliminating the climbing process for maintenance personnel. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of the take-up and release mechanism hooking onto the inspection robot, as provided in an embodiment of this application.

[0033] Figure 2 This is a schematic diagram of the support frame structure;

[0034] Figure 3 A schematic diagram showing the structure in which the second connector and the first connecting frame mate.

[0035] Figure 4 A schematic diagram showing the distribution of the second connector and hook assembly on the support frame;

[0036] Figure 5 A schematic diagram showing the connection between the hook assembly and the fixing block;

[0037] Figure 6 A schematic diagram of the structure for the cooperation of the first connector, the clamping arm, and the second connecting frame;

[0038] Figure 7 This is a schematic diagram of the structure connecting the second connecting frame to the inspection robot;

[0039] Figure 8 A schematic diagram of the structure for the release mechanism to function;

[0040] Figure 9 This is a schematic diagram of the structure after the first connector is disengaged from the hook assembly, or a schematic diagram of the structure of the second connector moving towards the locking arm;

[0041] Figure 10 This is a schematic diagram of the connection between the clamp arm and the second connector;

[0042] Figure 11 This is a schematic diagram of the cable maintenance equipment provided in an embodiment of this application;

[0043] Figure 12 A schematic diagram showing the structure of the lifting mechanism, the retraction mechanism, and the inspection robot working together.

[0044] exist Figures 1-12 middle:

[0045] 1-Carrier frame, 2-Release mechanism, 3-Retraction mechanism, 4-First connecting frame, 5-Second connecting frame, 6-UAV, 7-Dock frame, 8-Lifting mechanism, 9-Inspection robot;

[0046] 101 - Reinforcing component;

[0047] 201-Hook assembly, 202-First connector, 203-Fixing block;

[0048] 301 - Second connector; 302 - Clamping arm;

[0049] 401 - Connecting block, 402 - Connecting rib;

[0050] 501 - Frame body, 502 - First connecting leg, 503 - Second connecting leg, 504 - Second pin, 505 - Limiting component;

[0051] 701-Outrigger, 702-Cable splicing rod, 703-Protective frame;

[0052] 801-Frame, 802-Drive motor, 803-Transmission gear, 804-Transmission shaft, 805-Transmission belt, 806-Guide rod, 807-Pressure plate;

[0053] 2011 - Hook, 2012 - First pin, 2013 - First torsion spring, 214 - Support component;

[0054] 3011 - Guide section, 3012 - Intermediate section. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0056] like Figures 1-10As shown in the embodiment of this application, a retraction mechanism is provided, which can be used to retract a target object, such as releasing the inspection robot 9 (i.e., the target object) onto an overhead cable, or retracting the inspection robot 9 from the overhead cable. This retraction mechanism mainly includes a support frame 1, a release mechanism 2, and a retraction mechanism 3. The support frame 1 is the structure that supports the release mechanism 2 and the retraction mechanism 3. It can be raised and lowered via a lifting mechanism 8 (described later), thereby driving the release mechanism 2, the retraction mechanism 3, and the inspection robot 9 suspended on these two mechanisms to rise and fall. The descent is used to lower the inspection robot 9 onto the overhead cable, and the rise is used to perform the inspection. The robot 9 detaches from the overhead cable. Optionally, to simplify the structure and reduce weight, the support frame 1 can be configured as a rectangular frame structure assembled from carbon tubing. To ensure sufficient structural strength, reinforcing members 101 (also made of carbon tubing) can be installed inside the frame. The release mechanism 2 is used to separate the retraction mechanism from the inspection robot 9 after it falls onto the overhead cable. The release mechanism 2 includes a hook assembly 201 and a first connecting member 202 for engaging with the hook assembly 201. The hook assembly 201 is mounted on the support frame 1 and is not only supported by the support frame 1 but also rises and falls with the support frame 1. The first connector 201 can also rotate on the support frame 1, while the first connector 202 is fixedly connected to the inspection robot 9. When the inspection robot 9 needs to be deployed onto the overhead cable, the first connector 202 is first hung on the hook assembly 201 by manual operation, so that the inspection robot is suspended on the deployment mechanism. Then, the inspection robot 9 is transported to a high altitude and positioned above the overhead cable. Afterward, the support frame 1 drives the release mechanism 2 to descend, so that the inspection robot 9 gradually approaches the overhead cable until it lands on the overhead cable, so that the overhead cable can support the inspection robot 9. Then, the support frame 1 drives the hook assembly 201 to lower the robot. As component 201 continues to descend, since the inspection robot 9 is supported by the high-altitude cable, meaning the inspection robot 9 will not descend further, the hook assembly 201, which continues to descend, will descend relative to the first connecting component 202 fixed on the inspection robot 9 (i.e., the two will no longer descend synchronously). This allows the first connecting component 202 to detach from the hook assembly 201, achieving the separation of the inspection robot 9 from the take-up and release mechanism. Finally, to prevent the hook assembly 201 from accidentally hooking the first connecting component 202 again when it rises, after the first connecting component 202 detaches from the hook assembly 201, the hook assembly 201 is rotated on the support frame 1 and moved away from the first connecting component 202.The retraction mechanism 3 is used to retract the inspection robot 9 from the overhead cable after the inspection robot 9 completes its inspection task. The retraction mechanism 3 includes a second connector 301 and a clamping arm 302 for connecting the second connector 301. The second connector 301 is mounted on the support frame 1 and moves up and down with the support frame 1. The clamping arm 302 is mounted on the inspection robot 9 and can rotate on the inspection robot 9. When it is necessary to retract the inspection robot 9 from the overhead cable, the support frame 1 above the inspection robot 9 causes the second connector 301 to descend to approach the inspection robot 9. During the continuous descent of the second connector 301, since the clamping arm 302 is located on the descent path of the second connector 301, the descending second connector 301 will compress the clamping arm 302 to rotate downwards. The movement avoids the second connecting member 301. After the second connecting member 301 passes the clamping arm 302, the clamping arm 302 no longer bears the downward pressure and resets. The reset clamping arm 302 is then located on the upward path of the second connecting member 301. After the clamping arm 302 resets, the second connecting member 301 stops descending and begins to rise. Since the clamping arm 302 is located on the upward path, the rising second connecting member 301 will interfere with the clamping arm 302. Since the clamping arm 302 cannot rotate upward, the reset clamping arm 302 will connect with the second connecting member 301. That is, the clamping arm 302 will hang on the second connecting member 301 and be lifted by the second connecting member 301. Thus, the inspection robot 9 is lifted through the second connecting member 301, allowing the inspection robot 9 to separate from the high-altitude cable.

[0057] The aforementioned deployment and retrieval mechanism is a novel structure capable of releasing and retrieving the inspection robot 9. This structure automatically lowers and raises the inspection robot 9 onto the overhead power line via the release mechanism 2 and the retrieval mechanism 3, eliminating the need for maintenance personnel to climb the power line and thus completely avoiding the safety risks associated with working at heights. Furthermore, by eliminating the climbing process, inspection efficiency is improved. In addition, the release mechanism 2 separates from the inspection robot 9 by lowering and rotating the hook assembly 201, and the second connecting piece 301 of the retrieval mechanism 3 connects to the inspection robot 9 by pressing down and resetting the locking arm 302. Its simple structure, convenient assembly and disassembly, strong interchangeability, and enhanced automatic deployment and retrieval of the inspection robot 9 result in higher operational safety and stability, and a higher success rate for release and retrieval.

[0058] In optional embodiments, such as Figure 3 and Figure 6As shown, multiple second connectors 301 and multiple clamping arms 302 are provided. By providing multiple second connectors 301 and multiple clamping arms 302, the take-up and take-down mechanism and the inspection robot 9 can have multiple connection points. The cooperation of multiple connection points can make the take-up and take-down mechanism and the inspection robot 9 more stable and secure in connection. This not only avoids the inspection robot 9 from failing to retract properly and from accidentally falling off during the transportation process (this transportation process refers to the process of the drone 6 driving the inspection robot 9 to fly, as described later), but also prevents the inspection robot 9 from shaking during transportation, improves the stability of the inspection robot 9 suspended on the take-up and take-down mechanism, and reduces or avoids the impact on the stable flight of the drone 6.

[0059] With multiple second connectors 301 and multiple locking arms 302, the structure of the locking arms 302 and the connection method between the second connectors 301 and the locking arms 302 can be selected in various ways. In one embodiment, the locking arms 302 can be set as a ring, and a part of the ring structure can rotate, allowing the ring structure to open and close circumferentially. During the descent, the second connector 301 presses down on the rotatable part of the ring structure, thereby allowing the second connector 301 to enter the inner space of the ring structure. This achieves the connection with the locking arms 302, and the locking arms 302 are connected to the second connectors 301 one-to-one, that is, different second connectors 301 enter the inner space of different ring structures; or, in another embodiment, such as Figure 9 and Figure 10 As shown, all the locking arms 302 engage to connect all the second connecting pieces 301, forming a partial or complete ring structure. When any locking arm 302 is pressed down and rotates, or when two adjacent locking arms 302 are simultaneously pressed down and rotate in opposite directions, the ring structure opens, allowing the second connecting pieces 301 to enter the inner space. Then, the locking arms 302 rotate in the opposite direction to reset, closing the ring structure. This achieves the locking of the second connecting pieces 301 and the locking arms 302. Furthermore, forming a ring structure with the locking arms 302 completely prevents the second connecting pieces 301 from detaching, maximizing connection safety. Additionally, the locking arms 302 can also be a hook-shaped, circumferentially open structure.

[0060] Furthermore, the second connector 301 has a guide portion 3011 with a height difference between its two ends. The locking arm 302 connected to the second connector 301 can slide to a preset position under the guidance of the guide portion 3011. During the retraction process, in order to make the locking arm 302 hang more stably and accurately on the second connector 301, the guide portion 3011 is provided on the second connector 301. Due to the height difference of the guide portion 3011, under the gravity of the inspection robot 9, the locking arm 302 will slide under the guidance of the guide portion 3011 and eventually move to the preset position. This preset position is a pre-designed position where the locking arm 302 is expected to stay. In this position, the retrieval effect of the inspection robot 9 can be improved. For example, the inspection robot 9 can be positioned in the lateral middle position of the docking device described later, thereby ensuring that the inspection robot 9 rises safely under the drive of the second connector 301 and avoiding collisions with other structures of the docking device. Specifically, the guide portion 3011 can be formed by providing an inclined surface or an arc surface on the second connector 301, or by partially tilting or bending the second connector 301 to form the guide portion 3011, for example, by making the second connector 301 a V-shaped structure or a U-shaped structure. In addition, in order to improve the guiding effect of the guide portion 3011, the surface of the second connector 301 can be surface treated to reduce the coefficient of friction, that is, to make the surface smoother. This allows the clamping arm 302 to slide more easily to the preset position under the gravity of the inspection robot 9, further improving the working performance of the take-up and put-down mechanism.

[0061] Specifically, such as Figure 3As shown, the second connector 301 is configured as a connecting rod, with the middle portion 3012 of the connecting rod bent so that both ends of the connecting rod are higher than the middle portion 3012. The guide portion 3011 is the part from both ends of the connecting rod to the middle portion 3012, with the middle portion 3012 as the preset position. In this structure, the second connector 301 is configured as a round rod, which is not only simple in structure, but also facilitates pressing down on the clamping arm 302 and moving it downward relative to the clamping arm 302, making the connection process smoother and more convenient. The guide portion 3011 is preferably formed by configuring the connecting rod as a V-shaped or U-shaped bent rod, which facilitates the setting of the guide portion 3011. Moreover, this setting can also reserve a larger gap between the second connector 301 and the support frame 1. When the second connector 301 passes over the clamping arm 302, the clamping arm 302 is located in this gap. By increasing this gap, more space can be provided for the rebound and reset of the clamping arm 302, better ensuring the normal connection between the second connector 301 and the clamping arm 302. In addition, by setting the preset position to the middle part 3012 of the connecting rod, the clamping arm 302 can automatically return to center on the second connecting member 301. That is, when the clamping arm 302 used to connect the inspection robot 9 falls on the non-middle part 3012 of the connecting rod, it can slide down to the lowest middle part 3012 of the connecting rod under the action of gravity. This can better correct the position of the inspection robot 9 mounted on the take-up and take-down mechanism.

[0062] like Figure 3 As shown, the two ends of the rod-shaped second connector 301 are connected to the support frame 1 via the first connecting frame 4. Using the first connecting frame 4 to connect the second connector 301 to the support frame 1 improves the connection strength and stability between the connecting rod and the support frame 1, and also makes the relative position of the second connector 301 and the support frame 1 more precise. Furthermore, the first connecting frame 4 increases the gap between the second connector 301 and the support frame 1, allowing the locking arm 302 more space to achieve springback reset. Specifically, the first connecting frame 4 consists of multiple connecting blocks 401 that connect the second connector 301 and the support frame 1 respectively, and connecting ribs 402 that connect the connecting blocks 401. To further increase the gap between the second connector 301 and the support frame 1, the first connecting frame 4 is preferably also a V-shaped structure.

[0063] like Figure 1 and Figure 4As shown, in an optional embodiment, multiple hook assemblies 201 and multiple first connectors 202 are also provided, and they are hooked one-to-one with the hook assemblies 201. By providing multiple hook assemblies 201 and multiple first connectors 202, and hooking them one-to-one, the take-up and take-down mechanism and the inspection robot 9 can have multiple connection points. The cooperation of multiple connection points can make the take-up and take-down mechanism and the inspection robot 9 more stable and secure in connection. This not only avoids the situation where the inspection robot 9 cannot be released normally or the inspection robot 9 accidentally falls off during transportation, but also avoids the inspection robot 9 shaking during transportation, improves the stability of the inspection robot 9 suspended on the take-up and take-down mechanism, and can also reduce or avoid the impact on the stable flight of the UAV 6.

[0064] Among them, such as Figure 4 As shown, different hook components 201 are also set on opposite sides of all second connectors 301, and the first connectors 202 are respectively located on opposite sides of all clamping arms 302. In this way, while ensuring that the hook components 201 and the first connectors 202 are properly hooked one-to-one, the spacing between the connection points can be increased to the maximum extent, making the connection points more dispersed, and the inspection robot 9 can be suspended more stably.

[0065] like Figure 4 and Figure 5 As shown, the hook assembly 201 is connected to the support frame 1 via a fixing block 203. The hook assembly 201 includes: at least two hooks 2011 connected by support members 214; a first pin 2012 passing through the fixing block 203 and the hooks 2011, and rotatably connected to at least one of the fixing block 203 and the hooks 2011; and a first torsion spring 2013 sleeved on the first pin 2012, with its two arms abutting against the fixing block 203 and the hooks 2011 respectively. In this structure, each hook assembly 201 includes two hooks 2011 with hook grooves, and these two hooks 2011 are aligned (i.e., the projections of the two hooks 2011 in the same direction completely overlap), with a gap between the two hooks 2011. Multiple support members 214 are then arranged in the gap (the support members 214 can specifically be...). Figure 5As shown in the diagram, these support members 214 are all perpendicular to the hooks 2011, and each support member 214 is connected to two hooks 2011 at both ends, thereby assembling the two hooks 2011 and multiple support members 214 into a ladder structure. This increases the structural strength of the hook assembly 201 and allows each hook assembly 201 to have multiple hooking points, thus improving the stability of the hooks. After the ladder structure is assembled, the fixing block 203 is fixed to the support frame 1 using bolts and nuts. Through holes are provided on the fixing block 203 and at the end of the hook 2011 away from the hook groove. Then, the first pin 2012 passes through the through holes on the fixing block 203 and the hook 2011, ensuring the rotational connection between the first pin 2012 and the fixing block 203 and / or the hook 2011, so as to realize the rotational connection of the ladder structure on the fixing block 203. In the process of the first pin 2012 passing through the through hole, it also passes through the first torsion spring 2013. Figure 5 As shown, a groove is made on the fixing block 203, the first pin 2012 passes through the groove and the first torsion spring 2013 is placed in the groove. At the same time, the two lever arms of the first torsion spring 2013 abut against the fixing block 203 and the ladder structure respectively, so that the first torsion spring 2013 can drive the ladder structure to rotate relative to the fixing block 203 (or the support frame 1). The direction of the force applied by the first torsion spring 2013 is set to the direction in which the hook assemblies 201 on both sides of the second connector 301 move away from each other (that is, the first torsion spring 2013 is used to drive the two hook assemblies 201 on both sides of the second connector 301 to rotate in opposite directions). In this way, the hook assembly 201 can move away from the first connector 202 and the second connector 301 after it is disengaged from the first connector 202. This not only ensures reliable disengagement from the first connector 202, but also avoids the hook assembly 201 affecting the connection between the second connector 301 and the locking arm 302 during the retraction process, ensuring that the retraction operation after release can be completed more smoothly.

[0066] In optional embodiments, such as Figure 6 and Figure 7As shown, the first connector 202 and the locking arm 302 are connected to the target object through the second connecting frame 5. The second connecting frame 5 includes: a frame body 501; a plurality of first connecting legs 502 connected to the bottom of the frame body 501 for fixed connection with the target object; and a plurality of second connecting legs 503 connected to the top of the frame body 501 and connected to the first connector 202 and the locking arm 302. The second connecting leg 503 is provided with a second pin 504, a second torsion spring and a limiting member 505. The locking arm 302 is rotatably connected to the second connecting leg 503 through the second pin 504. The second torsion spring is sleeved on the second pin 504 to drive the locking arm 302 to reset. The limiting member 505 limits the locking arm 302 to the initial position. In this application, the first connector 202 and the clamping arm 302 are mounted on the inspection robot 9 by means of the second connecting frame 5. To simplify the structure and reduce the number of parts, the second connecting frame 5 can be an integral structure, which includes a frame body 501 for transitional connection. To improve its structural strength and ensure a firm connection to the inspection robot 9, the frame body 501 is set as a rectangular frame structure. Multiple first connecting legs 502 are provided at the bottom of the frame body 501. These first connecting legs 502 are all fixedly connected to the inspection robot 9 by screws, and these first connecting legs 502 are respectively connected to different surfaces of the inspection robot 9 to maximize the stability of the connection to the inspection robot 9. Multiple second connecting legs 503 are connected to the top of the frame body 501. For example, two second connecting legs 503 can be provided. The first connecting member 202 and the locking arm 302 are located on the top of the second connecting legs 503. The frame body 501, the two second connecting legs 503 and the two locking arms 302 together form a ring structure. When the inspection robot 9 is retracted, the second connecting member 301 enters the internal space of the ring structure formed by the two second connecting legs 503 and the two locking arms 302. Specifically, each second connecting leg 503 is rotatably provided with a locking arm 302. A second connecting leg 503 and a locking arm 302 provided on it cooperate to form a hook-shaped structure. The two hook-shaped structures are symmetrically arranged to form a ring structure. In this ring structure, the two locking arms 302 are arranged in a door-like manner. When the two rod-shaped second connecting members 301 move down, they can press down on the two locking arms 302 respectively, causing the two locking arms 302 to rotate in opposite directions.

[0067] The way the locking arm 302 is rotatably mounted on the second connecting leg 503 is the same as the way the hook assembly 201 is rotatably mounted on the fixed block 203. That is, both the top of the second connecting leg 503 and the locking arm 302 have through holes. The second pin 504 passes through these through holes and is rotatably connected to the locking arm 302 and / or the second connecting leg 503. A second torsion spring is also sleeved on the second pin 504. The two arms of the second torsion spring abut against the second connecting leg 503 and the locking arm 302 respectively, so as to drive the locking arm 302 to rotate upward and reset (i.e., return to the initial position). The two locking arms 302 are mated relative to each other in the reset state to ensure the closure of the annular structure. In addition, in order to keep the two locking arms 302 in the mated position (initial position), such as Figure 6 As shown, a limiting member 505 is also provided on the second connecting leg 503. Specifically, the limiting member 505 can be a limiting pin fixedly provided on the second connecting leg 503 and arranged parallel to the second pin 504. The locking arm 302 includes a hooking part located on one side of the second pin 504 and used to hook with the second connecting member 301, and a limiting part located on the other side of the second pin 504 (that is, the locking arm 302 and the second pin 504 form a lever structure). The limiting pin is located below the limiting part. When the hooking part rotates upward under the drive of the second torsion spring, the limiting part rotates downward. When the hooking part rotates upward to the initial position, the limiting part rotates to the position of the limiting member 505. At this time, the limiting member 505 prevents the limiting part from continuing to rotate downward and limits the hooking part to the initial position.

[0068] like Figure 6 As shown, the first connector 202 for being hooked by the hook assembly 201 is also located on the top of the second connecting leg 503. To simplify the structure and facilitate entry and exit from the hook slots of the hook assembly 201, the first connector 202 is configured as a pin. Since each hook assembly 201 has two hook slots, the middle portion of the first connector 202 is connected to the second connecting leg 503 for better fit, while both ends of the first connector 202 are suspended to facilitate entry and exit from the two hook slots. Furthermore, since the hook assembly 201 is located on both sides of the second connector 301, the two first connectors 202 are positioned on both sides of the two locking arms 302 for better fit with the hook assembly 201.

[0069] In addition, this application embodiment also provides a docking device, which includes a docking component and a drone 6 that drives the docking component to fly, and the docking component includes the above-mentioned retraction and deployment mechanism.

[0070] Among them, such as Figure 11 and Figure 12As shown, the docking assembly includes: a docking frame 7 for docking with an overhead cable; a lifting mechanism 8 connected to the docking frame 7 for driving a retraction mechanism to rise and fall relative to the docking frame 7; and a retraction mechanism connected to the lifting mechanism 8 for releasing the inspection robot 9 from the overhead cable and for retrieving the inspection robot 9 from the overhead cable. In this structure, a drone 6 serves as the power source, transporting the inspection robot 9 to an overhead position via flight. The drone 6 is connected to the top of the docking frame 7. When the drone 6 transports the docking frame 7 to an overhead position and approaches the overhead cable, the docking frame 7 can dock with the overhead cable, i.e., the docking frame 7 can land on the overhead cable. The lifting mechanism 8 is located inside the docking frame 7, and the retraction mechanism is connected to the lifting mechanism 8. When releasing and retrieving the inspection robot 9, the lifting mechanism 8 drives the retraction mechanism to descend relative to the docking frame 7 to place the inspection robot 9 on the overhead cable or to achieve docking with the inspection robot 9. The docking frame 7 mainly includes support legs 701, cable docking rods 702, and protective frames 703. Support legs 701 are used to support the entire docking device on the ground. Cable docking rods 702 are used to connect to the cable to enable the docking device to descend on the high-altitude cable. The horizontal dimension of the protective frame 703 is larger than the horizontal dimension of the UAV 6, so as to protect the UAV 6 in the vertical direction and prevent the UAV 6 from colliding with the high-altitude cable and being damaged during the descent to dock with the high-altitude cable. The lifting mechanism 8 includes a frame 801 and a drive motor 802, a transmission gear 803, a transmission shaft 804, a transmission belt 805, a guide rod 806, and a pressure plate 807 mounted on the frame 801. The frame 801 is fixedly connected to the docking frame 7. The drive motor 802, transmission gear 803, transmission shaft 804, transmission belt 805, guide rod 806, and pressure plate 807 are all mounted on the frame 801. The power of the drive motor 802 is transmitted sequentially through the drive transmission gear 803, transmission shaft 804, and transmission belt 805. The support frame 1 is fixedly connected to the transmission belt 805 so that the support frame 1 is supported by the transmission belt 806. Driven by 5, the lifting mechanism raises and lowers, which in turn causes the support frame 1 to lift and lower the release mechanism 2 and the retraction mechanism 3. To avoid swaying and ensure the stability of lifting and lowering, the support frame 1 is slidably connected to the vertically set guide rod 806. The support frame 1 rises and falls under the guidance of the guide rod 806, while the pressure plate 807 is set at the upper limit position of the inspection robot 9. During the flight of the drone 6, the inspection robot 9 is lifted to the upper limit position by the support frame 1 so that the inspection drone 6 abuts against the pressure plates 807 on both sides, so as to avoid the shaking of the inspection drone 6 during flight, ensure the flight stability of the drone 6, and improve the success rate of docking with high-altitude cables.

[0071] This application embodiment also provides a cable maintenance device, which includes an inspection robot 9 and a docking device for connecting and disconnecting the inspection robot 9 from the high-altitude cable, the docking device being the docking device described above.

[0072] The specific working process of cable maintenance equipment is as follows:

[0073] Release Inspection Robot 9:

[0074] Step 1: After the drone 6, docking device and inspection robot 9 are assembled, control the drone 6 to carry the docking device and inspection robot 9 to fly above the high-altitude cable, and then control the drone 6 to slowly descend until the docking frame 7 of the docking device lands on the high-altitude cable. After that, the drone remains in a hovering state.

[0075] Step 2: Start the lifting mechanism 8, which will cause the lifting mechanism 8 to drive the retraction mechanism that suspends the inspection robot 9 to descend, and the inspection robot 9 will fall onto the cable;

[0076] Step 3: Continue to control the retraction mechanism to descend a certain distance so that the first connector 202 disengages from the hook groove of the hook assembly 201. The hook assembly 201 rotates under the drive of the first torsion spring 2013 to move away from the first connector 202. The inspection robot 9 completes the release and can start to perform the inspection task. At the same time, the lifting mechanism 8 drives the retraction mechanism to rise and reset. The drone 6 drives the docking device back to the ground (or the drone 6 and the docking device can wait for the inspection robot 9 on the high-altitude cable).

[0077] Retrieve Inspection Robot 9:

[0078] Step 4: Control the drone 6 to fly above the high-altitude cable with the docking device and inspection robot 9, and then control the drone 6 to slowly descend until the docking frame 7 of the docking device lands on the high-altitude cable. After that, the drone will remain in a hovering state.

[0079] Step 5: Operate the inspection robot 9 to move along the overhead cable towards the drone 6, and observe the position information of the inspection robot 9 at all times through the camera on the lifting mechanism 8;

[0080] Step 6: When the inspection robot 9 moves directly below the take-up and release mechanism, start the lifting mechanism 8 so that the lifting mechanism 8 drives the take-up and release mechanism to descend. The descending second connector 301 pushes the clamping arm 302 to rotate downward. After the second connector 301 passes the clamping arm 302, the clamping arm 302 resets to realize the connection between the clamping arm 302 and the second connector 301.

[0081] Step 7: Control the lifting mechanism 8 to drive the take-up and release mechanism to rise. The rising take-up and release mechanism lifts the inspection robot 9. The inspection robot 9 separates from the high-altitude cable and continues to rise. When the inspection robot 9 rises to the upper limit position, the photoelectric switch is triggered, the lifting mechanism 8 stops working, the take-up and release mechanism and the inspection robot 9 stop rising, and the sponge pad on the pressure plate 807 presses on the inspection robot 9.

[0082] Step 8: Then, the drone 6 changes from hovering to flying upwards. At this time, the docking device detaches from the high-altitude cable. After the drone 6 lands on the ground, it removes the inspection robot 9 from the deployment and take-off mechanism.

[0083] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0084] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0085] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0086] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0087] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0088] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A retractable mechanism, characterized in that, Used for receiving and placing target objects, including: Support frame; The release mechanism includes: a hook assembly rotatably connected to the support frame, and a first connector disposed on the target object and for being hooked by the hook assembly; wherein the support frame causes the hook assembly to descend relative to the first connector, thereby separating the hook assembly from the first connector, and the hook assembly rotates away from the first connector. The retraction mechanism includes: a second connector disposed on the support frame, and a locking arm rotatably disposed on the target object; wherein the support frame drives the second connector to descend relative to the locking arm, causing the second connector to push the locking arm to rotate, and the locking arm connection is reset after the second connector passes the locking arm.

2. The reeling device according to claim 1, wherein The second connector is provided in multiple forms, and the clamping arm is provided in multiple forms, and: The clamping arms can be connected one-to-one to the second connector, or all the clamping arms can cooperate to connect all the second connectors.

3. The reeling device according to claim 1, wherein The second connector has a guide portion with a height difference between its two ends, and the locking arm connected to the second connector can slide to a preset position under the guidance of the guide portion.

4. The reeling device according to claim 3, wherein The second connector is a connecting rod, the middle part of which is bent so that the two ends of the connecting rod are higher than the middle part, and the two ends of the connecting rod are connected to the support frame through the first connecting frame. The guide part is the part from the two ends of the connecting rod to the middle part, and the preset position is the middle part.

5. The retraction mechanism according to any one of claims 1-4, characterized in that, Multiple hook assemblies are provided, and are respectively arranged on opposite sides of all the second connectors; multiple first connectors are provided, and are hooked one-to-one with the hook assemblies, and are respectively located on opposite sides of all the clamping arms.

6. The retracting mechanism according to claim 5, characterized in that, The hook assembly is connected to the support frame via a fixing block, and the hook assembly includes: At least two hooks, connected by a support member; A first pin passes through the fixing block and the hook, and is rotatably connected to at least one of the fixing block and the hook; A first torsion spring is sleeved on the first pin, and the two lever arms of the first torsion spring abut against the fixed block and the support member, respectively.

7. The retraction mechanism according to any one of claims 1-4, characterized in that, The first connector and the clamping arm are connected to the target object via a second connecting frame, the second connecting frame comprising: Frame body; Multiple first connecting legs are connected to the bottom of the frame body for fixed connection with the target object; Multiple second connecting legs are connected to the top of the frame body and are connected to the first connecting member and the clamping arm; The second connecting leg is provided with a second pin, a second torsion spring and a limiting member. The locking arm is rotatably connected to the second connecting leg through the second pin. The second torsion spring is sleeved on the second pin to drive the locking arm to reset. The limiting member limits the locking arm to the initial position.

8. A docking device, characterized in that, The device includes a docking assembly and a drone that drives the docking assembly to fly, wherein the docking assembly includes the deployment and take-off mechanism as described in any one of claims 1-7.

9. The docking device according to claim 8, characterized in that, The docking components include: A connection frame, used for connecting to overhead cables; A lifting mechanism, connected to the docking frame, is used to drive the retraction mechanism to move up and down relative to the docking frame; The deployment and retraction mechanism, connected to the lifting mechanism, is used to release the inspection robot from the overhead cable and to retract the inspection robot from the overhead cable.

10. A cable maintenance device, characterized in that, It includes an inspection robot and a docking device for connecting and disconnecting the inspection robot from the high-altitude cable, wherein the docking device is the docking device as described in claim 8 or 9.

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