Butt joint assembly, butt joint device and cable maintenance equipment

Abstract

The utility model provides a butt joint assembly, a butt joint device and cable maintenance equipment, the butt joint assembly can be at least used for butt joint and separation of an inspection robot and a high-altitude cable, and the butt joint assembly comprises a frame which is provided with a containing space for containing the inspection robot and a side opening allowing the high-altitude cable to enter the containing space; the butt-joint frame is arranged on the frame-shaped frame and used for guiding the aerial cable to enter the containing space from the side opening and positioning the aerial cable at the butt-joint position of the aerial cable and the inspection robot; and the connecting frame is connected to the frame-shaped frame, located above the frame-shaped frame and used for being connected with an aircraft. According to the butt joint assembly of the structure, lateral butt joint with a high-altitude cable is achieved through translation, when an inspection robot is put into the two lower wire harnesses in the three wire harnesses distributed in the shape like the Chinese character'pin ', the unmanned aerial vehicle can be prevented from being too close to the upper wire harnesses, the unmanned aerial vehicle cannot be broken down by an electromagnetic field of the upper wire harnesses any more, and the inspection robot can be put into the inspection robot. And the working safety of the unmanned aerial vehicle and the inspection robot is remarkably improved.

Description

Technical Field

[0001] This application relates to the field of cable maintenance technology, specifically to a docking assembly, 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] To reduce the safety risks of maintenance personnel working at heights, drones have been used in recent years to deploy inspection robots onto overhead power lines for automated maintenance. However, current drone deployment methods involve the drone flying above the power line and then lowering the robot onto it. Figure 1 As shown, since high-altitude cables are generally arranged in a triangular pattern of three wire bundles, when the inspection robot is deployed onto the two lower wire bundles, the drone is close to the upper wire bundle. The drone is easily damaged by the electromagnetic field of the upper wire bundle, and both the drone and the inspection robot are at great risk of damage. Utility Model Content

[0004] In view of this, this application provides a docking assembly that can solve the problem of UAVs being easily damaged by electromagnetic field breakdown. This application also provides a docking device having the above-mentioned docking assembly, and a cable repair device having the docking device.

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

[0006] A docking assembly, capable of docking and disconnecting an inspection robot from overhead cables, comprising:

[0007] The frame has a housing space for accommodating the inspection robot and a side opening that allows the overhead cable to enter the housing space;

[0008] A docking frame, mounted on the frame, is used to guide the aerial cable into the receiving space from the side opening and to position the aerial cable at the docking position with the inspection robot.

[0009] A connecting frame, attached to and located above the frame, is used to connect the aircraft.

[0010] Optionally, in the above-mentioned docking assembly, the docking frame includes:

[0011] A first guide member has a first end and a second end with a height less than the first end. The first end is located outside the side opening, and the second end is located inside the side opening, for guiding the high-altitude cable from the side opening into the receiving space.

[0012] A blocking element, connected to the second end, blocks the high-altitude cable from entering the receiving space, thereby positioning the high-altitude cable;

[0013] The blocking member is aligned with the rollers of the inspection robot housed in the accommodating space, so that the blocking member positions the high-altitude cable at the docking position with the inspection robot.

[0014] Optionally, in the above docking assembly, a portion of the first guide near the second end is connected to the blocking member to form a side door structure, and the side door structure is rotatably connected to the frame.

[0015] The side opening includes a first opening, a second opening, and a third opening located on three adjacent sides of the frame, respectively. In the circumferential direction of the frame, the first opening is located between the second opening and the third opening, and the second opening and the third opening are through which the high-altitude cable passes.

[0016] The docking frame is located at the first opening, and the side door structure is located at the second opening and / or the third opening. The opening area of ​​the second opening and / or the third opening is expanded by rotation so that the inspection robot can enter and exit the second opening and / or the third opening along the high-altitude cable.

[0017] Optionally, in the above docking assembly, the side door structure is a polygonal frame, and the first frame edge of the polygonal frame is rotatably connected to the frame frame through a rotating shaft mechanism and rotates under the drive of the driving assembly.

[0018] Optionally, in the above docking components, the driving component includes:

[0019] The drive motor is fixedly mounted on the frame.

[0020] The linkage mechanism is connected at one end to the drive motor and at the other end to the opposite side of the first frame edge. The drive motor drives the linkage mechanism to rotate the polygonal frame.

[0021] Optionally, in the above-mentioned docking assembly, the first guide member is an inclined guide rod, the guide rod including a first rod segment located outside the first opening and a second rod segment located inside the first opening, and the side door structure includes:

[0022] The second segment;

[0023] A hinge connects the end of the first segment and the end of the second segment, allowing the second segment to rotate up and down relative to the first segment.

[0024] Optionally, in the above-mentioned docking assembly, the second rod segment rotates relative to the first rod segment under the drive of the driving assembly, the driving assembly comprising:

[0025] The fixing seat is fixedly mounted on the frame.

[0026] The electric push rod is hinged at one end to the fixed base and at the other end to the second rod segment, and drives the second rod segment to rise and fall by extending and retracting.

[0027] Optionally, in the above docking assembly, the docking frame further includes a second guide disposed below the first guide, the second guide including a third end located outside the side opening and a fourth end located in the receiving space, the fourth end being higher than the third end.

[0028] A docking device includes a docking component and a drone that drives the docking component to fly, wherein the docking component is the aforementioned docking component.

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

[0030] The docking assembly provided in this application can be used for docking and separating inspection robots from overhead cables. Its frame has a receiving space. When deploying the inspection robot to the overhead cable, the robot can be placed in the receiving space first, and a drone and the frame can be connected via a connecting frame. Then, the drone is controlled to take off, causing the docking assembly to carry the inspection robot to a high altitude to approach the overhead cable. An opening on the frame allowing the overhead cable to enter the receiving space is located on the side, and the docking frame for guiding the overhead cable into the receiving space is also corresponding to the side opening. This allows the overhead cable to enter the receiving space from the side of the frame by translation. The docking of the overhead cable and the inspection robot is achieved through the positioning of the docking frame within the receiving space. During separation, the docking assembly moves in the opposite direction under the drive of the drone, allowing the overhead cable to exit the receiving space through the side opening. In other words, this docking component achieves lateral docking with the high-altitude cable through translation. When deploying the inspection robot to the lower two of the three wire harnesses distributed in a triangular pattern, it can prevent the drone from getting too close to the upper wire harness, so that the drone will no longer be damaged by the electromagnetic field of the upper wire harness. The working safety of the drone and the inspection robot is significantly improved. 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 a high-altitude cable with three wire bundles arranged in a triangular pattern.

[0033] Figure 2 This is a schematic diagram of the structure of the docking component provided in the embodiments of this application;

[0034] Figure 3 This is a structural diagram of the inspection robot;

[0035] Figure 4 A schematic diagram showing the connection between the docking components, the inspection robot, and the overhead cable.

[0036] Figure 5 for Figure 4 A magnified view of a portion of the image;

[0037] Figure 6 A schematic diagram of the side door structure in the open position;

[0038] Figure 7 A schematic diagram of the structure for the inspection robot to move out of the containment space through the second opening;

[0039] Figure 8 A schematic diagram showing the structure of the side door closing again after the inspection robot moves out of the receiving space through the second opening;

[0040] Figure 9 This is a schematic diagram of another side door structure;

[0041] Figure 10 for Figure 9 An enlarged view of the side door structure shown;

[0042] Figure 11 for Figure 9 The diagram shown is a schematic of the side door structure in the open state.

[0043] exist Figures 1-11 middle:

[0044] 1-Frame type frame, 2-Dialing frame, 3-Connecting frame, 4-Side door structure, 5-Rotating shaft mechanism, 6-Drive motor, 7-Linkage mechanism, 8-Fixed seat, 9-Electric push rod, 10-High-altitude cable, 11-Inspection robot;

[0045] 101-Support leg, 102-Top pipe, 103-First opening, 104-Second opening, 105-Third opening;

[0046] 201-First guide component, 202-Blocking component, 203-Second guide component;

[0047] 2011 - First end, 2012 - Second end, 2013 - First segment, 2014 - Second segment;

[0048] 701 - First link, 702 - Second link;

[0049] 1101 - Roller. Detailed Implementation

[0050] 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.

[0051] like Figures 2-11As shown, this application provides a docking assembly, which can at least be used to dock and separate the inspection robot 11 from the high-altitude cable 10, or it can also be applied to other docking and separation scenarios, which are not limited in this application. This docking assembly mainly includes a frame 1, a docking frame 2, and a connecting frame 3. The frame 1 is the main structure of the docking assembly, which is used to support and set other structures of the docking assembly such as the docking frame 2 and the connecting frame 3. As the name suggests, the frame 1 is frame-shaped, and can be a cubic or cuboid structure made of pipes, rods, and / or plates. The space inside the frame is the accommodating space for accommodating and connecting (e.g., hanging) the inspection robot 11. In order to optimize the structure, the pipes, rods, and / or plates surrounding the accommodating space also form legs 101 for supporting the robot on the ground. The system includes a docking assembly, an inspection robot 11, and a drone (not shown in the diagram). A docking frame 2, mounted on the frame 1, is located at a side opening. This serves two purposes: firstly, it guides the overhead cable 10 into the receiving space through the side opening, ensuring alignment and precise placement of the overhead cable 10 and the side opening as the docking assembly approaches it. This allows the overhead cable 10 to enter the receiving space containing the inspection robot 11 more easily, quickly, and accurately when the docking assembly moves under the drone's guidance. Secondly, the docking frame 2 also functions as a positioning device, providing a positioning function when the overhead cable 10 is guided into the receiving space. Once in the space, the docking frame 2 will prevent the high-altitude cable 10 from moving further (it should be noted that in reality, the high-altitude cable 10 does not move; rather, the docking assembly moves under the influence of the drone. However, for the sake of explanation, this application describes the relative movement between the high-altitude cable 10 and the docking assembly as the movement of the high-altitude cable 10. This description should not be construed as a limitation or misinterpretation of this application), in order to achieve the positioning of the high-altitude cable 10 within the containment space. When designing the docking assembly, the position of the high-altitude cable 10 positioned by the docking frame 2 is aligned with the rolling position of the inspection robot 11 within the containment space. The position of wheel 1101 is aligned (this alignment refers to alignment in the axial and / or vertical direction of the aerial cable 10), thus enabling docking between the aerial cable 10 and the inspection robot 11 when the aerial cable 10 is positioned. The connecting frame 3 is connected above the frame 1 and is used to connect the aircraft (such as a drone or a manned helicopter) to the frame 1, allowing the entire docking assembly to be propelled to high altitude by the drone. The specific structure of this connecting frame 3 is not limited in this application; it can have various optional structures, as long as it ensures a stable connection between the drone and the frame 1. It should be noted that the inspection robot 11 is existing equipment, and its structure can be found in [reference needed]. Figure 3As shown, the docking method between the overhead cable 10 and the inspection robot 11 can be as follows: the inspection robot 11 is suspended on the frame 1 by a hook. After the overhead cable 10 and the inspection robot 11 are aligned, the overhead cable 10 is located below the roller 1101 of the inspection robot 11. Then, the drone is controlled to move down a certain distance (this distance is much smaller than the distance between the upper and lower wiring harnesses). During the downward movement, the overhead cable 10 carries the inspection robot 11 (i.e., the roller 1101 of the inspection robot 11 is hung on the overhead cable 10). Since the inspection robot 11 is carried by the overhead cable 10, the inspection robot 11 will not continue to move down with the drone and the docking components. This allows the inspection robot 11 to detach from the hook and separate from the frame 1. After that, the inspection robot 11... The robot 11 can move on the high-altitude cable 10 by rotating the roller 1101, and then move out of the housing space to perform inspection tasks (inspection tasks include inspection, examination and repair of the high-altitude cable 10); when it is necessary to retrieve the inspection robot 11, first dock the docking component with the high-altitude cable 10, and then move the inspection robot 11 along the positioned high-altitude cable 10 to the housing space. At this time, the roller 1101 of the inspection robot 11 is aligned with the hook on the frame 1. Then the drone drives the docking component to move down so that the hook hooks the inspection robot 11. The drone then drives the docking component and the inspection robot 11 to rise so that the inspection robot 11 separates from the high-altitude cable 10. Finally, the drone drives the docking component and the inspection robot 11 back to the ground.

[0052] The aforementioned docking assembly has an opening for the high-altitude cable 10 to enter and exit on the side of the frame 1. When deploying the inspection robot 11 to the lower two wire harnesses of the three wire harnesses arranged in a triangular pattern, the drone only needs to fly the docking assembly to the same height as the lower wire harnesses, and then move it horizontally to dock with the high-altitude cable 10. This side docking method ensures that there is a large distance between the drone and the upper wire harness of the three wire harnesses arranged in a triangular pattern, so that the drone will no longer be damaged by the electromagnetic field of the upper wire harness. The working safety of the drone and the inspection robot 11 is significantly improved.

[0053] In optional embodiments, such as Figure 2As shown, the docking frame 2 includes a first guide 201, with a first end 2011 and a second end 2012 with a height less than the first end 2011. The first end 2011 is located outside the side opening, and the second end 2012 is located inside the side opening, for guiding the high-altitude cable 10 from the side opening into the receiving space. In this structure, the tubular or rod-shaped first guide 201 is inclined, or a slope or curved surface is provided on the plate-shaped first guide 201 so that the first guide 201 has two ends with different heights. Among these two ends, the first end 2011 located outside the side opening is higher than the second end 2012 located inside the side opening. Furthermore, the height of the first end 2011 can be greater than the height of the upper edge of the side opening. In this way, by setting the first guide 201, the docking space of the docking components can be larger. Even if the high-altitude cable 10 located outside the side opening is higher than the side opening to a certain extent, it can still be guided by the first guide 201 to enter the side opening more easily and quickly. In addition, the height of the second end 2012 is less than the height of the upper edge of the side opening, so that the high-altitude cable 10 can be guided more accurately to the docking position (i.e., the position aligned with the roller 1101 of the inspection robot 11), thereby making subsequent docking easier to achieve.

[0054] At the same time, such as Figure 5 As shown, the docking frame 2 also includes a blocking member 202, which is connected to the second end 2012 of the first guide member 201 and is used to block the high-altitude cable 10 from entering the receiving space to achieve the positioning of the high-altitude cable 10; wherein, the blocking member 202 is aligned with the roller 1101 of the inspection robot 11 housed in the receiving space (this alignment refers to alignment in the extension direction and / or vertical direction of the high-altitude cable 10) so that the blocking member 202 positions the high-altitude cable 10 at the docking position with the inspection robot 11. This blocking component 202 is also composed of pipes, rods, or plates; that is, the blocking component 202 can be a blocking pipe, a blocking rod, or a blocking plate. It is vertically connected to the lower end 2012 of the first guide component 201. When the high-altitude cable 10 slides down the inclined first guide component 201 to its innermost end (i.e., the second end 2012), the high-altitude cable 10 is blocked by the blocking component 202 and cannot continue to move deeper into the receiving space. This achieves the positioning of the high-altitude cable 10. Simultaneously, as... Figure 4 and Figure 6As shown, since the blocking member 202 and the roller 1101 of the inspection robot 11 are aligned, the overhead cable 10 blocked by the blocking member 202 is located just below the roller 1101 (preferably moved into the groove of the roller 1101). Then, the inspection robot 11 is moved down and detached from the frame 1 to achieve docking between the inspection robot 11 and the overhead cable 10. The inspection robot 11 is mounted on the overhead cable 10 through the roller 1101 and can walk on the overhead cable 10 by rotating the roller 1101.

[0055] Thus, by including the first guide member 201 and the blocking member 202 in the docking frame 2, not only can the convenience and success rate of docking be improved, but it can also make it easier to dock the inspection robot 11 and the high-altitude cable 10, making the working performance of the docking component provided in this application more outstanding.

[0056] Since the overhead cable 10 is a long conductor, in order to ensure that the overhead cable 10 can enter the housing space normally, multiple sides of the frame 1 need to have openings to allow the overhead cable 10 to enter, exit, and pass through. Therefore, as Figure 2 As shown, the side openings include a first opening 103, a second opening 104, and a third opening 105 located on three adjacent sides of the frame 1. In the circumferential direction of the frame 1, the first opening 103 is located between the second opening 104 and the third opening 105. The docking frame 2 is disposed at the first opening 103 so that the high-altitude cable 10 can enter and exit the receiving space through the first opening 103. When the high-altitude cable 10 enters the receiving space, the high-altitude cable 10 passes through the second opening 104 and the third opening 105. Therefore, the structure of the frame 1 is preferably U-shaped.

[0057] Based on the above structure, such as Figure 2 as well as Figures 5-8A portion of the first guide member 201 near the second end 2012 (this portion is the same component as the second rod segment 2014 described later, so this portion will be referred to as the second rod segment 2014 in the following description) is connected to the blocking member 202 to form a side door structure 4. The side door structure 4 is rotatably connected to the frame 1. The side door structure 4 is disposed in the second opening 104 and / or the third opening 105, and the opening area of ​​the second opening 104 and / or the third opening 105 is enlarged by rotation so that the inspection robot 11 can enter and exit the second opening 104 and / or the third opening 105 along the high-altitude cable 10. Because the first guide member 201 needs to guide the overhead cable 10 to a position aligned with the roller 1101 of the inspection robot 11, the first guide member 201 and the blocking member 202 connected to the first guide member 201 will be relatively close to the inspection robot 11 in the in-and-out direction (or in the radial direction of the overhead cable 10). Furthermore, because the inspection robot 11 needs to move along the axial direction of the overhead cable 10 after docking to move out of the receiving space and perform the inspection task, the first guide member 201 and the blocking member 202, being too close to the inspection robot 11, will interfere with the inspection robot moving along the overhead cable 10. The robot 11 interferes with the inspection robot 11. Therefore, in order to solve this problem, this application sets the part of the first guide member 201 near the inspection robot 11 and the blocking member 202 as a side door structure 4 that can rotate to avoid the inspection robot 11. By rotatably connecting it to the frame 1, this part of the structure can be rotated away from the second opening 104 and / or the third opening 105, so that the second opening 104 and / or the third opening 105 have a larger opening area, so that the inspection robot 11 can pass through the second opening 104 and / or the third opening 105 normally to enter and exit the receiving space.

[0058] In optional embodiments, such as Figure 2 as well as Figures 5-8The side door structure 4 is configured as a polygonal frame. The first edge of the polygonal frame is rotatably connected to the frame 1 via a pivot mechanism 5 and rotates under the drive of the drive assembly. Configuring the side door structure 4 as a polygonal frame improves its structural stability, resulting in better guidance and positioning of the overhead cable 10. Specifically, the polygonal frame can be configured as a right-angled trapezoidal frame, with one hypotenuse of the trapezoid forming the second rod segment 2014, allowing it to guide the overhead cable 10 to the docking position. The sides of the right-angled trapezoid formed by the blocking member 202 can be vertically positioned, thus improving the blocking effect of the blocking member 202 on the overhead cable 10. Furthermore, to ensure more stable rotation of the entire side door structure 4, the side of the right-angled trapezoid opposite to the hypotenuse is parallel to the top pipe 102 of the frame 1, i.e., horizontally positioned. The remaining side of the right-angled trapezoid is parallel to the side forming the blocking member 202, further increasing the structural stability of the side door structure 4. The side door structure 4 can be automatically opened and closed by driving the drive component, ensuring that the inspection robot 11 can enter and exit the storage space normally at high altitude.

[0059] Specifically, such as Figure 5 As shown, based on the polygonal frame of the side door structure 4, the corresponding drive components include: a drive motor 6, which is fixedly mounted on the frame 1; and a linkage mechanism 7, one end of which is connected to the drive motor 6 and the other end of which is connected to the opposite side of the first frame. The drive motor 6 drives the linkage mechanism 7 to move, thereby achieving the flipping of the polygonal frame. The first frame edge of the polygonal frame is the edge of the top tube 102 near the frame 1 and parallel to it. It is rotatably connected to the top tube 102 of the frame 1 via a pivot mechanism 5 (see prior art for the specific structure of the pivot mechanism 5). The linkage mechanism 7 can also have various structures. For simplification, this application preferably uses a two-link mechanism, including a first link 701 and a second link 702. One end of the first link 701 is fixedly connected to the output shaft of the drive motor 6, enabling the drive motor 6 to rotate the first link 701 around its output shaft. The other end of the first link 701 is hinged to one end of the second link 702, and the other end of the second link 702 is hinged to the second rod segment 2014. When the second rod segment 2014 is in the state of guiding the high-altitude cable 10 (i.e., the side door structure 4 is in...), the linkage mechanism 7 is rotatably connected to the top tube 10 of the frame 1. Figure 2 , Figure 4 and Figure 5When in the closed position (as shown), the angle between the first link 701 and the second link 702 is relatively large, and they are approximately distributed along a straight line. Furthermore, the hinge point of the first link 701 and the second link 702 is closer to the roller 1101 of the inspection robot 11 than the position where the first link 701 connects to the drive motor 6 and the hinge point where the second link 702 connects to the second segment 2014. In this state, the linkage mechanism 7 is in a self-locking state beyond the dead point. This state allows for better positioning of the side door structure 4 in the closed position, providing more stable and reliable guidance of the overhead cable 10 and better positioning of the overhead cable 10 in the docking position. When the inspection robot 11 needs to be moved out of the accommodating space, such as... Figure 6 and Figure 7 As shown, the drive motor 6 drives the first link 701 to rotate around the output shaft of the drive motor 6. The first link 701 drives the second link 702 to rotate, thereby reducing the included angle between the two links. This causes the polygonal frame to flip away from the roller 1101 of the inspection robot 11. The flip angle can be 90° to ensure avoidance of the roller 1101, allowing the inspection robot 11 to move normally out of the housing space along the overhead cable 10. After the inspection robot 11 moves out, as... Figure 8 As shown, the polygonal frame can return to the closed position under the drive of the drive motor 6, or it can remain in the open position after being flipped.

[0060] Alternatively, in other alternative embodiments, such as Figures 9-11 As shown, the first guide member 201 is an inclined guide rod, which includes a first rod segment 2013 located outside the first opening 103 and a second rod segment 2014 located inside the first opening 103. A blocking member 202 is connected to the end of the second rod segment 2014 away from the first rod segment 2013. The side door structure 4 includes: the second rod segment 2014; and a hinge connecting the ends of the first rod segment 2013 and the second rod segment 2014, allowing the second rod segment 2014 to rotate up and down relative to the first rod segment 2013. This side door structure 4 is simpler, as it sets the first guide member 201 as a split structure, namely, a first rod segment 2013 fixedly installed outside the first opening 103 and used only for guiding the high-altitude cable 10, and a second rod segment 2014 that connects to the first rod segment 2013 and can rotate relative to it. When the second rod segment 2014 and the first rod segment 2013 are on a straight line (i.e., the second rod segment 2014 is in a certain position), the second rod segment 2014 is positioned such that the second rod segment 2014 is in a certain position. Figure 9 When the side door structure 4 is in the closed position (as shown), the second rod segment 2014 and the first rod segment 2013 work together to guide the overhead cable 10, and the blocking member 202 set on the second rod segment 2014 can also position the overhead cable 10; and when the inspection robot 11 needs to be moved out of the accommodating space, such as Figure 10This causes the second segment 2014 to rotate upward relative to the first segment 2013, meaning the end of the second segment 2014 furthest from the first segment 2013 and the blocking member 202 connected to that end move upward. At this time, the side door structure 4 is in the open state, allowing it to avoid the inspection robot 11, enabling the inspection robot 11 to move normally out of the receiving space along the overhead cable 10. After the inspection robot 11 moves out, the polygonal frame can return to the closed position under the drive of the drive motor 6, or it can remain in the open position after being flipped over. Furthermore, as... Figure 9 As shown, the second pole segment 2014 can also be rotatably connected to the frame 1 via a hinge, but it needs to have the same tilt angle as the first pole segment 2013 when it is in the closed position, so as to ensure that the high-altitude cable 10 can be guided by the relay of the first pole segment 2013 and the second pole segment 2014 to reach the docking position.

[0061] like Figure 9 and Figure 10 As shown, based on the second rod segment 2014 of the side door structure 4, which is rotatably configured, the second rod segment 2014 is also rotated relative to the first rod segment 2013 under the drive of the drive assembly. The drive assembly includes: a fixed base 8, fixedly mounted on the frame 1; and an electric push rod 9, one end of which is hinged to the fixed base 8, and the other end of which is hinged to the second rod segment 2014, and the second rod segment 2014 is raised and lowered by extension and retraction. In this structure, the up and down rotation of the second rod segment 2014 can be achieved by the extension and retraction of the electric push rod 9, making the structure of the docking assembly simpler. The connection between the frame 1 and the electric push rod 9 through the fixed base 8 can improve the connection's firmness and stability. In addition to its simple structure, the electric push rod 9 is also an electrically driven component, which can be powered by a battery equipped on the docking assembly, thus further simplifying the structure of the docking assembly. Furthermore, the component that drives the rotation of the second rod segment 2014 can also be other types of drive components such as a cylinder or a scissor mechanism.

[0062] like Figure 2As shown, the docking frame 2 also includes a second guide 203 disposed below the first guide 201. The second guide 203 includes a third end located outside the side opening and a fourth end located in the accommodating space. The fourth end is higher than the third end. Furthermore, the tilt angles of the upper first guide 201 and the lower second guide 203 are the same. In this way, by setting the first guide 201 and the second guide 203, the first opening 103 becomes a flared mouth, thereby providing a larger opening for docking the high-altitude cable 10 on the outside of the frame 1, making it easier for the docking assembly to dock with the high-altitude cable 10. On the inside of the frame 1 (i.e., in the accommodating space), there is a smaller opening, which allows for more precise guidance of the high-altitude cable 10 to the docking position with the inspection robot 11, improving the docking success rate of the docking assembly.

[0063] In addition, this application embodiment also provides a docking device, including a docking component and a drone that drives the docking component to fly, the docking component being the docking component described above.

[0064] Since the docking device has the aforementioned docking components, the beneficial effects of the docking device brought about by the docking components are described above and will not be repeated here.

[0065] Furthermore, this application also provides a cable maintenance device, including an inspection robot 11 and a docking device for connecting and disconnecting the inspection robot 11 from the high-altitude cable 10, which is the docking device mentioned above.

[0066] Since the cable maintenance equipment has the aforementioned docking device, please refer to the above content for the beneficial effects brought by the docking device, which will not be repeated here.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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 docking assembly, characterized by, It can be used at least for docking and disconnecting inspection robots from overhead cables, including: The frame has a housing space for accommodating the inspection robot and a side opening that allows the overhead cable to enter the housing space; A docking frame, mounted on the frame, is used to guide the aerial cable into the receiving space from the side opening and to position the aerial cable at the docking position with the inspection robot. A connecting frame, attached to and located above the frame, is used to connect the aircraft.

2. The docking assembly of claim 1, wherein, The docking frame includes: A first guide member has a first end and a second end with a height less than the first end. The first end is located outside the side opening, and the second end is located inside the side opening, for guiding the high-altitude cable from the side opening into the receiving space. A blocking element, connected to the second end, blocks the high-altitude cable from entering the receiving space, thereby positioning the high-altitude cable; The blocking member is aligned with the rollers of the inspection robot housed in the accommodating space, so that the blocking member positions the high-altitude cable at the docking position with the inspection robot.

3. The docking assembly of claim 2, wherein, A portion of the first guide member near the second end is connected to the blocking member to form a side door structure, and the side door structure is rotatably connected to the frame. The side opening includes a first opening, a second opening, and a third opening located on three adjacent sides of the frame, respectively. In the circumferential direction of the frame, the first opening is located between the second opening and the third opening, and the second opening and the third opening are through which the high-altitude cable passes. The docking frame is located at the first opening, and the side door structure is located at the second opening and / or the third opening. The opening area of ​​the second opening and / or the third opening is expanded by rotation so that the inspection robot can enter and exit the second opening and / or the third opening along the high-altitude cable.

4. The docking assembly of claim 3, wherein, The side door structure is a polygonal frame. The first frame edge of the polygonal frame is rotatably connected to the frame frame through a pivot mechanism and rotates under the drive of the drive assembly.

5. The docking assembly of claim 4, wherein, The driving component includes: The drive motor is fixedly mounted on the frame. The linkage mechanism is connected at one end to the drive motor and at the other end to the opposite side of the first frame edge. The drive motor drives the linkage mechanism to rotate the polygonal frame.

6. The docking assembly of claim 3, wherein, The first guide member is an inclined guide rod, the guide rod including a first rod segment located outside the first opening and a second rod segment located inside the first opening, the side door structure including: The second segment; A hinge connects the end of the first segment and the end of the second segment, allowing the second segment to rotate up and down relative to the first segment.

7. The docking assembly of claim 6, wherein, The second link segment rotates relative to the first link segment under the drive of the drive assembly, the drive assembly comprising: The fixing seat is fixedly mounted on the frame. The electric push rod is hinged at one end to the fixed base and at the other end to the second rod segment, and drives the second rod segment to rise and fall by extending and retracting.

8. The docking assembly of any one of claims 2-7, wherein, The docking frame further includes a second guide disposed below the first guide, the second guide including a third end located outside the side opening and a fourth end located in the receiving space, the fourth end being higher than the third end.

9. A docking device, characterized in that, It includes a docking component and a drone that drives the docking component to fly, wherein the docking component is the docking component according to any one of claims 1-7.

10. A cable servicing apparatus, characterised 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 9.

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