An unmanned aerial vehicle based catenary line working device

Abstract

The utility model discloses a contact line operation device based on unmanned plane, including unmanned plane, be equipped with loading platform on the unmanned plane, be equipped with a pair of along longitudinal interval arrangement's clamping component on the loading platform, the clamping component is used for clamping busbar, be equipped with operation component between two clamping components, operation component is used for the contact line of busbar bottom operation, the utility model has the advantages of simple operation, convenient, good stability and high operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of rail transit technology, and in particular to a contact line operation device based on unmanned aerial vehicles (UAVs). Background Technology

[0002] With the continuous improvement of people's living standards, subways have gradually become one of the core modes of transportation for urban residents' daily travel, and the construction of urban rail transit in my country has entered a stage of rapid development. In urban rail transit systems, the power supply method for underground tunnels usually adopts rigid contact networks. In actual operation, the daily inspection and maintenance of rigid contact networks is crucial. In recent years, abnormal wear between the pantograph and catenary has been common in winter across the country. The rigid contact network will develop hard spots, surface grooves, and poor elasticity in local areas. This not only causes the catenary to wear out quickly, resulting in a significant increase in operating costs, but in severe cases, abnormal wear of the pantograph and catenary can cause line arcing and tripping, and even affect the safe operation of the line.

[0003] Grinding the contact wire is currently the most effective technical means to optimize the pantograph-catenary relationship. By carrying out concentrated grinding operations on the contact wire in a short period of time, it is possible to quickly ensure that the surface of the contact wire remains smooth and burr-free, providing a key guarantee for the stable operation of the rail transit power supply system. At present, the grinding schemes for rigid contact wires are mainly divided into three categories: (1) manual sandpaper grinding; (2) manual grinding with electric equipment using nylon polishing wheels; and (3) mechanized grinding using professional contact wire grinding and polishing equipment.

[0004] The manual polishing method using polishing wheels and sandpaper has obvious limitations: on the one hand, the labor intensity of the workers is high, and the polishing height and polishing force are difficult to control, which can easily lead to uneven polishing quality; on the other hand, if the workers operate improperly, it is very easy to damage the surface of the contact line, and the large amount of metal particles and dust generated during the operation can also pose a threat to the health of the workers.

[0005] While professional contact wire grinding and polishing equipment can significantly improve grinding accuracy and surface quality, and its work efficiency is also much higher than manual grinding, it still has the following shortcomings in practical applications: First, the grinding and polishing system requires manual installation and switching of work positions between different anchor sections, which is cumbersome. Second, grinding consumables need to be replaced regularly, but the replacement process is cumbersome and inconvenient. Third, the installation and disassembly time of the entire set of equipment during contact wire grinding is relatively long, and the maintenance cycle of consumables is also relatively long, making it difficult to efficiently complete the grinding task within the limited rail transit operating window (24:00 at night to 6:00 in the morning). Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a contact line operation device based on drones that is simple to operate, convenient, stable and efficient.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A contact line operation device based on a drone includes a drone with a loading platform. The loading platform has a pair of clamping components arranged longitudinally at intervals for clamping a busbar. A working component is provided between the two clamping components for operating the contact line at the bottom of the busbar.

[0008] As a further improvement to the above technical solution: The busbar has protrusions on both sides, and the lower surface of the protrusions has grooves. The clamping assembly includes a pair of rollers arranged laterally and a pair of clamping arms arranged laterally. The clamping arms are provided with guide wheels for abutting against the upper surface of the protrusions, and the rollers are rotatably disposed in the grooves.

[0009] It also includes a roller drive component, which is connected to the roller and is used to drive the roller to roll along the groove.

[0010] The groove is a V-shaped groove.

[0011] It also includes a clamping arm drive unit, which is connected to the clamping arms and is used to drive the two clamping arms to move closer or further apart.

[0012] The working component is detachably connected to the loading platform.

[0013] The working components include grinders and / or polishers.

[0014] The loading platform is also equipped with a quality inspection component for detecting the operational quality of the work components.

[0015] Below the loading platform is a lower platform, on which the rotor of the UAV is mounted.

[0016] The lower platform is also equipped with auxiliary components, including a power supply battery and a dust collection device.

[0017] Compared with the prior art, the advantages of this utility model are: 1. This utility model discloses a drone-based contact wire operation device. By using a drone as a foundation, the device drives the operation components to grind the contact wire. Compared with manual grinding, the operation efficiency is higher. Furthermore, the operation does not require operators to directly contact the contact wire, effectively isolating dust and metal particles, reducing health hazards to operators, and significantly reducing labor intensity, thereby improving the overall safety and occupational health protection level. Compared with professional contact wire grinding and polishing devices, the loading and unloading process is simple and the loading and unloading time is shorter. The drone can be restarted to clamp the busbar, and the switching of different anchor sections can be completed. The operation is simple and convenient. The operation components are all externally mounted on the loading platform, which facilitates the replacement of easily damaged parts, effectively reducing the later maintenance time and operation difficulty, and also helps to extend the service life of the device. Clamping components are provided at the front and rear of the operation components to clamp the busbar, reducing the offset of the operation components when the device moves forward, and ensuring good stability.

[0018] 2. The contact line operation device based on the UAV of this utility model, when the UAV lifts the entire device to the corresponding height of the busbar, the rollers will embed into the grooves on the lower surface of the protrusions on both sides of the busbar. Through the rolling connection between the rollers and the grooves, the device can move stably along the busbar. At the same time, the guide wheels on the clamping arms are in close contact with the upper surface of the protrusions, which further enhances the clamping stability between the device and the busbar. This clamping method not only ensures that the device can maintain a stable fit with the busbar during the grinding process, preventing the device from falling off or shifting due to vibration or external force, but also improves the accuracy and effect of the grinding operation.

[0019] 3. The contact line operation device based on UAV of this utility model, by setting a roller drive component, eliminates the need for the UAV's power source to move forward. The roller drive component can drive the device forward while the UAV is stationary and hovering, realizing the operation of grinding while moving, and has higher stability.

[0020] 4. The contact line operation device based on UAV of this utility model has a reasonable layout by setting a lower platform below the loading platform, and mounting the rotor and other components on the lower platform to avoid interference with the operation components and clamping components. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the contact line operation device based on unmanned aerial vehicles (UAVs) of this utility model.

[0022] Figure 2 This is the front view of the contact line operation device based on the UAV of this utility model.

[0023] Figure 3 This is a schematic diagram of the structure of the contact line operation device based on the UAV during operation.

[0024] The labels in the diagram represent: 1. UAV; 11. Loading platform; 12. Lower platform; 13. Rotor; 2. Clamping assembly; 21. Roller; 22. Clamping arm; 221. Guide wheel; 3. Working assembly; 4. Busbar; 41. Protrusion; 42. Groove; 5. Contact line. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] like Figures 1 to 3 As shown, the contact wire operation device based on a drone in this embodiment includes a drone 1, a loading platform 11 on the drone 1, and a pair of clamping components 2 arranged longitudinally at intervals on the loading platform 11. The clamping components 2 are used to clamp the busbar 4, and an operation component 3 is provided between the two clamping components 2. The operation component 3 is used to operate the contact wire 5 at the bottom of the busbar 4. The longitudinal direction refers to the length direction of the busbar 4, and the transverse direction refers to the width direction of the busbar 4.

[0030] In this embodiment, the contact line processing device based on a drone first starts the drone 1 and controls it to rise to the height of the busbar 4. The clamping component 2 clamps the busbar 4 to ensure that the device is stably attached to the busbar 4 during the grinding process. After the clamping is stable, the working component 3 is started to grind the contact line 5. During the grinding operation, the drone 1 moves forward synchronously to achieve a working mode of grinding while moving. When grinding reaches the connection of the busbar 4 or when the entire grinding operation is completed, the working component 3 is turned off. At this time, the drone 1 is controlled to safely detach from the busbar 4 while ensuring the balance of its own weight and lift. The drone 1 is then slowly lowered to the ground, and the entire grinding operation process ends.

[0031] This embodiment of the contact wire maintenance device based on drones uses a drone 1 as a base to drive the working components 3 to grind the contact wire 5. Compared with manual grinding, the operation efficiency is higher. Moreover, the operation does not require operators to directly contact the contact wire 5, which can effectively isolate dust and metal particles, reduce health hazards to operators, and significantly reduce labor intensity, thereby improving the overall safety and occupational health protection level of the operation. Compared with professional contact wire grinding and polishing devices, the loading and unloading process is simple and the loading and unloading time is shorter. Restarting the drone 1 to clamp the busbar 4 can complete the switching of different anchor sections, making the operation simple and convenient. The working components 3 are all externally mounted on the loading platform 11, which facilitates the replacement of easily damaged parts, effectively reduces the later maintenance time and operation difficulty, and helps to extend the service life of the device. The working components 3 are equipped with clamping components 2 at both the front and rear to clamp the busbar 4, reducing the deviation of the working components 3 when the device moves forward, and ensuring good stability.

[0032] Furthermore, in this embodiment, the busbar 4 has protrusions 41 on both sides, and the lower surface of the protrusions 41 has grooves 42. The clamping assembly 2 includes a pair of rollers 21 arranged laterally and a pair of clamping arms 22 arranged laterally. The clamping arms 22 are provided with guide wheels 221 for abutting against the upper surface of the protrusions 41. The rollers 21 are rotatably disposed in the grooves 42. When the drone 1 lifts the entire device to the corresponding height of the manifold 4, the roller 21 will embed into the groove 42 on the lower surface of the protrusion 41 on both sides of the manifold 4. Through the rolling connection between the roller 21 and the groove 42, the device can move stably along the manifold 4. At the same time, the guide wheel 221 on the clamping arm 22 abuts tightly against the upper surface of the protrusion 41, further enhancing the clamping stability between the device and the manifold 4. This clamping method not only ensures that the device can maintain a stable fit with the manifold 4 during the grinding process, preventing the device from falling off or shifting due to vibration or external force, but also improves the accuracy and effect of the grinding operation.

[0033] Of course, in other embodiments, the clamping assembly 2 may also be spring clamped, hydraulically driven, magnetically attracted or otherwise; the layout of the rollers 21 and guide wheels 221 may be adjusted at the top, bottom or side, as long as the device is stably fitted to the busbar 4.

[0034] Furthermore, this embodiment also includes a roller drive component connected to the roller 21, used to drive the roller 21 to roll along the groove 42. By setting the roller drive component, the device does not need to use the power source of the drone 1 to move forward, so that the roller drive component can drive the device to move forward while the drone 1 is stationary and hovering, realizing the operation of grinding while moving, with higher stability.

[0035] Furthermore, in this embodiment, the groove 42 is a V-shaped groove. The V-shaped groove not only facilitates the insertion and rolling of the roller 21, but also has a limiting function to prevent the roller 21 from coming out of the groove 42 during rolling, thus ensuring high reliability.

[0036] Furthermore, this embodiment also includes a clamping arm drive component, which is connected to the clamping arms 22 and is used to drive the two clamping arms 22 to move closer or further apart. After the drone 1 rises to the height of the busbar 4, the roller 21 is fully embedded in the groove 42 at the bottom of the busbar 4, and the clamping arm drive component drives the clamping arms 22 to move closer together to close, so that the guide wheels 221 on the clamping arms 22 abut against the upper surface of the protrusion 41, thereby achieving stable clamping; when separating, the arm drive component drives the clamping arms 22 to move further apart to open, so that the device can be safely detached from the busbar 4. The structure is simple and reliable.

[0037] Furthermore, in this embodiment, the clamping arm 22 is hinged to the loading platform 11, and the clamping arm drive causes the two clamping arms 22 to move closer or further apart by driving the clamping arm 22 to rotate.

[0038] Furthermore, in this embodiment, the working component 3 is detachably connected to the loading platform 11, which facilitates the replacement of the working component 3 and makes maintenance easier.

[0039] Furthermore, in this embodiment, the working component 3 includes a grinding machine. Of course, in other embodiments, the working component 3 may also include a polishing machine, or the working component 3 may include both a polishing machine and a grinding machine, etc. The type and quantity of the working component 3 can be adjusted according to actual work needs to improve the versatility and flexibility of the device, so that the same device can adapt to the needs of different work scenarios.

[0040] Furthermore, in this embodiment, the loading platform 11 is also equipped with a quality inspection component for detecting the work quality of the work component 3. The quality inspection component (such as a vision module, laser module, infrared recognition module, or ultrasonic detection module) can measure the surface condition of the contact line 5 while grinding, and provide real-time feedback on the grinding effect. Once it is detected that the grinding quality does not meet the preset standard, the grinding parameters can be adjusted immediately or a secondary grinding can be performed on a specific area to ensure that the surface quality of the contact line 5 meets the requirements, effectively improving the work accuracy and efficiency.

[0041] Furthermore, in this embodiment, a lower platform 12 is provided below the loading platform 11, and the rotor 13 of the UAV 1 is mounted on the lower platform 12. By providing a lower platform 12 below the loading platform 11, and mounting components such as the rotor 13 on the lower platform 12, interference with the working component 3 and the clamping component 2 is avoided, resulting in a reasonable layout.

[0042] Preferably, in this embodiment, the UAV 1 is a quadcopter UAV. The rotor arms are custom-designed using carbon fiber material, allowing for manual retraction and facilitating storage and transportation. The main frame of the device adopts a design combining carbon fiber composite material and lightweight alloy. The carbon fiber composite material possesses high specific strength and low density characteristics, and combined with the reinforcement effect of the alloy in key areas, it significantly reduces the overall structural weight while improving structural rigidity and stability, thus helping to extend the flight time of the UAV 1 and enhance flight stability. Of course, in other embodiments, the UAV 1 can also be a fixed-wing UAV, a tiltrotor UAV, or other lifting platforms.

[0043] Furthermore, in this embodiment, the lower platform 12 is also equipped with auxiliary components, including a power supply battery and a dust collection device. The power supply battery provides continuous and stable power support to the device, ensuring that the device will not be interrupted due to insufficient power during long-term operation; the dust collection device can collect harmful substances such as metal particles and dust generated during operation, preventing them from polluting the environment or posing a threat to the health of operators. Of course, other auxiliary components can also be added to the lower platform 12 according to actual needs.

[0044] Furthermore, this embodiment also includes a control system, which is connected to the UAV 1 and each drive component to realize the flexible lifting and lowering of the device from the platform to the contact network, automatic movement, and adaptability to the operation requirements of different heights and working environments. It is especially suitable for continuous grinding tasks under busbar 4 nodes and other complex working conditions, which significantly improves the flexibility of operation and environmental adaptability.

[0045] The specific workflow of the contact line operation device based on unmanned aerial vehicles in this embodiment is as follows: Step S1: Activate the flight control system of UAV 1 and use the remote control device to open the clamp arm 22 of UAV 1 to prepare for contact between the device and the busbar 4. Step S2: Control the drone 1 to rise to the height of the busbar 4, so that the roller 21 is fully embedded in the groove 42 at the bottom of the busbar 4, and control the clamping arm 22 to close through the remote control device to form a reliable clamping force, so as to ensure that the device is stably attached to the busbar 4 during the polishing process. Step S3: After the clamping is stable, turn off the flight control system, start the operation component 3 and the roller drive, so that the device can move and grind at the same time while the UAV 1 is stationary and hovering. Step S4: When grinding reaches the connection of the busbar 4 or when the entire grinding operation is completed, turn off the roller drive and the working component 3 in sequence, and restart the flight control system. At this time, control the UAV 1 to slowly open the clamping arm 22 under the condition of ensuring its own weight and lift balance, so that the device can safely detach from the busbar 4. Step S5: Control the drone 1 to slowly descend to the ground, and the entire grinding operation process is completed.

[0046] The specific application scenarios of the drone-based contact line operation device in this embodiment are as follows: (1) Scenarios of fixed-point grinding of contact network in subway sections.

[0047] In subway tunnel sections, space is limited and manual work at height is difficult. The operator activates the flight control system of UAV 1, raising it to the height of busbar 4, where clamping component 2 provides reliable clamping force. The flight control system is then shut down, and the working component 3 and roller drive are activated, working in conjunction with the vision module to move along busbar 4 for grinding, identifying and marking uneven areas in real time. After grinding is complete, the flight control system is restarted, clamping arm 22 is released, and the UAV slowly descends for recovery. This solution enables high-precision, continuous grinding in confined spaces, avoiding the risks associated with manual high-altitude work.

[0048] (2) Long-distance continuous grinding scene on elevated railway.

[0049] In elevated railway lines, a drone-based contact wire maintenance device performs long-distance operations along the track. Guided by rollers 21, the drone 1 moves at a constant speed along the busbar 4, while the working component 3 continuously polishes the contact wire surface, and a vision module detects the smoothness. This solution overcomes the limitations of traditional mounted polishing equipment on the track environment, enabling efficient high-altitude, long-distance polishing operations while ensuring operational continuity and precision.

[0050] (3) Rapid switching scenario of station busbar nodes.

[0051] In the station section, the busbar 4 nodes are densely distributed and have a complex structure, which places high demands on the adaptability and operational efficiency of the device. This device can be positioned by hovering drone 1 and quickly fixed to busbar 4 using clamping arm 22, realizing rapid switching of the grinding section and reducing the labor intensity of workers in handling the device.

[0052] (4) Nighttime maintenance operation scenario.

[0053] During nighttime maintenance, to avoid affecting train operations, drone 1, carrying work components 3, takes off to perform the work. Equipped with a vision module, it identifies the surface condition of the contact wire 5, while work components 3 continuously polish the contact wire surface. The drone operator does not need to touch the contact wire 5 throughout the entire process, enabling safe and precise polishing in low-light conditions.

[0054] (5) Emergency maintenance scenario.

[0055] In the event of sudden localized wear on the overhead contact line or abnormal wear of the pantograph, the UAV 1 can be quickly deployed to the target location, fixed by the clamping arm 22, and the operation component 3 can be activated for rapid repair. The localized grinding is timely and precise, ensuring the safe restoration of the line.

[0056] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present utility model using the methods and techniques disclosed above, or modify it into equivalent embodiments with equivalent changes, without departing from the spirit and technical solution of the present utility model. Therefore, any simple modifications, equivalent substitutions, equivalent changes and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A contact line operation device based on unmanned aerial vehicles (UAVs), characterized in that: Includes a drone (1), the drone (1) is provided with a loading platform (11), the loading platform (11) is provided with a pair of clamping components (2) arranged longitudinally at intervals, the clamping components (2) are used to clamp the busbar (4), and a working component (3) is provided between the two clamping components (2), the working component (3) is used to perform work on the contact line (5) at the bottom of the busbar (4).

2. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The busbar (4) has protrusions (41) on both sides, and the lower surface of the protrusions (41) has grooves (42). The clamping assembly (2) includes a pair of rollers (21) arranged laterally and a pair of clamping arms (22) arranged laterally. The clamping arms (22) are provided with guide wheels (221) for abutting against the upper surface of the protrusions (41). The rollers (21) are rolled in the grooves (42).

3. The contact line operation device based on unmanned aerial vehicles according to claim 2, characterized in that: It also includes a roller drive component, which is connected to the roller (21) and is used to drive the roller (21) to roll along the groove (42).

4. The contact line operation device based on unmanned aerial vehicles according to claim 2, characterized in that: The groove (42) is a V-shaped groove.

5. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 2, characterized in that: It also includes a clamping arm drive, which is connected to the clamping arm (22) and is used to drive the two clamping arms (22) to move closer or further apart from each other.

6. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The working component (3) is detachably connected to the loading platform (11).

7. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The working components (3) include a grinder and / or a polisher.

8. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The loading platform (11) is also equipped with a quality inspection component for detecting the operational quality of the work component (3).

9. The contact line operation device based on unmanned aerial vehicles according to any one of claims 1 to 8, characterized in that: A lower platform (12) is provided below the loading platform (11), and the rotor (13) of the UAV (1) is mounted on the lower platform (12).

10. The contact line operation device based on unmanned aerial vehicle (UAV) according to claim 9, characterized in that: The lower platform (12) is also provided with auxiliary components, including a power supply battery and a dust collection device.

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