JP2814189B2 - Wire drawing method and equipment by unmanned helicopter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a preparatory work for a transmission line of a tower or a wire rope of a building by remotely controlling a large model unmanned helicopter or an unmanned helicopter by radio. And a method for extending a pilot rope of the present invention.

[0002]

2. Description of the Related Art At present, ropes for overhead wire construction are mainly drawn by manned helicopters. However, with the progress of urbanization in recent years, restrictions on construction such as site problems and environmental problems in construction of transmission lines have been increasing. The current situation is becoming severe. In particular, the use of rope extension of an actual helicopter in the construction of transmission lines in an urban area is restricted in terms of noise and safety, and in many cases outside a city area, if there is a livestock bar near the line, it is not possible to fly due to noise problems. In addition, when using an actual helicopter on the extension line in the plantation area, the installation of a heliport and air transportation time was longer than the actual flight time of the extension line, which was uneconomic in terms of cost.

[0003] Also, a method of performing extension work with an airship or airplane
However, all of them not only increase working costs but also fly
It is difficult to control the vertical and horizontal movement of a ship, and the plane is fast
The pilot rope on the arm
All of the work is difficult. Manned helicopter
Hung the drum at one point, attached a guide frame to the drum,
Pull out the cable through the guide frame to rotate the drum
There is a way to extend the cable by stopping it, but
It is not practical with a recopter due to the above problems. Unmanned
Attach the pilot rope drum with a
Out the pilot rope from the
There is a way to drop it, however,
Change the direction of the aircraft to pull out the pilot rope
When rotating, there is a danger that the pilot rope will get caught
You. Also, the direction of helicopter travel is unknown
Operation is difficult and the direction changes drastically.
Or entangle. In addition, take the drum from the helicopter
Just dropping, the pilot rope is long from the drum
The pilot rope was dropped on the ground, and the house and forest
It is extremely difficult to extend roads due to forests, roads and rivers.
You.

An object of the present invention is [0005] to be solved is to solve the conventional these problems, pilot
Secure between the arms without touching the tropes
It is an object of the present invention to provide an excellent unmanned helicopter wire drawing method and apparatus that can be operated safely with little restrictions on geographical environment and regulations, and can be operated while flying an unmanned helicopter stably.

[0004]

Means for solving the above problems are as follows. 1) A drum having a pilot rope wound around a lower part of a fuselage of an unmanned helicopter remotely controlled by radio is installed, and a pilot rope of the drum is provided. From the end of a horizontal rope guide arm that extends long from the drum in the tail direction of the fuselage, lifts the unmanned helicopter, hangs one end of the pilot rope wound on the drum, and hangs the arm at a high place in a building such as a steel tower. A pilot rope is wound on the robot, and then the drum is rotated with the required braking force applied while rotating the drum.The unmanned helicopter is made to fly toward the building on which the helicopter is stretched, and passes above the arm of the building After unloading the drum from the unmanned helicopter, The piloting rope for the extension work is stretched between the high-altitude arms of the building by dropping the drum on the ground with a parachute. 2) The unmanned helicopter is used for the extension work. The line-drawing method using an unmanned helicopter according to the above 1), in which the robot is operated while being alternately operated with a remote controller to fly to a distant place 3) The pilot rope is wound around the lower part of the unmanned helicopter that can be remotely controlled by radio. The drum is equipped with a parachute so that it can be separated, and the braking force is remote to the drum.
Provide a brake device that can be adjusted by operation, extend a horizontal rope guide arm that extends from the drum in the tail direction of the fuselage parallel to the fuselage, and suspend the pilot rope of the drum from the tip of the rope guide arm. 4) An unmanned helicopter for wire drawing work 4) A brake device that can be remotely controlled to switch between a state in which the brake is strongly applied to the rotation of the drum and a state in which a required braking force that allows the rotation of the drum is weaker than this. The present invention provides the unmanned helicopter for wire drawing work according to the above 3), further comprising a brake relief mechanism for reducing the braking force of the brake device when the tension of the pilot rope is increased .

[0005]

According to the present invention, a drum around which a pilot rope is wound is attached to an unmanned helicopter, and the pilot rope is caused to fly by remote control, and the pilot rope is wired between predetermined arms at a high place in a building. In this way, the use of an unmanned helicopter significantly reduces the number of accidents caused by injuries and can perform work even on terrain where manned helicopters are difficult to fly, compared to manned helicopters. Further, since the drum around which the pilot rope is wound is finally separated and collected on the ground, the pilot rope can be easily reused, and when the unmanned helicopter becomes unstable, it can be separated and stabilized.

In the unmanned helicopter of the present invention, the pilot rope of the drum is suspended from the tip of the guide arm extending in the tail direction, so that the pilot rope does not wind around the main rotor, tail rotor, and tail. So that it does not hinder the flight.
At the same time, the pilot rope pulls the unmanned helicopter in the tail direction, thereby improving the straightness of flight. Further, if a brake device is provided to reduce the brake of the rotation of the drum when the tension of the pilot rope is increased, the brake is weakened when flying at a high speed, so that the pilot rope can be quickly pulled out from the drum to enable smooth flight. Further, in the case of hovering, the pilot rope can be prevented from extending, and the unmanned helicopter can be stably flown.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. The present embodiment is an example of wire drawing work for wiring a transmission line to a steel tower, and a rope guide arm for extending a drum rope guide to a used unmanned helicopter from a place near a tail, and a tension of a pilot rope. This is an example in which a brake device that weakens the brake of the drum when it becomes larger is attached. FIG. 1 is an explanatory view showing an embodiment of a wire drawing method using an unmanned helicopter of the present invention, FIGS. 2 to 4 are working process diagrams of the embodiment, FIGS. 10 to 10 are explanatory views showing a drum mounting structure and separation mechanism of the unmanned helicopter of the present invention.

In the figure, 1 is a large hobby class unmanned helicopter, 2 is a pilot rope, 3 is a drum, 4 is a tower, 5 is a tower arm, 6 is a remote controller, 7 is a drum 3
, A rope guide arm 8 extending from the drum 3 in the tail direction, 9 a brake device, 10 a drum separating mechanism, 11 a radio transceiver,
12 is a drum separation control device, and 13 is a brake control device. Also, 20 is the fuselage of the unmanned helicopter 1, 21 is the main rotor, 22 is the tail rotor, 23 is the leg, 24
Denotes a drum mounting base, 30 denotes a mounting substrate of the drum 3, 31
Is a support arm for rotatably supporting the drum 3 on the mounting substrate, 32 is a rotating shaft of the drum 3, 33 is a hanging shaft erected on the mounting substrate 30, 34 is a lateral hole provided on the upper part of the hanging shaft,
5 is a stopper pin inserted in the horizontal hole to support the suspension shaft 33, 36 is an eccentric rotary cam plate for moving the stopper pin horizontally and supporting and releasing the suspension shaft 33, 37 is an eccentric rotary cam A motor for rotating the plate; 38, a cylindrical body having one end pivotally attached to a lower portion of the drum mounting base 24; 39, a connecting shaft that is horizontally protruded from one end of the mounting substrate 30 and inserted into the cylindrical body 38; Is a spring for urging the other end of the mounting substrate 30 downward, 41 is a brake plate of the drum 3 pivotally supported at one end by the mounting substrate 30, and 42 is a
The spring 43 for pressing in the direction is pivotally supported in the middle, one end is connected to the brake plate 41 by a spring, and the other end is provided with a ring through which the pilot rope 2 is passed. A brake adjustment lever 45 that pulls apart to weaken the brake, a pressure lever 45 that rotates the brake adjustment lever 44, and a servomotor 46 that rotates the pressure lever in response to a wireless command from the wireless transmission / reception unit 11.

In this embodiment, the drum 3 is located below the center of gravity of the fuselage 20 of the unmanned helicopter 1. First, the connecting shaft 39 protruding horizontally at one end of the mounting board 30 is inserted into the cylinder 38 on the body 20 side. Next, the suspension shaft 3 of the mounting board 30
The stopper pin 35 on the side of the body 20 is inserted into the horizontal hole 34 of No. 3 from the horizontal direction, and the suspension shaft 33 is connected to the side of the body 20.
The drum 3 is attached to the body 20 by the suspension shaft 33 and the connection shaft 39. The pilot rope 2 wound around the drum 3 is suspended via a tip ring of a lever 43 for brake adjustment and a ring at the tip of the rope guide arm 8, and a required weight is attached to the end thereof. When only a light pulling force of the weight and the rope's own weight is applied to the pilot rope 2 (during hovering, when ascending and descending), the brake plate 41 of the brake device 9 is pressed against the circumferential edge of the drum 3 by the spring 42, The pilot rope 2 is not fed out due to the brake acting on the rotation of the drum 3, or the feeding amount is small.

Hereinafter, embodiments of the wire drawing method will be described. (1) First, a worker raises a large hobby class unmanned helicopter 1 from the ground using a remote controller 6 to a height of the tower near the tower where the extension is to be started, with the drum 3 attached. At this time, the brake device 9 is
2, the brake plate 41 is pressed against the drum 3, the drum 3 does not rotate, and the pilot rope 2 rises without hanging. (2) Next, a signal for operating the servo motor 46 by the remote controller 6 for the unmanned helicopter 1 is sent to the wireless transmission / reception unit 11 and the brake control device 13 and the servo motor 4
6, the pressure lever 45 is rotated, the brake adjustment lever 44 is rotated, the brake plate 41 is separated from the drum 3 to slightly weaken the brake, and the pilot rope 2 of the drum 3 is extended and dropped. Thereafter, the unmanned helicopter 1 is passed above the arm 5 of the tower 4 and the pilot rope 2 is hung on the arm 5. The unmanned helicopter 1 is moved forward as it is above the arm 5 of the next tower 4.

In the forward state of the unmanned helicopter 1, one end of the pilot rope 2 is hooked to the arm 5, so that a pulling force acts. When a strong pulling force acts on the pilot rope 2, the brake adjusting lever 43 through which the pilot rope 2 is passed through the tip ring acts to separate the brake plate 41 from the drum 3 via a spring, and the brake device 9 brakes. Weak power, pilot rope 2
Is pulled out from the drum 3 and smoothly fed out. In this forward state, the pilot rope 2 is extended in the tail direction by the rope guide arm 8 and then released from the tip. Therefore, the pilot rope 2 is subjected to wind pressure, up and down movement of the body 20, and the body 20 and the main rotor 21. -The tail rotor 22 and legs 23 are not entangled.
At the same time, with respect to the rotation of the airframe 20 in the horizontal and vertical axis directions,
The pulling force of the pilot rope acts as a restoring moment, which also contributes to eliminating the straightness and instability of the unmanned helicopter.

As described above, the unmanned helicopter 1 is
To the arm 5 one after another. At this time, if it becomes difficult to perform the remote operation visually, an operator located at a position close to the next tower is replaced with a wireless remote operation so that an accurate operation can be performed. Even if the work position is changed by hovering during the progress, the brake is operated as described above in the hovering state of the drum 3 so that the pilot rope 2 is not extended, thereby enabling the work by hovering.

After the pilot rope 2 is hung on the arm 5 of the last tower 4, a command signal for separating the drum is transmitted by the remote controller 6, and the radio transmitting / receiving section 11 of the unmanned helicopter 1 receives the command signal and controls the drum separation. The device 12 is activated,
The rotating cam plate 36 is rotated by operating the motor 37, the stopper pin 35 is moved, and the stopper pin 35 is pulled out from the horizontal hole 34 of the suspension shaft 33 to open the suspension shaft 33. When the suspension shaft 33 is separated from the stopper pin 35, the mounting substrate 30 first rotates around the cylindrical body 38 and tilts (see FIGS. 6 and 10). The connecting shaft 39 of the mounting substrate 30 comes out of the cylindrical body 38 as it inclines, and the mounting substrate 30 is separated from the machine body 20 side.
Is a parachute that falls with the parachute 7 open, and the parachute opens on the way to make a slow landing on the ground. After that, the unmanned helicopter will land at the required place by wireless operation.

[0014]

As described above, according to the present invention, a pilot rope wound around a drum is attached to an unmanned helicopter, the pilot rope is delivered by flying between high places of a building, and the drum is delivered after delivery. Separated and gently landed with a parachute for recovery, the pilot rope can be reused easily, and when the unmanned helicopter becomes uncontrollable with the pilot rope, the drum is separated and the unmanned helicopter and drum are safely separated independently. They can be collected.
Further, since an unmanned helicopter is used, there is almost no occurrence of personal injury. Furthermore, if the rope guide arm is extended for a long time and the pilot rope of the drum is extended from the tip of the rope guide arm, the pilot rope can be prevented from getting entangled in the airframe and the rotor, and the unmanned helicopter can travel straight. -Contributes to stability. If you use a brake device that weakens the brake when the pilot rope tension increases, the pilot rope must be extended.When moving forward, the drum brake is loosened and the pilot rope is extended easily.When hovering, the brake is strengthened and the pilot rope is extended. To prevent the pilot rope from hanging unnecessarily during hovering. Therefore, it is possible to easily perform wire drawing work at a high place of a building such as a steel tower.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing an embodiment of a wire drawing method using an unmanned helicopter of the present invention.

FIG. 2 is a work process diagram showing an operation of taking off and hovering the unmanned helicopter of the embodiment and hanging a pilot rope on an arm of a first steel tower.

FIG. 3 is a work process diagram showing a state in which an unmanned helicopter of the embodiment is advanced to deliver a pilot rope.

FIG. 4 is a work process diagram showing a state where the drum is separated from the unmanned helicopter of the embodiment.

FIG. 5 is a front view showing an unmanned helicopter according to an embodiment of the present invention in a forward movement state.

FIG. 6 is an explanatory diagram showing an initial state of drum separation according to the embodiment.

FIG. 7 is an explanatory diagram showing a state in which the drum of the embodiment is separated and dropped by a parachute.

FIG. 8 is an explanatory diagram showing a mechanism of the brake device according to the embodiment.

FIG. 9 is an explanatory diagram showing a drum separating mechanism of the embodiment.

FIG. 10 is an explanatory view showing an inclined state during the separation of the mounting board according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned helicopter 2 Pilot rope 3 Drum 4 Steel tower 5 Arm 6 Remote controller 7 Parachute 8 Rope guide arm 9 Brake device 10 Drum separation mechanism 11 Radio transmission / reception section 12 Drum separation control device 13 Brake control device 20 Body 21 Main rotor 22 Tail Rotor 23 Leg 24 Drum mounting base 30 Mounting board 31 Support arm 32 Rotation axis 33 Suspension axis 34 Side hole 35 Stopper pin 36 Eccentric rotation cam plate 37 Motor 38 Cylindrical body 39 Connection axis 40 Spring 41 Brake plate 42 Spring 43 Brake adjusting lever 44 Brake adjustment lever 45 Pressure lever 46 Servo motor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masahiko Hashimoto Fukuoka Fukuoka City, Hakata-ku, Hakata Station Higashi 2-3-1-3 Okabe Building 6th Floor Sato Construction Industry Co., Ltd. (72) Inventor Kazuo Okabe Kumamoto, Kumamoto Prefecture 10-35 Ichikotohira Honcho Sky Remote Co., Ltd. (56) References JP-A-49-15989 (JP, A) JP-A-63-107406 (JP, A) Jiko 44-3175 (JP, Y1)

Claims (4)

(57) [Claims] 1. A horizontal rope guide arm having a pilot rope wound around a lower part of a fuselage of an unmanned helicopter remotely controlled by radio, the pilot rope extending from the drum in the tail direction of the fuselage. Hang the pilot rope from the tip, lift up the unmanned helicopter, wind one end of the pilot rope wound on the drum, hang the pilot rope on the high arm of a building such as a steel tower, and then apply the required braking force to the rotation of the drum With the unmanned helicopter flying toward the building on which the unmanned helicopter is stretched while pulling out the pilot rope of the drum in this state, and passing over the arm of the building, apply a strong brake to the drum from the unmanned helicopter against the rotation of the drum In a state where it was cut off, and the separated drum was dropped on the ground with a parachute to draw wire. An unmanned helicopter that draws a pilot rope between the high-altitude arms of a building. 2. The wire drawing method using an unmanned helicopter according to claim 1, wherein the wire drawing operation is performed by operating the unmanned helicopter alternately with a plurality of remote controllers at a distance so as to fly to a distant place. 3. An unmanned helicopter that can be remotely controlled wirelessly, a drum around which a pilot rope is wound around the lower part of the fuselage, is detachably equipped with a parachute, and the drum is braked.
A brake device that can adjust the force by remote control is provided.A horizontal rope guide arm that extends long from the drum in the tail direction of the aircraft extends parallel to the aircraft, and the pilot rope of the drum is suspended from the tip of the rope guide arm. An unmanned helicopter for extension work, characterized by being lowered. 4. A brake device is provided on a drum which can be remotely controlled to switch between a state in which a brake is strongly applied to the rotation of the drum and a state in which a required braking force is applied weaker than the brake to allow the rotation of the drum. 4. The unmanned helicopter for extension work according to claim 3, further comprising a brake relaxation mechanism that reduces a braking force of the brake device when a tension of the rope increases.