CN103368103A - Flying device and method for hanging sag wire on electric transmission line - Google Patents
Flying device and method for hanging sag wire on electric transmission line Download PDFInfo
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- CN103368103A CN103368103A CN2013102945557A CN201310294555A CN103368103A CN 103368103 A CN103368103 A CN 103368103A CN 2013102945557 A CN2013102945557 A CN 2013102945557A CN 201310294555 A CN201310294555 A CN 201310294555A CN 103368103 A CN103368103 A CN 103368103A
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Abstract
The invention provides a flying device and method for hanging a sag wire on an electric transmission line. The flying device comprises an unmanned aircraft, a hanging device, a communication device, a control terminal provided with a displayer for displaying images and a photographic device. The method for hanging the sag wire on the electric transmission line based on the flying device comprises the step of hanging the sag wire on the flying device before the flying device takes off, the step of shooting the image of the sag wire and the image of the electric transmission line through the flying device in real time after the flying device takes off, adding marks at the center positions of the images and displaying the images, and the step of detecting the positions of the marks, wherein when the marks move to the other side from one side of a wire of the electric transmission line, the flying device releases the sag wire so as to hang the sag wire on the electric transmission line. Due to the fact that the sag wire is hung on the electric transmission line through the flying device, working efficiency is improved, the safety coefficient of operating personnel is improved, and the sag wire can be hung on electric transmission lines at any height.
Description
Technical field
The present invention relates to the Maintenance of Electric Transmission Line field, particularly a kind of flight instruments and method for hang the sag rope to transmission line.
Background technology
In the patrolling transmission line maintenance process, always need to have the operation of direct contact wire, such as live testing, charged elimination defective and equal potential working etc., at this moment just need to use the sag rope and come less important work, the sag rope is very thin, a long and light rope, there is weight in end system at rope, the hawser that other end system has work to use, during maintenance, the operating personnel threw weight in the wire of transmission line, then spur weight one end, thereby hawser was dragged wire or the Work tool that ties up on the hawser is pulled to the wire place.
The mode of hanging the sag rope in the prior art is that the operating personnel directly uses the hand throwing, since artificial throwing for throwing dynamics and direction only with operating personnel's feel, so be difficult to control, and then be difficult to the efficient of the work that guarantees and other operating personnels' personal safety, and in recent years along with the continuous rising of electric pressure, and the continuous employing of common-tower double-return road ultra-high-tension power transmission line and extraordinary tower, the exhaling of transmission line claim high and sag more and more higher apart from ground, the dependence operating personnel directly uses hand throwing sag rope inefficiency and coefficient of safety low.
Summary of the invention
In order to solve at present directly the problems such as the inefficiency that exists with hand throwing sag rope and coefficient of safety are low, the invention provides a kind of flight instruments and method for hang the sag rope to transmission line.
In order to address the above problem, one aspect of the present invention provides a kind of flight instruments for hang the sag rope to transmission line, and it comprises: unmanned vehicle; Suspension arrangement is located at described unmanned vehicle below, is used for carry sag rope or unclamps the sag rope so that described sag rope is suspended on transmission line; Communicator is located on described unmanned vehicle or the described suspension arrangement, and communicates to connect with described suspension arrangement, to described suspension arrangement output control command; Control terminal is connected with described communication, sends described control command to described communicator, and described suspension arrangement passes on after the described control command come receiving described communicator, and described sag rope is suspended on the transmission line; And camera head, be located on the described unmanned vehicle, be used for taking in real time the image of described sag rope and described transmission line, and with described image transmitting to the described communicator of this camera head communication connection, the image transmitting that described communicator sends described camera head is to described control terminal, for terrestrial operation personnel reference; Described control terminal is provided be used to the display that shows described image.
In aforesaid flight instruments, preferred described suspension arrangement comprises: support arranges and is connected in described unmanned vehicle below; Hitch gear is located on the described support, is used for carry or unclamps described sag rope; Electric driving mechanism is located on the described support, and with described hitch gear be connected communicator and be connected, according to the described control command from described communicator, drive described hitch gear carry or unclamp described sag rope.
In aforesaid flight instruments, preferred: described electric driving mechanism comprises the steering wheel that is provided with output shaft; Described hitch gear comprises swing arm, and the fixed end cap of described swing arm is connected to described output shaft.
In aforesaid flight instruments, preferred: described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley and traction piece; Be provided with cavity in the swing arm inside between the free end of described stiff end and described swing arm, the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall; Be provided with through hole and perforation on the described upper side wall, described perforation is between described through hole and described stiff end, and described through hole is used for holding described guide vane end stop; Described lower wall is fixed in the lower end that is arranged at the described spring in the described cavity, and the upper end of described spring is connected in the bottom of described guide vane end stop; Be provided with the first groove and the second groove on the described lower wall, described the first groove be connected the second groove and connect by slotted hole; Described the first groove is positioned at the central space below of described spring, and described the second groove is between described the first groove and described stiff end; Described pulley is arranged in described the first groove; One end of described traction piece is connected with the bottom of described guide vane end stop, after the other end of described traction piece passes the central space of described spring and walks around described pulley, in described slotted hole, extend to described the second groove, then reach the swing arm outside through described perforation, be fixed on the described support; Described guide vane end stop stretches out outside the described through hole under the driving of described traction piece and described spring or returns in the described through hole.
In aforesaid flight instruments, preferred: described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley, traction piece and axle sleeve; Be provided with cavity in the swing arm inside between the free end of described stiff end and described swing arm, the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall; Described stiff end is provided with opening, and described opening is communicated with described cavity; Described axle sleeve is positioned at described opening and is sheathed on described output shaft; Described upper side wall is provided with through hole; Described lower wall is fixed in the lower end that is arranged at the described spring in the described cavity, and the upper end of described spring is connected in the bottom of described guide vane end stop; Be provided with the first groove and the second groove on the described lower wall, described the first groove be connected the second groove and connect by slotted hole; Described the first groove is positioned at the central space below of described spring, and described the second groove is between described the first groove and described stiff end; Described pulley is arranged in described the first groove; One end of described traction piece is connected with the bottom of described guide vane end stop, and the other end of described traction piece extends in described slotted hole after passing the central space of described spring and walking around described pulley, and stretches out at described the second groove, is fixed on the described axle sleeve; Described guide vane end stop stretches out outside the described through hole under the driving of described traction piece and described spring or returns in the described through hole.
In aforesaid flight instruments, preferred: described traction piece is cord.
In aforesaid flight instruments, preferred: described slotted hole is the lip-deep elongated slot of cavity side that is arranged at described lower wall, and described the first groove and described the second groove are connected.
In aforesaid flight instruments, preferably also comprise: for the ground control unit of the flight path of controlling described unmanned vehicle, described ground control unit and described control terminal are structure as a whole.
In aforesaid flight instruments, preferred: described unmanned vehicle is four axle unmanned vehicles.
The present invention also provides a kind of method for hang the sag rope to transmission line, and described method comprises: before flight instruments takes off, with sag rope carry on described flight instruments; After described flight instruments takes off, make described flight instruments take in real time the image of described sag rope and transmission line, and add mark and show described image at the center position of described image; The position of certification mark is when described mark position during to opposite side, makes described flight instruments unclamp the sag rope to hang the sag rope to transmission line from wire one sidesway of described transmission line; Wherein said flight instruments is above-mentioned flight instruments.
The present invention is suspended on the sag rope on the transmission line by flight instruments, when transmission line is hung the sag rope, not only can increase work efficiency like this, and the coefficient of safety that improves the operating personnel, can also hang the sag rope at the transmission line of any height.
Description of drawings
Fig. 1 is a kind of structural representation for hang the flight instruments of sag rope to transmission line provided by the invention;
Fig. 2 is the enlarged diagram of A part among Fig. 1;
Fig. 3 is the structural representation that another kind provided by the invention is used for hanging to transmission line the flight instruments of sag rope;
Fig. 4 is the enlarged diagram of A part among Fig. 3;
Fig. 5 be position-limit mechanism among Fig. 3, swing arm and output shaft structural representation;
Fig. 6 is another structural representation for position-limit mechanism, swing arm and the output shaft of flight instruments from the sag rope to transmission line that hang provided by the invention;
Fig. 7 is a kind of method flow schematic diagram for hang the sag rope to transmission line provided by the invention;
The Reference numeral implication is as follows:
1 four axle unmanned vehicles; 2 communicators; 3 camera heads;
4 sag ropes; 41 weights; 42 links; 43 cords;
6 suspension arrangements;
61 supports; 621 steering wheels; 622 output shafts; 631 hooks;
632 swing arms; 6320 stiff ends; 6321 free ends; 633 axle sleeves;
6322 cavitys; 6323 upper side walls; 6324 through holes; 6325 perforation;
6327 lower wall;
7 control terminals; 71 displays;
8 position-limit mechanisms; 81 guide vane end stops; 82 springs; 83 traction pieces
84 pulleys.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Be difficult to accurately manual problem of throwing transmission line in order to solve the sag rope 4 that exists in the prior art, the invention provides a kind of flight instruments for hang the sag rope to transmission line, the below describes as four axle unmanned vehicles as example take unmanned vehicle.
With reference to Fig. 1-Fig. 6, this flight instruments comprises four axle unmanned vehicles 1, suspension arrangement 6, communicator 2, control terminal 7 and camera head 3.Wherein, suspension arrangement 6 is located at four axle unmanned vehicles, 1 below, is used for carry sag rope 4 and sag rope 4 is suspended on transmission line.Communicator 2 is located on the four axle unmanned vehicles 1, and with suspension arrangement 6 communication connection, receive the control command that the terrestrial operation personnel send by operation control terminal 7, and with this control command export to suspension arrangement 6 with control suspension arrangement 6 action, communicator can also be located on the suspension arrangement 6.Control terminal 7 and communicator 2 communication connections are used for sending control command with the action of control suspension arrangement 6 to communicator 2, are suspended on sag rope 4 on the transmission line or hang-up sag rope 4.Camera head 3 is located on the four axle unmanned vehicles 1, is used for taking in real time the image of sag rope and transmission line, and with this image transmitting to its communicator that communicates to connect 2.The image transmitting that communicator 2 sends camera head 3 is to control terminal 7, control terminal 7 is provided with for the display 71 that shows image, the terrestrial operation personnel understand the mutual alignment relation of sag rope and transmission line by observation display 71, and send control command by the operation to control terminal, the action of control suspension arrangement 6.The connected mode of communicator 2 and control terminal 7 is preferably wireless connections, so that four axle unmanned vehicles 1 are not subjected to the interference of image transmitting circuit when carry sag rope 4.
As depicted in figs. 1 and 2, sag rope 4 comprises weight 41, link 42 and cord 43, cord 43 is connected in the link 42 of weight 41 upper surfaces, hitch gear has hook 631, one end of this hook 631 is sheathed on output shaft 622, and can rotate under the driving of electric driving mechanism, the other end of hook 631 passes link 42 so that sag rope 4 hangs on the hook 631.When treating that four axle unmanned vehicles 1 rise to assigned address, the terrestrial operation personnel make output shaft 620 rotations of electric driving mechanism by control terminal, thereby drive hook 631 rotations, thus so that link 42 extract out from linking up with 631, like this, under Action of Gravity Field, weight 41 will hurtle down, and then cord 43 hung on the transmission line, realize that sag rope 4 is suspended on the transmission line.
In another embodiment, as shown in Figure 3-Figure 5, hitch gear comprises swing arm 632, and the stiff end 6320 of swing arm 632 is socketed on output shaft 622, the weight of carry sag rope between the free end 6321 of stiff end 6320 and swing arm 632.During application, swing arm 632 is rotated under the driving effect of steering wheel 621 and output shaft 622, the anglec of rotation can be (perpendicular to the ground to 90 degree from 0 degree (parallel to the ground), the lower right corner is rotated counterclockwise in the figure), when swing arm 632 when the driving backspin of steering wheel 621 goes to position parallel to the ground, the link 42 of sag rope 4 is sheathed in the swing arm 632 with carry weight 41 owing to be that cord 43 is arranged on the weight 41, swing arm 621 indirect carries cord 43.When swing arm 632 goes to when perpendicular to the ground at the driving backspin of steering wheel 621, the weight 41 of sag rope 4 breaks away from swing arm 632 under Action of Gravity Field, falls downwards, and the cord 43 on the weight 41 is to downward-extension, thereby the sag rope is suspended on the transmission line.
In the flight course of four axle unmanned vehicles, the phenomenon that causes weight to come off from swing arm 621 in advance for fear of link 42 move left and right of sag rope, flight instruments also comprises for the position-limit mechanism 8(that limits link 42 positions as shown in Figure 3-Figure 5), it comprises guide vane end stop 81, spring 82, pulley 84 and traction piece 83.
For position-limit mechanism 8 is set, between the stiff end 6320 and free end 6321 of swing arm 632, be provided with cavity 6322 in the inside of described swing arm, this cavity 6322 is surrounded by stiff end 6320, free end 6321 and upper side wall 6323, lower wall 6327, front and back sidewall (not shown), wherein upper side wall 6323 is relative up and down across cavity 6322 with lower wall 6327, and not shown front and back sidewall is relative across cavity 6322 front and back.
Be provided with spring 82 in cavity, the inner surface (cavity side surface) of lower wall 6327 is fixed in the lower end of spring 82, and the upper end of spring 82 is connected with the bottom contact of guide vane end stop 81.6324 drop out for fear of guide vane end stop 81 from through hole, and the upper end of preferred spring 82 is fixedly connected with the bottom of guide vane end stop 81.Fly to the assigned position at unmanned vehicle, sag rope 4 carries are in swing arm the time, and stretch out outside the through hole 6324 upper end of guide vane end stop 81, the link 42 that stops sag rope 4 landing from the swing arm.When unmanned vehicle flies to assigned position, under the driving of electric driving mechanism, the free end of swing arm 621 rotates, guide vane end stop 81 is return in the through hole 6324 under the drive of spring 82 and cord simultaneously, this moment is by action of gravitation, link 42 landing from the swing arm 621 hangs on the transmission line.
Under the control of electric driving mechanism, for so that spring 82 correspondingly move, also be provided with following structure in cavity: the end as the cord of traction piece 83 is fixed in the bottom of guide vane end stop 81 or the upper end of spring 82, the other end of cord extends in the central space of spring 82, and walk around the lip-deep pulley 84 of cavity side that is arranged in the described central space and is fixed in lower wall 6327, then in cavity 6322 interior extensions, until 6325 pass from boring a hole, and the other end is fixed on the support 61.
For so that cord change in the process of in cavity, extending after the directions walking around pulley 84, mutually do not interfere with the bottom of spring 82, preferably the cavity side in lower wall 6327 forms two grooves---the-the first groove and the second groove, be connected by a linear slotted hole that is positioned at lower wall between the first groove and the second groove, wherein, the first groove is positioned at the central space below (the central space sectional area of the open area ratio spring 82 of the first groove is little) of spring 82, pulley 84 is fixed in the first groove, the second groove is than stiff end one side of the more close swing arm of the first groove, cord extends to the second groove after changing direction by the first groove in slotted hole, from passing rear amplification in the second groove to boring a hole 6325 and the other end is fixed on the support 61.Thus, avoid in running, the cord of walking around pulley contacts with spring, affects traction effect.
Preferred as another, a pulley can also be set in the second groove, be used for the break-in adjustment of cord.And, replace above-mentioned slotted hole, can elongated slot be set on the cavity side surface of lower wall, by elongated slot the first groove and the second groove are communicated with, cord extends to the second groove along elongated slot from the first groove.
Pulley is preferably fixed pulley.In the application, when swing arm 632 is positioned at position parallel to the ground, link 42 is sheathed between stiff end 6320 and the through hole 6324, because the upper end of guide vane end stop 81 stretches out outside the through hole 6324, can stops link 42 landing from the swing arm 632; When swing arm 632 goes to the process of position perpendicular to the ground from position parallel to the ground, the cord of traction piece 83 can be stretched to spur guide vane end stop 81 Compress Springs 82 and to through hole 6324 interior motions, when the upper end of guide vane end stop 81 is sunk in the through hole, at link 42 under the Action of Gravity Field of weight 41 from swinging landing on the wall 632, with the cord carry of sag rope on transmission line.The upper end shape of guide vane end stop 81 is preferably arc, and through hole 6324 or bore a hole 6325 hole wall and the angle at the bottom of the hole (chamfering) are preferably fillet.
In another execution mode, as shown in Figure 6, main pseudosection for swing arm and output shaft, wherein, the first groove, the second groove and be communicated with first, the slotted hole of the second groove and above-mentioned execution mode are identical, different is no longer at upper side wall perforation to be set in the present embodiment, but the cavity in swing arm forms opening at stiff end, output shaft passes the front side wall of swing arm successively, opening, be fixed together with swing arm behind the rear wall, also be that cavity 6322 is with open communication and be connected as a single entity, be arranged with axle sleeve 633 at the output shaft that is positioned at opening part, this axle sleeve 633 in the rotation process of output shaft so that cord twine thereon with the pulling spring.
After the other end of cord passes the pulley changed course of central space through being positioned at the first groove of spring, be fixed on the axle sleeve 633 after passing successively slotted hole, the second groove (just passing through pulley when being provided with pulley in the second groove), rotation along with output shaft, axle sleeve 633 also rotates, and the tension cord, so that cord pulling spring makes spring-compressed or loosens.
When rotating counterclockwise such as output shaft, drive swing arm and and then rotate counterclockwise, owing to the length of cord is fixed, and the other end of cord is fixed on the axle sleeve, rotation along with swing arm and axle sleeve, cord can twine on axle sleeve, and the other end that can drive thus cord pulls down the spring of moving, so that spring is compressed, so that sunk in the through hole by spring-supported guide vane end stop, stop that no longer link comes off from swing arm, like this, the sag rope will and hang on the transmission line from the swing arm disengaging.
Need to prove that in the engagement process of guide vane end stop 81 and through hole 6324, can leave the slit, the excessive link 42 that causes puts under in the slit for fear of the slit, the diameter of preferred link 42 is greater than the diameter in slit.
In practice, traction piece 83 can be cord, can also be fine wire, is preferably cord.
In order accurately to hang the sag rope to transmission line, camera head 3 preferably is located at suspension arrangement 6 next doors, and in other words it is positioned at four axle unmanned vehicles below and connects suspension arrangement 6.In practice, in order to identify the position that hangs the sag rope, camera head 3 is added mark in the center of the image of shooting in real time, can also add mark in the center of the indicator screen that shows this image, the terrestrial operation personnel observe this mark by display 71, when this mark position during from a sidesway of transmission line wire to the opposite side relative with this side, show that weight 41 has been positioned at the opposite side of transmission line wire, the terrestrial operation personnel send control command by control terminal 7 and unclamp weight 41 with at transmission line carry sag rope 4 to drive suspension arrangement 6.
For simplified structure, the ground control unit and the control terminal 7 that are used for control unmanned vehicle flight path of four axle unmanned vehicles 1 are structure as a whole, ground control unit is used for sending the flight control command, and this flight control command is used to indicate state of flight, thereby forms flight path.Control terminal 7 is provided with the button of control four axle unmanned vehicles 1 flight path or action bars etc.
The application process of this preferred embodiment is roughly as follows:
Terrestrial operation personnel (operating personnel) during the position finding to need repairing, by control terminal 7, make driving mechanism 62 drive hitch gears 63 and open in the patrolling transmission line process, and the link 42 of sag rope 4 is hung up.Then make hitch gear 63 closures, operation control terminal 7 makes 1 flight of four axle unmanned vehicles to the transmission line top, and 3 pairs of transmission lines of camera head, sag rope 4 etc. are taken pictures, and display 71 shows this image.The power worker judges according to the image that shows whether four axle unmanned vehicles 1 arrive at the transmission line position that needs repairing, if not, then adjust the state of flight of four axle unmanned vehicles 1, until four axle unmanned vehicles 1 arrive to the transmission line position that needs repairing, hitch gear 63 is opened with jettisoning weight 41, thus the transmission line position that sag rope 4 is hung over need repairing.
In order to address the above problem, the present invention also provides the method for a kind of flight instruments for hang the sag rope to transmission line to transmission line extension sag rope, and referring to Fig. 7, the method comprises:
S10, before flight instruments takes off, with sag rope carry on flight instruments;
The method of carry sag rope can referring to the associated description of above-mentioned suspension arrangement carry sag rope, be given unnecessary details herein no longer one by one.
S20, after flight instruments takes off, make this flight instruments take in real time the image of sag rope and transmission line, and add mark and show this image at the center position of image;
Associated description about step S20 can referring to the associated description of above-mentioned camera head and control terminal, be given unnecessary details herein no longer one by one.
The position of S30, certification mark is when mark position during to opposite side, makes flight instruments unclamp the sag rope to hang the sag rope to transmission line from wire one sidesway of transmission line.
The position of terrestrial operation personnel (operating personnel) certification mark detects in the image that shows when mark position and during to opposite side, unclamps the sag rope to hang the sag rope to transmission line from wire one sidesway of transmission line.
Need to prove that the described flight instruments of step S10, S20 and S30 is aforesaid flight instruments, the unmanned vehicle in the flight instruments can for four axle unmanned vehicles, be given unnecessary details herein no longer one by one certainly.
In sum, the present invention is by arranging suspension arrangement at flight instruments, and makes suspension arrangement tangle sag rope or jettisoning sag rope.Whereby, be implemented in when hanging the sag rope, increase work efficiency and operating personnel's coefficient of safety, can also hang the sag rope at the transmission line of any height.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a flight instruments that is used for hanging to transmission line the sag rope is characterized in that, comprising:
Unmanned vehicle;
Suspension arrangement is located at described unmanned vehicle below, is used for carry sag rope or unclamps the sag rope so that described sag rope is suspended on transmission line;
Communicator is located on described unmanned vehicle or the described suspension arrangement, and communicates to connect with described suspension arrangement, to described suspension arrangement output control command;
Control terminal is connected with described communication, sends described control command to described communicator, and described suspension arrangement passes on after the described control command come receiving described communicator, and described sag rope is suspended on the transmission line; With
Camera head is located on the described unmanned vehicle, is used for taking in real time the image of described sag rope and described transmission line, and with described image transmitting to the described communicator of this camera head communication connection,
The image transmitting that described communicator sends described camera head is to described control terminal, for terrestrial operation personnel reference;
Described control terminal is provided be used to the display that shows described image.
2. flight instruments according to claim 1 is characterized in that, described suspension arrangement comprises:
Support arranges and is connected in described unmanned vehicle below;
Hitch gear is located on the described support, is used for carry or unclamps described sag rope;
Electric driving mechanism is located on the described support, and with described hitch gear be connected communicator and be connected, according to the described control command from described communicator, drive described hitch gear carry or unclamp described sag rope.
3. flight instruments according to claim 2 is characterized in that,
Described electric driving mechanism comprises the steering wheel that is provided with output shaft;
Described hitch gear comprises swing arm, and the fixed end cap of described swing arm is connected to described output shaft.
4. flight instruments according to claim 3 is characterized in that, described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley and traction piece;
Be provided with cavity in the swing arm inside between the free end of described stiff end and described swing arm, the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall;
Be provided with through hole and perforation on the described upper side wall, described perforation is between described through hole and described stiff end, and described through hole is used for holding described guide vane end stop;
Described lower wall is fixed in the lower end that is arranged at the described spring in the described cavity, and the upper end of described spring is connected in the bottom of described guide vane end stop;
Be provided with the first groove and the second groove on the described lower wall, described the first groove be connected the second groove and connect by slotted hole;
Described the first groove is positioned at the central space below of described spring, and described the second groove is between described the first groove and described stiff end;
Described pulley is arranged in described the first groove;
One end of described traction piece is connected with the bottom of described guide vane end stop, after the other end of described traction piece passes the central space of described spring and walks around described pulley, in described slotted hole, extend to described the second groove, then reach the swing arm outside through described perforation, be fixed on the described support;
Described guide vane end stop stretches out outside the described through hole under the driving of described traction piece and described spring or returns in the described through hole.
5. flight instruments according to claim 3 is characterized in that,
Described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley, traction piece and axle sleeve;
Be provided with cavity in the swing arm inside between the free end of described stiff end and described swing arm, the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall;
Described stiff end is provided with opening, and described opening is communicated with described cavity;
Described axle sleeve is positioned at described opening and is sheathed on described output shaft;
Described upper side wall is provided with through hole;
Described lower wall is fixed in the lower end that is arranged at the described spring in the described cavity, and the upper end of described spring is connected in the bottom of described guide vane end stop;
Be provided with the first groove and the second groove on the described lower wall, described the first groove be connected the second groove and connect by slotted hole;
Described the first groove is positioned at the central space below of described spring, and described the second groove is between described the first groove and described stiff end;
Described pulley is arranged in described the first groove;
One end of described traction piece is connected with the bottom of described guide vane end stop, and the other end of described traction piece extends in described slotted hole after passing the central space of described spring and walking around described pulley, and stretches out at described the second groove, is fixed on the described axle sleeve;
Described guide vane end stop stretches out outside the described through hole under the driving of described traction piece and described spring or returns in the described through hole.
6. according to claim 4 or 5 described flight instrumentses, it is characterized in that,
Described traction piece is cord.
7. according to claim 4 or 5 described flight instrumentses, it is characterized in that,
Described slotted hole is the lip-deep elongated slot of cavity side that is arranged at described lower wall, and described the first groove and described the second groove are connected.
8. flight instruments according to claim 1 is characterized in that, also comprises: for the ground control unit of the flight path of controlling described unmanned vehicle,
Described ground control unit and described control terminal are structure as a whole.
9. the described flight instruments of arbitrary claim is characterized in that according to claim 1-5, and described unmanned vehicle is four axle unmanned vehicles.
10. one kind is used for it is characterized in that to the method for transmission line extension sag rope described method comprises:
Before flight instruments takes off, with sag rope carry on described flight instruments;
After described flight instruments takes off, make described flight instruments take in real time the image of described sag rope and transmission line, and add mark and show described image at the center position of described image;
The position of certification mark is when described mark position during to opposite side, makes described flight instruments unclamp the sag rope to hang the sag rope to transmission line from wire one sidesway of described transmission line;
Wherein said flight instruments is the described flight instruments of arbitrary claim among the claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294555.7A CN103368103B (en) | 2013-05-09 | 2013-07-15 | For hanging flight instruments and the method for sag rope to transmission line |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320250713.4 | 2013-05-09 | ||
| CN201320250713 | 2013-05-09 | ||
| CN201310294555.7A CN103368103B (en) | 2013-05-09 | 2013-07-15 | For hanging flight instruments and the method for sag rope to transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103368103A true CN103368103A (en) | 2013-10-23 |
| CN103368103B CN103368103B (en) | 2016-01-20 |
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| CN201310294555.7A Active CN103368103B (en) | 2013-05-09 | 2013-07-15 | For hanging flight instruments and the method for sag rope to transmission line |
| CN201320419022.2U Expired - Fee Related CN203387113U (en) | 2013-05-09 | 2013-07-15 | Flight device for hanging sag rope onto electric transmission line |
| CN201320428846.6U Expired - Fee Related CN203387114U (en) | 2013-05-09 | 2013-07-15 | Flight device for hanging sag rope on power transmission lines |
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| CN201320419022.2U Expired - Fee Related CN203387113U (en) | 2013-05-09 | 2013-07-15 | Flight device for hanging sag rope onto electric transmission line |
| CN201320428846.6U Expired - Fee Related CN203387114U (en) | 2013-05-09 | 2013-07-15 | Flight device for hanging sag rope on power transmission lines |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103594962B (en) * | 2013-11-05 | 2016-02-24 | 国家电网公司 | Transmission line flight wire-binding device |
| CN103594962A (en) * | 2013-11-05 | 2014-02-19 | 国家电网公司 | Flying wiring device for electric transmission line |
| CN103904587A (en) * | 2014-04-25 | 2014-07-02 | 国家电网公司 | Hot-line work line throwing device |
| CN104133481A (en) * | 2014-04-25 | 2014-11-05 | 国家电网公司 | Intelligent flying pay-off robot system |
| CN104133481B (en) * | 2014-04-25 | 2017-01-04 | 国家电网公司 | Intelligent flying paying-off robot system |
| CN104536459A (en) * | 2014-12-24 | 2015-04-22 | 国家电网公司 | Construction method for small multi-shaft unmanned aerial vehicle to unwind and release haulage cable |
| CN105720519A (en) * | 2016-04-21 | 2016-06-29 | 国家电网公司 | Unmanned aerial vehicle (UAV) live-line operation device and method |
| CN106289076B (en) * | 2016-08-13 | 2019-05-21 | 哈尔滨理工大学 | Power transmission line sag intelligent image on-line monitoring system |
| CN106289076A (en) * | 2016-08-13 | 2017-01-04 | 哈尔滨理工大学 | Power transmission line sag intelligent image on-line monitoring system |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN107257107A (en) * | 2017-07-27 | 2017-10-17 | 国网山东省电力公司经济技术研究院 | A kind of pull rope unwrapping wire based on unmanned plane is from restraint device |
| CN107257107B (en) * | 2017-07-27 | 2019-01-04 | 国网山东省电力公司经济技术研究院 | A kind of traction rope unwrapping wire based on unmanned plane is from restraint device |
| CN115199069A (en) * | 2021-04-07 | 2022-10-18 | 丰田自动车株式会社 | Main rope laying method and main rope laying system |
| CN113555816A (en) * | 2021-07-30 | 2021-10-26 | 国网河南省电力公司邓州市供电公司 | Foreign matter remover for power transmission line |
| CN113555816B (en) * | 2021-07-30 | 2022-09-20 | 国网河南省电力公司邓州市供电公司 | Foreign matter remover for power transmission line |
| CN114162323A (en) * | 2021-12-31 | 2022-03-11 | 国网山东省电力公司莒南县供电公司 | Overhead line sag point distance measurement sensing device based on unmanned aerial vehicle installation |
| CN114162323B (en) * | 2021-12-31 | 2023-07-07 | 国网山东省电力公司莒南县供电公司 | Overhead line sag point ranging sensing device based on unmanned aerial vehicle installation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN203387114U (en) | 2014-01-08 |
| CN203387113U (en) | 2014-01-08 |
| CN103368103B (en) | 2016-01-20 |
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