CN103368103B - For hanging flight instruments and the method for sag rope to transmission line - Google Patents
For hanging flight instruments and the method for sag rope to transmission line Download PDFInfo
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- CN103368103B CN103368103B CN201310294555.7A CN201310294555A CN103368103B CN 103368103 B CN103368103 B CN 103368103B CN 201310294555 A CN201310294555 A CN 201310294555A CN 103368103 B CN103368103 B CN 103368103B
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Abstract
The invention provides a kind of flight instruments from sag rope to transmission line and method for hanging, this flight instruments comprises: unmanned vehicle; Suspension arrangement; Communicator; Be provided with the control terminal of the display for showing image; Camera head.The method of hanging sag rope to transmission line based on this flight instruments comprises: before flight instruments takes off, by sag rope carry on flight instruments; After flight instruments takes off, make the image of flight instruments captured in real-time sag rope and transmission line, and add mark and display image at the center position of image; The position of certification mark, when mark position moves to opposite side from the wire side of transmission line, makes flight instruments unclamp sag rope to hang sag rope to transmission line.Sag rope is suspended on transmission line by flight instruments by the present invention, not only can increase work efficiency, and improves the coefficient of safety of operating personnel, can also hang sag rope on the transmission line of any height.
Description
Technical field
The present invention relates to Maintenance of Electric Transmission Line field, particularly a kind of flight instruments and method for hanging sag rope to transmission line.
Background technology
In patrolling transmission line maintenance process, always need the operation of direct contact wire, such as live testing, charged elimination defect and equal potential working etc., at this moment just need to use sag rope and carry out less important work, sag rope is very thin, a long and light rope, in one end of rope, there is weight in system, there is the hawser of work in other end system, during maintenance, operating personnel threw the wire of transmission line weight, then pull weight one end, thus hawser was dragged wire or the Work tool tied up on hawser is pulled to wire place.
The mode of hanging sag rope in prior art is that operating personnel directly uses hand throwing, due to artificial throwing for throwing dynamics and direction only with the feel of operating personnel, so be difficult to control, and then be difficult to the efficiency of guarantee work and the personal safety of other operating personnels, 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 claims high and sag distance ground is more and more higher, dependence operating personnel directly use hand throwing sag rope inefficiency and coefficient of safety low.
Summary of the invention
In order to problems such as the inefficiency and coefficient of safety that solve direct hand throwing sag rope existence are at present low, the invention provides a kind of flight instruments from sag rope to transmission line and method for hanging.
In order to solve the problem, one aspect of the present invention provides a kind of flight instruments for hanging sag rope to transmission line, and it comprises: unmanned vehicle; Suspension arrangement, is located at below described unmanned vehicle, for carry sag rope or unclamp sag rope so that described sag rope is suspended on transmission line; Communicator, is located on described unmanned vehicle or described suspension arrangement, and communicates to connect with described suspension arrangement, exports control command to described suspension arrangement; Control terminal, is connected with described communication, sends described control command to described communicator, described suspension arrangement receive described communicator pass on come described control command after, described sag rope is suspended on transmission line; And camera head, be located on described unmanned vehicle, for the image of sag rope and described transmission line described in captured in real-time, and by described image transmitting to the described communicator communicated to connect with this camera head, the image transmitting that described camera head sends by described communicator is described control terminal extremely, for ground handling operator's reference; Described control terminal is provided with the display for showing described image.
In flight instruments as above, preferred described suspension arrangement comprises: support, arranges and is connected to below described unmanned vehicle; Hitch gear, is located on described support, for carry or unclamp described sag rope; Electric driving mechanism, is located on described support, and is connected with described hitch gear and described communicator, according to the described control command from described communicator, drives described hitch gear carry or unclamps described sag rope.
In flight instruments as above, preferably: described electric driving mechanism comprises the steering wheel being 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 flight instruments as above, preferably: described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley and traction piece; Swing arm inside between described stiff end and the free end of described swing arm is provided with cavity, and the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall; Described upper side wall is provided with through hole and perforation, described perforation is between described through hole and described stiff end, and described through hole is for holding described guide vane end stop; Described lower wall is fixed in the lower end being arranged at the described spring in described cavity, and the upper end of described spring is connected to the bottom of described guide vane end stop; Described lower wall is provided with the first groove and the second groove, described first groove is connected by elongated hole with described second groove; Described first groove is positioned at below the central space of described spring, and described second groove is between described first groove and described stiff end; Described pulley is arranged in described first groove; One end of described traction piece is connected with the bottom of described guide vane end stop, the other end of described traction piece through described spring central space and after walking around described pulley, in described elongated hole, extend to described second groove, then reach swing arm outside through described perforation, be fixed on described support; It is outer or return in described through hole that described guide vane end stop stretches out described through hole under the driving of described traction piece and described spring.
In flight instruments as above, preferably: 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; Swing arm inside between described stiff end and the free end of described swing arm is provided with cavity, and the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall; Described stiff end is provided with opening, described opening and described cavity connects; 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 being arranged at the described spring in described cavity, and the upper end of described spring is connected to the bottom of described guide vane end stop; Described lower wall is provided with the first groove and the second groove, described first groove is connected by elongated hole with described second groove; Described first groove is positioned at below the central space of described spring, and described second groove is between described first groove and described stiff end; Described pulley is arranged in described 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 passes the central space of described spring and after walking around described pulley, extends in described elongated hole, and stretches out at described second groove, is fixed on described axle sleeve; It is outer or return in described through hole that described guide vane end stop stretches out described through hole under the driving of described traction piece and described spring.
In flight instruments as above, preferably: described traction piece is cord.
In flight instruments as above, preferably: described elongated hole is be arranged at the elongated slot on the cavity side surface of described lower wall, is connected by described first groove with described second groove.
In flight instruments as above, preferably also comprise: for controlling the ground control unit of the flight path of described unmanned vehicle, described ground control unit and described control terminal are structure as a whole.
In flight instruments as above, preferably: described unmanned vehicle is four axle unmanned vehicles.
The present invention also provides a kind of method for hanging sag rope to transmission line, and described method comprises: before flight instruments takes off, by sag rope carry on described flight instruments; After described flight instruments takes off, make the image of sag rope and transmission line described in described flight instruments captured in real-time, and add mark at the center position of described image and show described image; The position of certification mark, when described mark position moves to opposite side from the wire side of described transmission line, makes described flight instruments unclamp sag rope to hang sag rope to transmission line; Wherein said flight instruments is above-mentioned flight instruments.
Sag rope is suspended on transmission line by flight instruments by the present invention, when hanging sag rope like this on transmission line, not only can increase work efficiency, and improves the coefficient of safety of operating personnel, can also hang sag rope on the transmission line of any height.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of flight instruments for hanging sag rope to transmission line provided by the invention;
Fig. 2 is the enlarged diagram of part A in Fig. 1;
Fig. 3 is that another kind provided by the invention is for hanging the structural representation of the flight instruments of sag rope to transmission line;
Fig. 4 is the enlarged diagram of part A in Fig. 3;
Fig. 5 be position-limit mechanism in Fig. 3, swing arm and output shaft structural representation;
Fig. 6 be provided by the invention another for hanging the structural representation of position-limit mechanism of the flight instruments of sag rope, swing arm and output shaft to transmission line;
Fig. 7 is a kind of method flow schematic diagram for hanging sag rope to transmission line provided by the invention;
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 object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Being difficult to accurately manual problem of throwing transmission line to solve the sag rope 4 existed in prior art, the invention provides a kind of flight instruments for hanging sag rope to transmission line, is that four axle unmanned vehicles are described for unmanned vehicle below.
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 below four axle unmanned vehicles 1, for carry sag rope 4, sag rope 4 is suspended on transmission line.Communicator 2 is located on four axle unmanned vehicles 1, and communicate to connect with suspension arrangement 6, receive the control command that ground handling operator is sent by operation control terminal 7, and this control command being exported to suspension arrangement 6 to control the action of suspension arrangement 6, communicator can also be located on suspension arrangement 6.Control terminal 7 and communicator 2 communicate to connect, and for sending control command to communicator 2 to control the action of suspension arrangement 6, being suspended on by sag rope 4 on transmission line or hanging up sag rope 4.Camera head 3 is located on four axle unmanned vehicles 1, for the image of captured in real-time sag rope and transmission line, and by this image transmitting to its communicator 2 communicated to connect.The image transmitting that camera head 3 sends by communicator 2 is to control terminal 7, control terminal 7 is provided with the display 71 for showing image, ground handling operator understands the mutual alignment relation of sag rope and transmission line by observation display 71, and by sending control command to the operation of control terminal, control the action of suspension arrangement 6.The connected mode of communicator 2 and control terminal 7 is preferably wireless connections, to make four axle unmanned vehicles 1 when carry sag rope 4, not by the interference of image transmitting circuit.
Suspension arrangement 6 comprises support 61, hitch gear 63 and is provided with the electric driving mechanism of output shaft 622.Support 61 is fixedly connected on the center of four axle unmanned vehicle 1 bottoms, hitch gear 63 and electric driving mechanism are all located on support 61, hitch gear 63 is connected with the output shaft 622 of electric driving mechanism, for the weight 41 of carry sag rope 4 or unclamped from hitch gear by sag rope 4 and sag rope 4 is suspended on transmission line.More specifically, hitch gear 63 is located on support 61 movably, and the output shaft 622 of electric driving mechanism is connected with hitch gear 63.Electric driving mechanism is preferably steering wheel 621.
As depicted in figs. 1 and 2, sag rope 4 comprises weight 41, link 42 and cord 43, cord 43 is connected to the link 42 of weight 41 upper surface, 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 makes sag rope 4 hang on hook 631 through link 42.When four axle unmanned vehicles 1 rise to assigned address, ground handling operator makes the output shaft 620 of electric driving mechanism rotate by control terminal, thus drive hook 631 to rotate, link 42 is made to extract out from hook 631 thus, like this, under gravity, weight 41 will hurtle down, and then cord 43 is hung on transmission line, realize sag rope 4 and be suspended on 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 stiff end 6320 and the free end 6321 of swing arm 632.During application, swing arm 632 rotates 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), in figure, the lower right corner is rotated counterclockwise), when swing arm 632 goes to position parallel to the ground at the driving backspin of steering wheel 621, be sheathed on carry weight 41 in swing arm 632 by the link 42 of sag rope 4, owing to weight 41 being have cord 43, swing arm 621 is carry cord 43 indirectly.When swing arm 632 goes to perpendicular to the ground at the driving backspin of steering wheel 621, under gravity, depart from swing arm 632, fall downwards, sag rope to downward-extension, thus is suspended on transmission line the weight 41 of sag rope 4 by the cord 43 on weight 41.
In the flight course of four axle unmanned vehicles, link 42 in order to avoid sag rope moves left and right the phenomenon causing weight to come off from swing arm 621 in advance, flight instruments also comprises position-limit mechanism 8(for limiting link 42 position as shown in Figure 3-Figure 5), it comprises guide vane end stop 81, spring 82, pulley 84 and traction piece 83.
In order to arrange position-limit mechanism 8, between the stiff end 6320 and free end 6321 of swing arm 632, the inside of described swing arm is provided with cavity 6322, this cavity 6322 is surrounded by stiff end 6320, free end 6321 and upper side wall 6323, lower wall 6327, front-rear side walls (not shown), wherein upper side wall 6323 is relative across cavity about 6322 with lower wall 6327, and not shown front-rear side walls is relative before and after cavity 6322.
Upper side wall 6323 is provided with the through hole 6324 for holding guide vane end stop 81, upper side wall 6323 is also provided with perforation 6325, passing from it to make the cord of traction piece 83 is fixed on support 61, separated by a distance between through hole 6324 and perforation 6325, perforation 6325 is closer to the stiff end of swing arm, and through hole 6324 is all communicated with cavity 6322 with perforation 6325, also by the ft connection of cavity 6322 with swing arm.
In cavity, be provided with spring 82, the inner surface of lower wall 6327 (cavity side surface) is fixed in the lower end of spring 82, and the upper end of spring 82 contacts with the bottom of guide vane end stop 81 and connects.In order to avoid guide vane end stop 81 drops out from through hole 6324, the upper end of preferred spring 82 is fixedly connected with the bottom of guide vane end stop 81.Fly to before assigned position at unmanned vehicle, when sag rope 4 carry is in swing arm, the upper end of guide vane end stop 81 is stretched out outside through hole 6324, stops that the link 42 of sag rope 4 is from landing swing arm.When unmanned vehicle flies to after assigned position, under the driving of electric driving mechanism, the free end of swing arm 621 rotates, simultaneously guide vane end stop 81 is return in through hole 6324 under the drive of spring 82 and cord, now by the effect of gravity, link 42, from landing swing arm 621, hangs on transmission line.
Under the control of electric driving mechanism, in order to make spring 82 correspondingly action, following structure is also provided with: the bottom of guide vane end stop 81 or the upper end of spring 82 are fixed in the one end as the cord of traction piece 83 in cavity, the other end of cord extends in the central space of spring 82, and walk around and be arranged in described central space and the pulley 84 be fixed on the cavity side surface of lower wall 6327, then extend in cavity 6322, until pass from perforation 6325, and the other end is fixed on support 61.
Walking around in the process extended in cavity after pulley 84 changes direction to make cord, mutually do not interfere with the bottom of spring 82, preferably form two grooves in the cavity side of lower wall 6327---the-the first groove and the second groove, the linear elongated hole being positioned at lower wall by one between first groove and the second groove is connected, wherein, below the central space that first groove is positioned at spring 82 (the central space sectional area of the open area ratio spring 82 of the first groove is little), pulley 84 is fixed in the first groove, second groove is compared to the stiff end side of the first groove closer to swing arm, cord extends to the second groove after changing direction by the first groove in elongated hole, the other end is fixed on support 61 from passing rear amplification in the second groove to perforation 6325.Thus, avoid in running, cord and the spring interface of walking around pulley touch, and affect traction effect.
Preferred as another, can also arrange a pulley in the second groove, the break-in for cord adjusts.And replace above-mentioned elongated hole, can arrange elongated slot on the surface in the cavity side of lower wall, be communicated with by the first groove by elongated slot with the second groove, cord extends to the second groove along elongated slot from the first groove.
Pulley is preferably fixed pulley.In application, when swing arm 632 is positioned at position parallel to the ground, be sheathed on by link 42 between stiff end 6320 and through hole 6324, the upper end due to guide vane end stop 81 is stretched out outside through hole 6324, can stop that link 42 is from landing 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 pull guide vane end stop 81 Compress Spring 82 and move in through hole 6324, when the upper end of guide vane end stop 81 is sunk in through hole, under the Action of Gravity Field of weight 41, link 42 is from landing swing wall 632, by the cord carry of sag rope on transmission line.The upper end shape of guide vane end stop 81 is preferably arc, and the hole wall of through hole 6324 or perforation 6325 and the angle (chamfering) at the bottom of hole are preferably fillet.
In another execution mode, as shown in Figure 6, for the main pseudosection of swing arm and output shaft, wherein, first groove, second groove and connection first, the elongated hole of the second groove is identical with above-mentioned execution mode, no longer perforation is set on upper side wall unlike in present embodiment, but the cavity in swing arm forms opening at stiff end, output shaft is successively through the front side wall of swing arm, opening, be fixed together with swing arm after rear wall, namely also cavity 6322 is connected as a single entity with open communication, the output shaft being positioned at opening part is arranged with axle sleeve 633, this axle sleeve 633 makes ine wound thereon to pull spring in the rotation process of output shaft.
The other end of cord passes the central space of spring after the pulley changed course being positioned at the first groove, successively through being fixed on axle sleeve 633 after elongated hole, the second groove (just passing through pulley when being provided with pulley in the second groove), along with the rotation of output shaft, axle sleeve 633 also rotates, and strain cord, make cord pull spring make spring-compressed or loosen.
When such as output shaft rotates counterclockwise, drive swing arm and then to rotate counterclockwise, because the length of cord is fixed, and the other end of cord is fixed on axle sleeve, along with the rotation of swing arm and axle sleeve, cord can be wound around on axle sleeve, and the other end of cord can be driven thus to pull down spring of moving, and spring is compressed, make to be sunk in through hole by spring-supported guide vane end stop, no longer stop that link comes off from swing arm, like this, sag rope will depart from from swing arm and hang on transmission line.
It should be noted that, at guide vane end stop 81 with the engagement process of through hole 6324, can leave gap, in order to avoid gap, the excessive link 42 that causes puts under in gap, and the diameter of preferred link 42 is greater than the diameter in gap.
In practice, traction piece 83 can be cord, can also be fine wire, is preferably cord.
In order to accurately hang sag rope to transmission line, suspension arrangement 6 side is preferably located at by camera head 3, and in other words it to be positioned at below four axle unmanned vehicles and to connect suspension arrangement 6.In practice, in order to identify the position hanging sag rope, mark is added to the center of the image of camera head 3 captured in real-time, mark can also be added in the center of the indicator screen of this image of display, ground handling operator observes this mark by display 71, when this mark position moves to the opposite side relative with this side from the side of transmission line wire, show that weight 41 has been positioned at the opposite side of transmission line wire, ground handling operator sends control command by control terminal 7 and unclamps weight 41 with at transmission line carry sag rope 4 to drive suspension arrangement 6.
In order to simplified structure, being structure as a whole for the ground control unit and control terminal 7 controlling unmanned vehicle flight path of four axle unmanned vehicles 1, ground control unit is used for sending flight control command, and this flight control command is used to indicate state of flight, thus forms flight path.Control terminal 7 is provided with the button or action bars etc. of control four axle unmanned vehicle 1 flight path.
The application process of this preferred embodiment is roughly as follows:
Ground handling operator (operating personnel), in patrolling transmission line process, when finding the position needed repairing, by control terminal 7, makes driving mechanism 62 drive hitch gear 63 to open, is hung up by the link 42 of sag rope 4.Then make hitch gear 63 close, operation control terminal 7, make four axle unmanned vehicles 1 fly above transmission line, camera head 3 pairs of transmission lines, sag rope 4 etc. are taken pictures, and display 71 shows this image.According to the image of display, power worker judges whether four axle unmanned vehicles 1 arrive at the grid locational needed repairing, if not, then adjust the state of flight of four axle unmanned vehicles 1, until four axle unmanned vehicles 1 arrive to the grid locational needed repairing, then make hitch gear 63 open with jettisoning weight 41, thus make sag rope 4 hang over the grid locational needed repairing.
In order to solve the problem, present invention also offers a kind of flight instruments for hanging sag rope to transmission line hangs method from sag rope to transmission line, see Fig. 7, the method comprises:
S10, before flight instruments takes off, by sag rope carry on flight instruments;
The method of carry sag rope see the associated description of above-mentioned suspension arrangement carry sag rope, can repeat herein no longer one by one.
S20, after flight instruments takes off, make the image of this flight instruments captured in real-time sag rope and transmission line, and add mark at the center position of image and show this image;
Associated description about step S20 see the associated description of above-mentioned camera head and control terminal, can repeat herein no longer one by one.
The position of S30, certification mark, when mark position moves to opposite side from the wire side of transmission line, makes flight instruments unclamp sag rope to hang sag rope to transmission line.
The position of ground handling operator (operating personnel) certification mark, detects when moving to opposite side when mark position from the wire side of transmission line, unclamps sag rope to hang sag rope to transmission line in the image shown.
It should be noted that the flight instruments described in step S10, S20 and S30 is aforesaid flight instruments, the unmanned vehicle in certain flight instruments can be four axle unmanned vehicles, repeats no longer one by one herein.
In sum, the present invention by arranging suspension arrangement on flight instruments, and makes suspension arrangement tangle sag rope or jettisoning sag rope.Whereby, realize, when hanging sag rope, increasing work efficiency and the coefficient of safety of operating personnel, sag rope can also being hung on the transmission line of any height.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1., for hanging a flight instruments for sag rope to transmission line, it is characterized in that, comprising:
Unmanned vehicle;
Suspension arrangement, is located at below described unmanned vehicle, for carry sag rope or unclamp sag rope so that described sag rope is suspended on transmission line;
Communicator, is located on described unmanned vehicle or described suspension arrangement, and communicates to connect with described suspension arrangement, exports control command to described suspension arrangement;
Control terminal, is connected with described communication, sends described control command to described communicator, described suspension arrangement receive described communicator pass on come described control command after, described sag rope is suspended on transmission line; With
Camera head, is located on described unmanned vehicle, for the image of sag rope and described transmission line described in captured in real-time, and by the described communicator that described image transmitting extremely communicates to connect with this camera head,
The image transmitting that described camera head sends by described communicator is described control terminal extremely, for ground handling operator's reference;
Described control terminal is provided with the display for showing described image;
Also comprise: for controlling the ground control unit of the flight path of described unmanned vehicle;
Wherein,
Described suspension arrangement comprises:
Support, arranges and is connected to below described unmanned vehicle;
Hitch gear, is located on described support, for carry or unclamp described sag rope;
Electric driving mechanism, is located on described support, and is connected with described hitch gear and described communicator, according to the described control command from described communicator, drives described hitch gear carry or unclamps described sag rope;
Described electric driving mechanism comprises the steering wheel being 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;
Described flight instruments also comprises position-limit mechanism, and described position-limit mechanism comprises: guide vane end stop, spring, pulley and traction piece;
Swing arm inside between described stiff end and the free end of described swing arm is provided with cavity, and the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall;
Described upper side wall is provided with through hole and perforation, described perforation is between described through hole and described stiff end, and described through hole is for holding described guide vane end stop;
Described lower wall is fixed in the lower end being arranged at the described spring in described cavity, and the upper end of described spring is connected to the bottom of described guide vane end stop;
Described lower wall is provided with the first groove and the second groove, described first groove is connected by elongated hole with described second groove;
Described first groove is positioned at below the central space of described spring, and described second groove is between described first groove and described stiff end;
Described pulley is arranged in described first groove;
One end of described traction piece is connected with the bottom of described guide vane end stop, the other end of described traction piece through described spring central space and after walking around described pulley, in described elongated hole, extend to described second groove, then reach swing arm outside through described perforation, be fixed on described support;
It is outer or return in described through hole that described guide vane end stop stretches out described through hole under the driving of described traction piece and described spring.
2. flight instruments according to claim 1, is characterized in that,
Described traction piece is cord.
3. flight instruments according to claim 1, is characterized in that,
Described elongated hole is be arranged at the elongated slot on the cavity side surface of described lower wall, is connected by described first groove with described second groove.
4. flight instruments according to claim 1, is characterized in that, described ground control unit and described control terminal are structure as a whole.
5. flight instruments according to claim 1, is characterized in that, described unmanned vehicle is four axle unmanned vehicles.
6., for hanging a flight instruments for sag rope to transmission line, it is characterized in that, comprising:
Unmanned vehicle;
Suspension arrangement, is located at below described unmanned vehicle, for carry sag rope or unclamp sag rope so that described sag rope is suspended on transmission line;
Communicator, is located on described unmanned vehicle or described suspension arrangement, and communicates to connect with described suspension arrangement, exports control command to described suspension arrangement;
Control terminal, is connected with described communication, sends described control command to described communicator, described suspension arrangement receive described communicator pass on come described control command after, described sag rope is suspended on transmission line; With
Camera head, is located on described unmanned vehicle, for the image of sag rope and described transmission line described in captured in real-time, and by the described communicator that described image transmitting extremely communicates to connect with this camera head,
The image transmitting that described camera head sends by described communicator is described control terminal extremely, for ground handling operator's reference;
Described control terminal is provided with the display for showing described image;
Also comprise: for controlling the ground control unit of the flight path of described unmanned vehicle;
Wherein,
Described suspension arrangement comprises:
Support, arranges and is connected to below described unmanned vehicle;
Hitch gear, is located on described support, for carry or unclamp described sag rope;
Electric driving mechanism, is located on described support, and is connected with described hitch gear and described communicator, according to the described control command from described communicator, drives described hitch gear carry or unclamps described sag rope;
Described electric driving mechanism comprises the steering wheel being 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;
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;
Swing arm inside between described stiff end and the free end of described swing arm is provided with cavity, and the sidewall of described cavity comprises: upper side wall, lower wall, front side wall and rear wall;
Described stiff end is provided with opening, described opening and described cavity connects;
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 being arranged at the described spring in described cavity, and the upper end of described spring is connected to the bottom of described guide vane end stop;
Described lower wall is provided with the first groove and the second groove, described first groove is connected by elongated hole with described second groove;
Described first groove is positioned at below the central space of described spring, and described second groove is between described first groove and described stiff end;
Described pulley is arranged in described 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 passes the central space of described spring and after walking around described pulley, extends in described elongated hole, and stretches out at described second groove, is fixed on described axle sleeve;
It is outer or return in described through hole that described guide vane end stop stretches out described through hole under the driving of described traction piece and described spring.
7. flight instruments according to claim 6, is characterized in that,
Described traction piece is cord.
8. flight instruments according to claim 6, is characterized in that,
Described elongated hole is be arranged at the elongated slot on the cavity side surface of described lower wall, is connected by described first groove with described second groove.
9. flight instruments according to claim 6, is characterized in that, described ground control unit and described control terminal are structure as a whole.
10. flight instruments according to claim 6, is characterized in that, described unmanned vehicle is four axle unmanned vehicles.
11. 1 kinds for hanging the method for sag rope to transmission line, it is characterized in that, described method comprises:
Before flight instruments takes off, by sag rope carry on described flight instruments;
After described flight instruments takes off, make the image of sag rope and transmission line described in described flight instruments captured in real-time, and add mark at the center position of described image and show described image;
The position of certification mark, when described mark position moves to opposite side from the wire side of described transmission line, makes described flight instruments unclamp sag rope to hang sag rope to transmission line;
Wherein said flight instruments is the flight instruments described in claim arbitrary in claim 1-10.
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 |
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| CN201320250713 | 2013-05-09 | ||
| CN201320250713.4 | 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 |
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| CN103368103A CN103368103A (en) | 2013-10-23 |
| CN103368103B true 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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| Application Number | Title | Priority Date | Filing Date |
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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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| CN103368103B (en) * | 2013-05-09 | 2016-01-20 | 衡水众翔电子科技有限公司 | For hanging flight instruments and the method for sag rope to transmission line |
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| 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 |
| CN117676094B (en) * | 2023-12-18 | 2024-06-11 | 浙江万胜智通科技有限公司 | Video image on-line monitoring device for power transmission line |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN203387114U (en) | 2014-01-08 |
| CN203387113U (en) | 2014-01-08 |
| CN103368103A (en) | 2013-10-23 |
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