CN106877238A - A kind of power circuit Bird's Nest sweep-out method - Google Patents
A kind of power circuit Bird's Nest sweep-out method Download PDFInfo
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- CN106877238A CN106877238A CN201710162436.4A CN201710162436A CN106877238A CN 106877238 A CN106877238 A CN 106877238A CN 201710162436 A CN201710162436 A CN 201710162436A CN 106877238 A CN106877238 A CN 106877238A
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- nest
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- unmanned plane
- bird
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Manipulator (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a kind of power circuit Bird's Nest sweep-out method, power circuit Bird's Nest removing, including unmanned plane body, support, gas cylinder portion, rotation section, balance portion, removing portion, control unit, ground on-vehicle device are carried out using unmanned plane.Support is connected with unmanned plane body, and gas cylinder portion is connected with support, and rotation section is fixed with unmanned plane body bottom portion, and balance portion is connected with rotation section, and removing portion is connected with rotation section, and control unit is fixed with rotation section.Unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, by the remote control box of ground on-vehicle device, removing portion 6 is directed at into Bird's Nest；Removing button is pressed, control unit is outwards sprayed from gas cylinder portion 3 by solenoid valve control gases at high pressure from removing portion 6, removes Bird's Nest；Simple structure of the present invention, it is easy to use, can effectively ensure that electric power is defeated, distribution network maintenance staff work safety, improve operating efficiency.
Description
Technical field
It is related to unmanned plane power transmission and distribution network operation field, and in particular to power circuit Bird's Nest sweep-out method.
Background technology
Bird's Nest has often been built on transmission and distribution networkses steel tower.Branch, grass blade, iron wire that small bird rank is come etc. easily triggers electrical body
Short circuit, cause tripping operation, or even burn out equipment, cause contact net electro-mechanical force equipment to have a power failure, caused to normal transmission and distribution networkses
Extreme influence.Particularly birds peck bad insulator chain, situations such as bird dung causes insulator chain pollution flashover, can cause more serious electric power
Security incident.
At present remove Bird's Nest mode with manually climb mode manually remove based on, for small scale iron tower, bridge by letter
Single mechanical device, the mode such as disclosing, cut, burning is carried out.For Bird's Nest in, on large-scale bar, steel tower is removed, work coordination reality
Greatly, this is one for border operation, difficulty.Secondth, traditional mechanical reset mode operation is difficult, and belongs to the clear of direct contact type
Except mode, electrical shock safety hazard easily is caused to personnel and equipment, especially hook, sling type, towed equipment, it is real out of doors
In the operating process of border, easily make contact, hanging wire, form serious potential safety hazard；3rd, contactless removing, just has more at present
Be burn formula, but at present electric power networks remove Bird's Nest focus mostly in summer, autumn, avoid the Period of reproductive peak of birds.Bird's Nest
Burning not only easily causes outdoor fire risk, is also unfavorable for power equipment safety, meanwhile, equipment is in regular maintenance and uses
Points for attention are numerous and diverse in journey, and security incident easily occurs, and use inconvenience.
Announce as the U of CN 204858409 disclose a kind of Bird's Nest remove device one kind based on unmanned plane based on unmanned plane
Bird's Nest remove device, it is characterized in that：Including connecting plate (1) and Bird's Nest hook (2)；Wherein connecting plate (1) with remove Bird's Nest
Hook (2) is fixedly connected, and multiple bolts hole (1.1) are offered on connecting plate (1), and spiral shell is used by the bolt hole (1.1)
Bolt can be fixed on the base of unmanned plane；Hook is set to be made up of straightway (2.1) and arc (2.2), straightway
(2.1) it is fixedly connected with connecting plate (1), arc (2.2) uses the camber line with hook solid.This new beneficial effect is that have
There is simple structure, stabilization, reliability can reduce the danger that the Bird's Nest on manual cleaning transmission line of electricity is brought, mitigate workman's labor
Momentum, it is cost-effective.The invention belongs to contact sweep-out method.In actual environment, to the operation level of unmanned plane manipulator
It is required that it is high, it is difficult to hook is accurately accurately tangled into Bird's Nest.Particularly in the feelings that circuit is more, bird's nest surrounding environment is complicated
Under condition, unmanned plane activity space in itself is very limited, does not possess use requirement, it is easier to unmanned plane is touched electric power and sets
Apply, cause the accident, poor practicability.
The content of the invention
It is above-mentioned to solve it is an object of the invention to overcome above-mentioned deficiency, there is provided a kind of power circuit Bird's Nest sweep-out method
Problem.
A kind of power circuit Bird's Nest sweep-out method, power circuit Bird's Nest removing, including unmanned plane sheet are carried out using unmanned plane
Body, support, gas cylinder portion, rotation section, balance portion, removing portion, control unit, ground on-vehicle device.
The support is connected with unmanned plane body, and the gas cylinder portion is connected with support, the rotation section and unmanned plane
Body bottom portion is fixed, and the balance portion is connected with rotation section, and the removing portion is connected with rotation section, the control unit and rotation section
It is fixed.The ground on-vehicle device is connected with rotation section.
The unmanned plane body is rotor wing unmanned aerial vehicle, and the unmanned plane body includes the corresponding earth station of the rotor wing unmanned aerial vehicle
Control system.
The unmanned plane body at least includes a rotor.
Totally two, the support, is symmetrically fixed on unmanned plane body bottom portion.
The support is I-shaped, and the pedestal upper end is fixed with unmanned plane body lower part.
The support center section is an axle for setting.
The bottom of the support is fixed with gas cylinder portion in the inner part.
Gas cylinder portion is placed in the bottom of support, is easy to unmanned plane body in takeoff operational and the stability of landing operation,
Improve the operating experience of staff and expand the landing occasion of unmanned plane body.
The gas cylinder portion includes two gas cylinders, and two gas cylinders are individually fixed in two bottoms of support,
So that unmanned plane keeps balance.
The outlet nozzle of the gas cylinder is connected by flexible pipe with pneumatic group of rotation section, and then peaceful with removing portion respectively
Weighing apparatus portion connects.
The rotation section includes that expansion link, stepper motor, reduction gear box, carriage, rotary head, universal ball bearing are gentle
Dynamic group.
The expansion link upper end is fixed with the bottom of unmanned plane body, and lower end is fixed with reduction gear box.
The stepper motor is fixed with the upper end of reduction gear box, and the reduction gear box lower end is consolidated with carriage upper end
Fixed, the rotary head is connected with the output shaft of reduction gear box, and the lower surface of the rotary head is connected with universal ball bearing, described
Universal ball bearing lower end is fixed in carriage.
The described pneumatic group lower surface for being fixed on carriage.
The expansion link is multi-stage expansion structure, adjustable in length, the lower central of expansion link upper end and unmanned plane body
Fixed, expansion link lower end is fixed with reduction gear box upper face center.Before operation, expansion link is adjusted to proper height first,
And it is fixed.
The stepper motor is connected with control unit, and the control unit is carried out accurately to the rotational angle of stepper motor output shaft
Control.
Train of reduction gears, side of the reduction gear box near the side in balance portion are provided with inside the reduction gear box
Center is provided with zero graduation line.
The output shaft of the stepper motor is connected with the input shaft of reduction gear box, the output of the reduction gear box
Axle is fixed with rotary head.The reduction gear box upper end is fixed with expansion link, and lower end is fixed with carriage.The reduction gear box
Output speed to stepper motor is adjusted, and then rotational angle is further split, and improves the control of rotational angle
Precision.
The carriage is frame-shaped construction, and carriage upper end is fixed with reduction gear box, and lower end is fixed with pneumatic group.
The carriage is divided into upper half frame and lower half frame.
There is a through hole upper half frame upper surface of the carriage, the output shaft of reduction gear box through after the through hole with rotary head
It is fixed.
The universal ball bearing is fixed on lower half frame.
The rotary head is rhombus, and rotary head upper end is fixed with the output shaft of reduction gear box.
The rotary head lower surface has hemisphere groove, and hemisphere groove is connected with the roller ball of universal ball bearing.
The rotary head two ends are connected with cleaning section and balance portion respectively.
One end upper face center of the rotary head near balance portion has pointer.When rotary head is in zero position, rotate
The pointer of head aligns with the zero graduation line of reduction gear box.
The rotary head is fixed with camera near the one end in connection removing portion, and the camera is connected with control unit.Institute
Camera captured in real-time work picture is stated, and is transmitted to ground on-vehicle device by control unit, be easy to ground staff to observe.
The universal ball bearing is provided with roller ball, and roller ball is connected with the hemisphere groove on rotary head following table surface.
Described pneumatic group includes multiple-pass joint, magnetic valve and pneumatic sensor.
The magnetic valve is connected with control unit, and control unit can be closed and flow quantity control to the air in magnetic valve.Institute
State multiple-pass joint totally two, one is connected with gas cylinder portion, and is connected with magnetic valve, after another is connected with magnetic valve and with
Pneumatic sensor is connected, and is finally connected with removing portion and balance portion respectively.
The pneumatic sensor is connected with control unit.
The removing portion includes removing connector, removes bar, bucket seat and outlet bucket.
Described removing connector one end is fixed with rotary head, and the other end is connected with bar is removed.
Described removing bar one end is connected with connector is removed, and the other end is fixed with bucket seat, and the outlet bucket totally two is fixed
On bucket seat.
The removing connector includes female seat, male seat and spring.
The female seat is fixed with rotary head, and the male seat is fixed with bar is removed.There is cavity in described female seat one end, in cavity
Spring is connected with, there is raised platform described male seat one end, is connected with spring.
The removing bar is hollow for shaft-like.Bucket seat connection and removing bar end.Two outlet buckets are by flexible pipe and turn
The pneumatic sensor of dynamic head and magnetic valve connection.The removing bar is manufactured for insulating materials.
The balance portion includes balancing pole, balancing weight, micro- magnet valve and balance bucket.
The balancing pole is fixed with rotary head one end, and described balancing pole one end is provided with counterweight base, and the balancing weight is fixed
In in counterweight base.The balancing weight includes different specifications, and the model that bar is selected is removed according to removing portion, and then to counterweight
Block is adjusted.
Micro- magnet valve is fixed with balancing pole, and the balance bucket is connected with micro- magnet valve.The gas of micro- magnet valve and rotary head
Dynamic group connection.Micro- magnet valve is connected with control unit.
The control unit is connected with stepper motor, magnetic valve, pneumatic sensor, micro- magnet valve, camera.
The control unit and unmanned plane body power sharing power supply.
The control unit includes figure transmission module, and the image of camera is back into ground on-vehicle device in real time.
The control unit includes calibration knob.
The built-in communication module of control unit, is communicated with ground on-vehicle device.
The ground on-vehicle device includes air pump, hand-line reel and remote control box.The ground on-vehicle device is positioned over in-car, just
In field work.
Flexible pipe in the hand-line reel is flexible insulated hose, it is to avoid misoperation, the risk of unexpected hanging wire.
The remote control box includes display screen, communication module, control handle and removes button.
The air pump is diesel oil, gasoline air pump, output high-pressure gas.
A kind of electrical power distribution electric network Bird's Nest sweep-out method：
1st, control unit calibration knob is pressed, removing portion 6 and rotary head 404 is calibrated；
2nd, the removing bar 602 of appropriate size is selected, and corresponding balancing weight is installed；
3rd, unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, by the remote control box of ground on-vehicle device, removing portion 6 is directed at into bird
Nest；
4th, removing button is pressed, control unit is outside from removing portion 6 from gas cylinder portion 3 by solenoid valve control gases at high pressure
Spray, remove Bird's Nest；
5th, control unit is detected by pneumatic sensor and sprays airstream data, and control unit controls micro- magnet valve 503 to open certain mouth
Footpath, by gas from reversely exclusion, realizes the skyborne balance of unmanned plane；
6th, for the difficult Bird's Nest removed, gas cylinder portion 3 is removed, by pneumatic group 406 of the lower end of rotation section 4 and vehicle-mounted air pump
Connected by hand-line reel, skip to above-mentioned 3rd step, complete to remove.
The beneficial effects of the present invention are：
The present invention is safe, easy to use, specifically includes
1st, security performance of the present invention is high, belongs to cordless and removes Bird's Nest, it is to avoid around directly contact Bird's Nest and Bird's Nest
Power equipment causes the hidden danger of electrical destruction to removing equipment；
2nd, the present invention has in use beneficial to protection power equipment, and the principle quickly sprayed by pressure-air is by bird
Nest is removed, it is to avoid the destruction to power equipment；
3rd, applied widely, application of the invention is extremely strong, and the present invention can be by unmanned plane from extension gas cylinder portion and ground
Car-mounted device supply two ways removes Bird's Nest, and all kinds of line environments have general for all kinds of power transmission and distribution towers, bar and around Bird's Nest
All over applicability；
4th, the actually used middle part management side of patent of the present invention just, is easy to management unit to carry out fast reaction, by a chassis, two
Individual operating personnel, you can quickly processed Bird's Nest, greatly improves operating efficiency so that be rapidly completed work in summer and autumn
Task；
5th, patent of the present invention can greatly improve the dismounting personnel security of itself, and patent user of service of the present invention is away from work
Make equipment, whole process is removed by way of wireless remote control to Bird's Nest, has ensured personal safety；
6th, patent of the present invention greatly reduces the technical requirements to unmanned plane manipulator, and network operation personnel are made with simple training
Instruction can carry out operation, be easy to promote.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is support of the invention and gas cylinder portion schematic diagram；
Fig. 3 is rotation section schematic diagram of the invention；
Fig. 4 is rotary head schematic diagram of the invention；
Fig. 5 is balance portion of the invention schematic diagram；
Fig. 6 is removing connector sectional view of the invention；
Fig. 7 is removing portion of the invention schematic diagram；
Fig. 8 is control of the invention and pneumatic diagram.
Marginal data：
1st, unmanned plane body；2nd, support；3rd, gas cylinder portion；4th, rotation section；401st, expansion link；402nd, reduction gear box；
402a, zero graduation line；403rd, carriage；4031st, upper half frame；4032nd, lower half frame；404th, rotary head；404a, hemisphere groove；
404b, pointer；4041st, camera；405th, universal ball bearing；406th, pneumatic group；5th, balance portion；501st, balancing pole；502nd, counterweight
Pedestal；503rd, micro- magnet valve；504th, balance bucket；6th, removing portion；601st, connector is removed；602nd, bar is removed；603rd, struggle against seat；604th, go out
Gas bucket；601a, female seat；601b, male seat；601c, spring.
Specific embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Referring to Fig. 1, a kind of power circuit Bird's Nest sweep-out method carries out power circuit Bird's Nest removing using unmanned plane,
Power circuit Bird's Nest sweep-out method, including unmanned plane body 1, support 2, gas cylinder portion 3, rotation section 4, balance portion
5th, removing portion 6, control unit and ground on-vehicle device.
Support 2 is connected with unmanned plane body 1, and gas cylinder portion 3 is connected with support 2, rotation section 4 and the bottom of unmanned plane body 1
Portion is fixed, and balance portion 5 is connected with rotation section 4, and removing portion 6 is connected with rotation section 4, and control unit is fixed with rotation section 4.Unmanned plane sheet
Body 1 is support 2, gas cylinder portion 3, rotation section 4, balance portion 5, the carrier in removing portion 6, control unit.The control balance portion of rotation section 4
5 and the rotation in removing portion 6, gas cylinder portion 3 (ground on-vehicle device also can) to balance portion 5 and the conveying high-pressure gas of removing portion 6,
Gas flowing of the control unit to balance portion 5 and removing portion 6 is controlled, and is communicated with ground on-vehicle device.
Unmanned plane body 1 is rotor wing unmanned aerial vehicle, and unmanned plane body 1 includes the corresponding ground station control system of the rotor wing unmanned aerial vehicle
System.Unmanned plane body 1 at least includes a rotor.Unmanned plane body 1 goes up to the air extremely the present invention as power carrier of the invention
The corresponding position of steel tower Bird's Nest.Compared with other unmanned plane structures, rotor wing unmanned aerial vehicle has much suitable field operations
Advantage：Firstth, manipulate simple, the free degree is big, it is not necessary to which runway just can be with VTOL, it is adaptable to electric power maintenance etc. it is outside compared with
It is severe place.Rotor wing unmanned aerial vehicle can hover in the air after taking off, and the operation free degree is big.Meanwhile, rotor wing unmanned aerial vehicle autopilot
Control method is simple, and controller parameter regulation is also very simple, is easy to be communicated with other automation control systems, integrated.The
Two, in terms of rotor wing unmanned aerial vehicle reliability, especially multi-rotor unmanned aerial vehicle structure does not have too many movable part to rotor wing unmanned aerial vehicle, it
Reliability be substantially dependent on the reliability of brushless electric machine, therefore reliability is higher.3rd, in terms of later maintenance, rotor
The duties of unmanned plane are highests, if motor, electron speed regulator, battery, oar and frame are damaged, substitute mode is simple, quick, easily
Operation.Making simple training to electric power maintenance staff can be on duty, be adapted to electric power maintenance maintenance field applied environment and
Condition.4th, from a cost perspective, with continuing to develop for the civilian General Aviation industry of China, unmanned plane especially rotor
Unmanned plane (refer in particular to electric energy be drive unmanned plane) accessory cost, manufacturing cost it is more and more lower, the manufacturing cost of whole machine
It is more and more lower, it is easy to give full play to its economic benefit.
Totally two, support 2, is symmetrically fixed on the bottom of unmanned plane body 1.
Support 2 is I-shaped, and the upper end of support 2 is fixed with the bottom of unmanned plane body 1, and I-shaped support 2 is compared to
For "T"-shaped support 2, it is big with the connection area of unmanned plane body 1, can be carried out according to the different types of unmanned plane body 1
It is fixed, while also enhancing structural strength of the invention.
The center section of support 2 is an axle for setting.When rotation section 4 rotates, this I-shaped support 2 can expand and turn
The slewing area in dynamic portion 4, improves the operating angle in removing portion 6.Support 2 is manufactured for composite, at present in unmanned plane field, extensively
It is general that use is to include resin binder and fibrous material.Unmanned plane has with composite：First, more excellent mechanical property,
Compared with traditional metal materials, composite has that specific strength and specific stiffness are high, thermal coefficient of expansion is small, anti-fatigue ability and antivibration
The characteristics of ability is strong, relative to common unmanned plane structural material, it being capable of loss of weight 25%~30%.For example, resin base is compound
Material has that lightweight construction, complicated or large scale structure are easy to shaping, big design space, specific strength and specific stiffness is high, thermal expansion
Many advantages, such as coefficient is small.2nd, designability is strong：Composite has designability in itself, is not changing the feelings of construction weight
Under condition, design can be optimized according to the intensity of unmanned plane, rigidity requirement.3rd, lightweight：Unmanned plane composite structure is designed
In often use is the characteristics such as lightweight, the high specific strength specific modulus of composite.Mainly pass through reinforcing material (carbon fiber, glass
Glass fiber etc.) both good cementations of mechanical property and stock (resin) is organically combined into.
The bottom of support 2 is fixed with gas cylinder portion 3 in the inner part.
Gas cylinder portion 3 is placed in the bottom of support 2, is easy to unmanned plane body 1 in takeoff operational and the stabilization of landing operation
Property, improve the operating experience of staff and expand the landing occasion of unmanned plane body 1.
Gas cylinder portion 3 includes two gas cylinders, and two gas cylinders are individually fixed in two bottoms of support 2, make
Obtain unmanned plane and keep balance.
The outlet nozzle of gas cylinder is connected by flexible pipe with pneumatic group 406 of rotation section 4, so respectively with removing portion 6 and
Balance portion 5 connects., filled with gases at high pressure, under the control of control unit, gas cylinder can be by removing portion 6 and balance portion 5 for gas cylinder internal
Quick outwards release gas.The pressure-air of the outflow of removing portion 6 is used to remove Bird's Nest.The air of the outflow of balance portion 5 is used to adjust
Unmanned plane is balanced.
For Bird's Nest more difficult to remove, the gas cylinder portion 3 of the present apparatus can be removed, by pneumatic group of rotary head 404
406 are connected with the air pump of ground on-vehicle device by flexible pipe.Unmanned plane goes up to the air, and ground on-vehicle device constantly puts pipe, when carrying out long
Between supply gas, and then remove obstinate Bird's Nest.
Rotation section 4 includes expansion link 401, stepper motor, reduction gear box 402, carriage 403, rotary head 404, universal
Ball bearing 405 and pneumatic group 406.The upper end of expansion link 401 is fixed with the bottom of unmanned plane body 1, lower end and reduction gear box 402
It is fixed.Stepper motor is fixed with the upper end of reduction gear box 402, and the lower end of reduction gear box 402 is fixed with the upper end of carriage 403,
Rotary head 404 is connected with the output shaft of reduction gear box 402, and the lower surface of rotary head 404 is connected with universal ball bearing 405, and ten thousand
It is fixed in carriage 403 to the lower end of ball bearing 405.
Pneumatic group 406 lower surface for being fixed on carriage 403.
Expansion link 401 is multi-stage expansion structure, adjustable in length, in the bottom of the upper end of expansion link 401 and unmanned plane body 1
Centre is fixed, and the lower end of expansion link 401 is fixed with the upper face center of reduction gear box 402.Before operation, expansion link 401 is adjusted first
To proper height, and fix.Stepper motor is connected with control unit, and control unit carries out essence to the rotational angle of stepper motor output shaft
Really control.
Train of reduction gears, side of the reduction gear box 402 near the side in balance portion 5 are provided with inside reduction gear box 402
Center is provided with zero graduation line 402a.The output shaft of stepper motor is connected with the input shaft of reduction gear box 402, reduction gearing
The output shaft of case 402 is fixed with rotary head 404.The upper end of reduction gear box 402 is fixed with expansion link 401, lower end and carriage 403
It is fixed.Reduction gear box 402 is adjusted to the output speed of stepper motor, and then rotational angle is further split,
The control accuracy of rotational angle is improved, is easy to, in unmanned plane 1 work high above the ground of body, removing portion 6 is accurately directed at into Bird's Nest.
Carriage 403 is frame-shaped construction, and the upper end of carriage 403 is fixed with reduction gear box 402, and lower end is fixed with pneumatic group
406.403 points of carriage is upper half frame 4031 and lower half frame 4032.There is through hole the upper surface of upper half frame 4031 of carriage 403, subtracts
The output shaft of fast gear-box 402 is fixed after passing through the through hole with rotary head 404.
When being assembled to rotation section 4, expansion link 401 is fixed with reduction gear box 402, by reduction gear box 402
Upper half frame 4031 with carriage 403 is fixed, and rotary head 404 is fixed with the output of reduction gear box 402.Again by ten thousand
Fixed with lower half frame 4032 to ball bearing 405, and pneumatic group 406 is fixed with the lower surface of lower half frame 4032.Finally, will be universal
After ball bearing 405 is calibrated with rotary head 404, upper half frame 4031 is fixed with lower half frame 4032.Universal ball bearing is fixed on lower half
On frame 4032.
Rotary head 404 is rhombus, and the upper end of rotary head 404 is fixed with the output shaft of reduction gear box 402, under rotary head 404
Surface has hemisphere groove 404a, hemisphere groove 404a to be connected with the roller ball of universal ball bearing 405.Distinguish at the two ends of rotary head 404
It is connected with cleaning section and balance portion 5.One end upper face center of the rotary head 404 near balance portion 5 has pointer 404b.Work as rotary head
404 in zero position when, the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402.Rotary head
404 are fixed with camera 4041 near the one end in connection removing portion 6, and camera 4041 is connected with control unit.Camera 4041 is real
When shoot work picture, and transmitted to ground on-vehicle device by control unit, be easy to ground staff to observe.
Universal ball bearing 405 is provided with roller ball, and roller ball connects with the hemisphere groove 404a on the following table surface of rotary head 404
Connect.Because multi-directional ball (also known as buphthalmos bearing) has the characteristics of rolling flexible so that the object such as working plate being in contact with it can be non-
It is often flexible to rotate, the distribution density of multi-directional ball can be arbitrarily set according to different bearing requirements, it is also possible to select difference to hold
The universal ball bearing 405 of loading capability.
Many experiments discovery is being carried out to model machine of the invention, the component in rotary head 404 and reduction gear box 402 is big
Easily there is upper and lower displacement after amount use, cause structure to destroy, cause extreme influence to control accuracy and device service life.Its
Reason is that the bearer connection part that rotary head 404 is decorated as this is connected with the performers such as removing portion 6, balance portion 5, together
When during the jet for removing Bird's Nest, multidirectional active force is caused to rotary head 404, and then to rotary head 404 and reduction gearing
The connecting shaft of case 402 is destroyed.Therefore, the present invention sets universal ball bearing 405, the roller ball of the upper end of universal ball bearing 405
It is connected with rotary head 404, reduces during use to the displacement of rotary head 404 and the intraware of reduction gear box 402, rocks brokenly
It is bad, and then improve the service precision and service life of the present apparatus.
Include multiple-pass joint, magnetic valve and pneumatic sensor for pneumatic group 406.Magnetic valve is connected with control unit, and control unit can
Air in magnetic valve is closed and flow quantity control.Multiple-pass joint totally two, one is connected with gas cylinder portion 3, and with
Magnetic valve connect, be connected after another is connected with magnetic valve and with pneumatic sensor, finally respectively with removing portion 6 and balance portion 5
Connection.Pneumatic sensor is connected with control unit.Pneumatic sensor can calculate the air velocity excluded from the one end of removing portion 6, and
Control unit is sent data to, is vented by control unit control balance portion 5, keep the skyborne balance of unmanned plane.
Removing portion 6 includes removing connector 601, removes bar 602, bucket seat 603, outlet bucket 604.Remove connector 601 1
End is fixed with rotary head 404, and the other end is connected with bar 602 is removed, and removes the one end of bar 602 and is connected with connector 601 is removed, another
End is fixed with bucket seat 603, outlet bucket 604 totally two, is fixed on bucket seat 603.
Removing connector 601 includes female seat 601a, male seat 601b and spring 601c.Female seat 601a is fixed with rotary head 404,
Male seat 601b is fixed with bar 602 is removed.Female seat 601a has cavity in one end, and spring 601c, male seat 601b one end are provided with cavity
There is raised platform, be connected with spring 601c.In the jet moment of removing portion 6, by the spring 601c in connector, to jet moment
Rigid shock enters row buffering, keeps unmanned plane balance.
Bar 602 is removed for shaft-like, it is hollow.Bar 602 is removed for insulating materials is manufactured.The connection of bucket seat 603 and the end of removing bar 602
End.Two outlet buckets 604 are connected by flexible pipe with the pneumatic sensor and magnetic valve of rotary head 404.Bar 602 is removed including various
Type, position, electric tower type according to Bird's Nest, surrounding line environment are changed.
Balance portion 5 includes balancing pole 501, balancing weight, micro- magnet valve 503 and balance bucket 504.Balancing pole 501 and rotary head 404
One end is fixed, and the one end of balancing pole 501 is provided with counterweight base 502, and balancing weight is fixed in counterweight base 502.Micro- magnet valve 503 with it is flat
Weighing apparatus bar 501 is fixed, and balance bucket 504 is connected with micro- magnet valve 503.Micro- magnet valve 503 is connected with pneumatic group 406 of rotary head 404.Micro- magnetic
Valve 503 is connected with control unit.Balancing weight includes different specifications, and the model that bar 602 is selected is removed according to removing portion 6, and then
Balancing weight is adjusted.
Micro- magnet valve 503 is automatically controlled magnet valve, and the switch degree of micro- magnet valve 503 be can control, and control unit can be controlled by micro- magnet valve 503
The circulation caliber size of gas processed.
The data that control unit is read by pneumatic sensor, and then the gas of micro- magnet valve 503 circulation bore is controlled,
And then by balancing the outwards exhaust of bucket 504, and then realize the skyborne balance of unmanned plane body 1.
Control unit is connected with stepper motor, magnetic valve, pneumatic sensor, micro- magnet valve 503, camera 4041.Control unit with
The power sharing power supply of unmanned plane body 1.
Control unit includes figure transmission module, and the image of camera 4041 is back into ground on-vehicle device in real time.In control unit
Communication module is put, is communicated with ground on-vehicle device.
Control unit includes calibration knob.Calibration knob is located on control unit, presses calibration knob, and stepper motor at the uniform velocity turns
It is dynamic, untill the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402.Complete to rotating
First 404 calibration.Found through overtesting, the rotation section 4 of the present apparatus is after a large amount of rotations reset for a long time, it may appear that rotary head
404 pointer 404b and the zero graduation line 402a misalignment phenomenons of reduction gear box 402.Use time is more long, the pointer of rotary head 404
404b is bigger with the angle of the zero graduation line 402a of reduction gear box 402, is unfavorable for the control accuracy of ground on-vehicle device, influence
Use.The phenomenon is caused by stepping motor structure feature and the rotation error of reduction gear box 402, therefore, set on control unit
Calibration knob carries out periodic calibration.Before being calibrated, the two ends part of rotary head 404 is removed, press calibration knob, stepper motor
Uniform rotation, until the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402, completes calibration.
Ground on-vehicle device includes air pump, hand-line reel and remote control box.Ground on-vehicle device is positioned over in-car, is easy to field to make
Industry.Air pump is diesel oil, gasoline air pump, output high-pressure gas.Flexible pipe in the hand-line reel is flexible insulated hose, it is to avoid misoperation
Cause the loss of unexpected hanging wire situation.
Remote control box includes display screen, communication module, control handle and removes button.Display screen is to the camera on unmanned plane
4041 shooting pictures are shown that control handle enters knob information transfer to control unit, control unit by stepper motor
Row respective angles are rotated and reverse, and then realize for removing portion 6 being directed at Bird's Nest, implement operation.Remove button to press, control unit
By communication module receive information, control unit control magnetic valve is opened, and gases at high pressure are sprayed by removing portion 6.Meanwhile, control
Airstream data detects by pneumatic sensor in portion, controls micro- magnet valve 503 to open go-no-go, and gas from reversely exclusion is realized
The skyborne balance of unmanned plane.
Unclamp and remove button, control unit control control closed electromagnetic valve stops jet.
A kind of electrical power distribution electric network Bird's Nest sweep-out method：
1st, control unit calibration knob is pressed, removing portion 6 and rotary head 404 is calibrated；
2nd, the removing bar 602 of appropriate size is selected, and corresponding balancing weight is installed；
3rd, unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, by the remote control box of ground on-vehicle device, removing portion 6 is directed at into bird
Nest；
4th, removing button is pressed, control unit is outside from removing portion 6 from gas cylinder portion 3 by solenoid valve control gases at high pressure
Spray, remove Bird's Nest；
5th, control unit is detected by pneumatic sensor and sprays airstream data, and control unit controls micro- magnet valve 503 to open certain mouth
Footpath, by gas from reversely exclusion, realizes the skyborne balance of unmanned plane；
6th, for the difficult Bird's Nest removed, gas cylinder portion 3 is removed, by pneumatic group 406 of the lower end of rotation section 4 and vehicle-mounted gas
Pump is connected by hand-line reel, skips to above-mentioned 3rd step, completes to remove.
In actual use, the system is by two operation human users.The first operation manipulation unmanned plane, and by nothing
Man-machine holding is in place, it is to avoid unmanned plane touches cable and power equipment, keeps unmanned plane during flying in stable condition.The
One people is responsible for the operation of ground on-vehicle device, and by remote control box remote control be precisely aligned Bird's Nest carry out one or many remove it is dynamic
Make.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of power circuit Bird's Nest sweep-out method, it is characterised in that：Power circuit Bird's Nest removing is carried out using unmanned plane, it is described
Unmanned plane body (1) include support (2), gas cylinder portion (3), rotation section (4), balance portion (5), removing portion (6), control unit
With ground on-vehicle device, it is characterised in that：The support (2) is connected with unmanned plane body (1), the gas cylinder portion (3) with
Support (2) is connected, and the rotation section (4) is fixed with unmanned plane body (1) bottom, and the balance portion (5) is with rotation section (4) even
Connect, the removing portion (6) is connected with rotation section (4), the control unit is fixed with rotation section (4), and the rotation section (4) is including stretching
Contracting bar (401), stepper motor, reduction gear box (402), carriage (403), rotary head (404), universal ball bearing (405) and
Pneumatic group (406), expansion link (401) upper end is fixed with the bottom of unmanned plane body (1), lower end and reduction gear box
(402) fixed, the stepper motor is fixed with the upper end of reduction gear box (402), reduction gear box (402) lower end with prop up
Support frame (403) upper end is fixed, and the rotary head (404) is connected with the output shaft of reduction gear box (402), the rotary head
(404) lower surface is connected with universal ball bearing (405), and carriage (403) is fixed in universal ball bearing (405) lower end
Interior, pneumatic group (406) are fixed on the lower surface of carriage (403), and the expansion link (401) is multi-stage expansion structure, institute
State reduction gear box (402) and be provided with zero graduation line (402a) near the side center of balance portion (5), the carriage (403) is
Frame-shaped construction, the carriage (403) is divided into upper half frame (4031) and lower half frame (4032), the upper half of the carriage (403)
Frame (4031) upper surface has through hole, the output shaft of reduction gear box (402) to be fixed with rotary head (404) after passing through the through hole；
And Bird's Nest is purged in accordance with the following steps, step is as follows：
(1) control unit calibration knob, is pressed, removing portion 6 and rotary head 404 is calibrated；
(2) the removing bar 602 of appropriate size, is selected, and corresponding balancing weight is installed；
(3), unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, by the remote control box of ground on-vehicle device, removing portion 6 is directed at into Bird's Nest；
(4) removing button, is pressed, control unit is outwards sprayed from gas cylinder portion 3 by solenoid valve control gases at high pressure from removing portion 6
Go out, remove Bird's Nest；
(5), control unit is detected by pneumatic sensor and sprays airstream data, and control unit controls micro- magnet valve 503 to open go-no-go,
By gas from reversely exclusion, the skyborne balance of unmanned plane is realized；
(6), for the difficult Bird's Nest removed, gas cylinder portion 3 is removed, by the lower end of rotation section 4, pneumatic group 406 leads to vehicle-mounted air pump
Hand-line reel connection is crossed, above-mentioned (3rd) step is skipped to, completes to remove.
2. a kind of power circuit Bird's Nest sweep-out method according to claim 1, it is characterised in that：
The support (2) totally two, is symmetrically fixed on unmanned plane body (1) bottom, and the support (2) is I-shaped, described
The bottom of support (2) is fixed with gas cylinder portion (3) in the inner part, and the gas cylinder portion (3) includes two gas cylinders, described
The outlet nozzle of gas cylinder is connected by flexible pipe with pneumatic group (406) of rotation section (4), and then peaceful with removing portion (6) respectively
Weighing apparatus portion (5) connects；
Rotary head (404) lower surface has a hemisphere groove (404a), the rolling of hemisphere groove (404a) and universal ball bearing (405)
Dynamic ball connection, rotary head (404) two ends are connected with cleaning section and balance portion (5) respectively, and the rotary head (404) is near flat
One end upper face center in weighing apparatus portion (5) has pointer (404b), and the rotary head (404) is fixed near the one end of removing portion (6)
Camera (4041), the camera (4041) is connected with control unit, and pneumatic group (406) include multiple-pass joint, magnetic valve
And pneumatic sensor, the magnetic valve is connected with control unit, the multiple-pass joint totally two, and one is with gas cylinder portion (3) even
Connect, and be connected with magnetic valve, be connected after another is connected with magnetic valve and with pneumatic sensor, finally respectively with removing portion (6)
Connected with balance portion (5), the pneumatic sensor is connected with control unit.
3. a kind of power circuit Bird's Nest sweep-out method according to claim 2, it is characterised in that：Removing portion (6) bag
Include removing connector (601), remove bar (602), bucket seat (603), outlet bucket (604), it is described removing connector (601) one end with
Rotary head (404) is fixed, and the other end be connected with bar (602) is removed, and removing bar (602) is fixed with the seat (603) that struggles against, it is described go out
Gas bucket (604) totally two, is fixed on bucket seat (603), and removing connector (601) includes female seat (601a), male seat
(601b) and spring (601c), the female seat (601a) is fixed with rotary head (404), and the work is fixed with bar (602) is removed,
There is cavity in described female seat (601a) one end, spring (601c) is provided with cavity, there is raised platform described male seat (601b) one end simultaneously
It is connected with spring (601c)；
Removing bar (602) is shaft-like, and hollow, it is insulating materials manufacture to remove bar (602), and two outlet buckets (604) pass through
Flexible pipe is connected with the magnetic valve of adapter.
4. a kind of power circuit Bird's Nest sweep-out method according to claim 1, it is characterised in that：Balance portion (5) bag
Include balancing pole (501), balancing weight, micro- magnet valve (503) and balance bucket (504), the balancing pole (501) and rotary head (404)
End is fixed, and described balancing pole (501) one end is provided with counterweight base (502), and the balancing weight is fixed in counterweight base (502),
Micro- magnet valve (503) is fixed with balancing pole (501), and balance bucket (504) is connected with micro- magnet valve (503), micro- magnet valve
(503) it is connected with pneumatic group (406) of rotary head (404), micro- magnet valve (503) is connected with control unit, the balancing weight bag
Include different specifications；
The control unit is connected with stepper motor, magnetic valve, pneumatic sensor, micro- magnet valve (503), camera (4041), described
Control unit includes figure transmission module, and institute's control unit also includes calibration knob；
The ground on-vehicle device includes air pump, hand-line reel and remote control box, and the remote control box includes display screen, communication module, control
Knob processed and removing button, the ground on-vehicle device are positioned over in-car, and the air pump is diesel oil, gasoline air pump, the remote control
Case includes display screen, communication module, control handle and removes button.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710162436.4A CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
| CN201711428107.6A CN108092179A (en) | 2017-03-18 | 2017-12-26 | A kind of power circuit Bird's Nest sweep-out method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710162436.4A CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106877238A true CN106877238A (en) | 2017-06-20 |
Family
ID=59172158
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710162436.4A Pending CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
| CN201711428107.6A Withdrawn CN108092179A (en) | 2017-03-18 | 2017-12-26 | A kind of power circuit Bird's Nest sweep-out method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711428107.6A Withdrawn CN108092179A (en) | 2017-03-18 | 2017-12-26 | A kind of power circuit Bird's Nest sweep-out method |
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| CN (2) | CN106877238A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107947022A (en) * | 2017-12-27 | 2018-04-20 | 董骁健 | Electrical power distribution electric line Bird's Nest removes UAV system |
| CN108033002A (en) * | 2017-12-27 | 2018-05-15 | 董骁健 | Electrical power distribution electric network Bird's Nest removes unmanned plane |
| CN109546571A (en) * | 2018-11-27 | 2019-03-29 | 国家电网有限公司 | It is a kind of for removing the pneumatic device of high-voltage line sundries |
| CN109713607A (en) * | 2018-11-27 | 2019-05-03 | 国家电网有限公司 | One kind being used for electrical device for eliminating impurities |
| US11192648B1 (en) | 2021-08-27 | 2021-12-07 | King Abdulaziz University | Air blowing drone and dust cleaning device for solar panels |
| CN114825166A (en) * | 2022-04-20 | 2022-07-29 | 温州市龙湾永强供电公司 | Wireless communication type multifunctional large-scale power transmission line maintenance device |
| CN115173300A (en) * | 2022-06-14 | 2022-10-11 | 沈阳农业大学 | Unmanned aerial vehicle is clear away to transmission line bird's nest |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654532A (en) * | 2019-10-03 | 2020-01-07 | 董杭民 | Parking frame for unmanned aerial vehicle based on atmospheric pressure is floated |
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| CN107947022A (en) * | 2017-12-27 | 2018-04-20 | 董骁健 | Electrical power distribution electric line Bird's Nest removes UAV system |
| CN108033002A (en) * | 2017-12-27 | 2018-05-15 | 董骁健 | Electrical power distribution electric network Bird's Nest removes unmanned plane |
| CN109546571A (en) * | 2018-11-27 | 2019-03-29 | 国家电网有限公司 | It is a kind of for removing the pneumatic device of high-voltage line sundries |
| CN109713607A (en) * | 2018-11-27 | 2019-05-03 | 国家电网有限公司 | One kind being used for electrical device for eliminating impurities |
| US11192648B1 (en) | 2021-08-27 | 2021-12-07 | King Abdulaziz University | Air blowing drone and dust cleaning device for solar panels |
| CN114825166A (en) * | 2022-04-20 | 2022-07-29 | 温州市龙湾永强供电公司 | Wireless communication type multifunctional large-scale power transmission line maintenance device |
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| CN115173300B (en) * | 2022-06-14 | 2023-07-04 | 沈阳农业大学 | Unmanned aerial vehicle is clear away to transmission line bird's nest |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108092179A (en) | 2018-05-29 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Nana Inventor before: An Jingde Inventor before: Sun Xiaopeng Inventor before: Yu Lin Inventor before: Wang Shaobo Inventor before: Cong Tao Inventor before: Ni Peng Inventor before: Sun Furong Inventor before: Zhao Yan Inventor before: Liu Bo |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170620 |