CN107147038B - A kind of absorption draught line restraint device certainly - Google Patents
A kind of absorption draught line restraint device certainly Download PDFInfo
- Publication number
- CN107147038B CN107147038B CN201710430981.7A CN201710430981A CN107147038B CN 107147038 B CN107147038 B CN 107147038B CN 201710430981 A CN201710430981 A CN 201710430981A CN 107147038 B CN107147038 B CN 107147038B
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- Prior art keywords
- hook
- link
- unmanned plane
- draught line
- micromotor
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- 238000010521 absorption reaction Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000001179 sorption measurement Methods 0.000 claims abstract description 23
- 230000007723 transport mechanism Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000005192 partition Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000009183 running Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000004873 anchoring Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
Abstract
The present invention gives a kind of from absorption draught line restraint device, including unmanned plane carrier, fixed casing, ejecting mechanism and at least one set of adsorbing mechanism, unmanned plane carrier includes control module and power supply, power supply connection corresponding with control module, unmanned plane carrier further includes task management module and visual detection system, task management module and control module, fixed casing is arranged below unmanned plane carrier, ejecting mechanism includes micromotor and transport mechanism, transport mechanism and micromotor are arranged in the fixed vertical plate in fixed casing, transport mechanism includes at least one hook, micromotor connection corresponding with control module, each group of adsorbing mechanism includes link and adsorption magnet, adsorption magnet is flexibly connected with link, link is articulated on hook.The present invention can preferably realize the placement work of draught line, realize that preliminary unwrapping wire full automation, prosthetic participate in, ensure the high efficiency and stability placed.
Description
Technical field
The present invention relates to a kind of from absorption draught line restraint device.
Background technology
During traditional transmission line construction, preliminary leading wire saws are the tasks of great a challenge and difficulty,
It is entirely to be completed by manual operation before unmanned plane places draught line, work has prodigious difficulty and danger.With nothing
The man-machine use that field is placed in draught line, realizes the automation of part operation, but enter slot and fixation still in draught line
It needs manually to participate in, and not up to higher automatization level.Method for paying off overhead transmission line by unmanned helicopter：It is leading
One sandbag of messenger fag end system carries traction rope using pilotless helicopter and takes off, when flight is to the tower position specified, using meeting
Wind putting mode, sandbag is abandon, and the traction rope that helicopter carries is freely dropped on line direction, then by manually putting traction rope
Enter into releasing pulley, and by traction rope slightly tension anchoring temporarily.It is above-mentioned that using unmanned plane guiding draught line, there are problems to have：
(1) it is loading capacity that a sandbag can increase unmanned plane by one section of traction rope, requiring the load-carrying of unmanned plane can be relatively high；(2)
There can be certain dependence to wind direction using putting mode windward, can be dropped significantly if it is the successful probability then launched against the wind
It is low；(3) by manually the traction rope of dispensing is put into slip vehicle, anchoring temporarily increases job costs by artificial intervention
Also reduce working efficiency simultaneously.
Invention content
In view of the above-mentioned problems, it is an object of the invention to provide a kind of better placement work for realizing draught line, realize preliminary
Unwrapping wire full automation, prosthetic participate in, and ensure the high efficiency and stability placed.
The technical scheme adopted by the invention to solve the technical problem is that：A kind of absorption draught line restraint device certainly, including
Unmanned plane carrier, the unmanned plane carrier include control module and power supply, and power supply connection corresponding with control module is special
Sign is that the unmanned plane carrier further includes task management module and visual detection system, and the visual detection system includes preposition
Camera, rear camera and vision processing module, the task management module and the control module and vision processing module
Corresponding connection, the front camera and rear camera are separately positioned on the rear and front end of the unmanned plane carrier, and preceding
Set the connection corresponding with the vision processing module of camera and rear camera；
The restraint device further includes fixed casing, ejecting mechanism and at least one set of adsorbing mechanism, the fixed casing setting
Between two supporting legs of the unmanned plane carrier, the ejecting mechanism includes micromotor and transport mechanism, the conveyer
Structure is arranged on the left side wall of the fixed vertical plate in the fixed casing, and the transport mechanism includes at least one hook, institute
Micromotor connection corresponding with the control module is stated, and micromotor is arranged on the right side wall of the fixed vertical plate；Often
Adsorbing mechanism described in one group includes link and adsorption magnet, and the adsorption magnet is flexibly connected with the link, and the link is hung
It is connected on the hook.
Preferably, it is connected by an active connection between the adsorption magnet and the link, the active connection
Including slip ring, T-type connecting pin and fixing bracket, the montant top of the T-type connecting pin is fixed on the slip ring lateral wall
On, the bottom holding of the T-type connecting pin is in the fixing bracket upper end, and fixing bracket can be around the T-type connecting pin certainly
By rotating, the slip ring is nested in the link, and the adsorption magnet is arranged on the fixing bracket.
Further, a sliding support plate is also set up in the fixed bottom of shell, is also set on the sliding support plate
A sliding slot opposite with the T-type connecting pin is set, the rear wall of the sliding support plate, the T are run through in one end of the sliding slot
The montant of type connecting pin is located in the sliding slot, and the adsorption magnet is located at below the sliding support plate, the sliding support
Plate is made of non-magnetic material.
Further, red mark color is coated on the outer surface of the adsorption magnet.
Further, a traction rope fixed ring is also set up in the front end of the sliding slot.
Preferably, the transport mechanism further includes drive pulley, driven pulley and the transmission skin with several partition boards
Band, the hook are arranged on the partition board, and the feed belt is nested on the drive pulley and driven pulley, institute
The output shaft for stating micromotor is connected with the drive pulley, when hook follows the feed belt to run to the active
When near belt pulley, with continuing to run with for feed belt, the link can automatically disengage the hook.
Preferably, the transport mechanism further includes drive sprocket, driven sprocket and transmission chain, and the hook is arranged in institute
It states on transmission chain, the transmission chain is nested on the drive sprocket and driven sprocket, the output shaft of the micromotor
It is connected with the drive sprocket, when hook follows the transmission chain to run near the driven sprocket, with transmission
Chain continues to run with, and the link can automatically disengage the hook.
Preferably, the micromotor is micro direct current brushless motor.
The beneficial effects of the invention are as follows：Preliminary unwrapping wire full automation can be achieved using the present invention, prosthetic is participated in, that is, protected
The high efficiency that card is placed improves the safety of operation again；The load-bearing of the fuselage of this programme is lighter, makes the flight of unmanned plane more
Stablize；During unwrapping wire, through the invention in visual detection system, can determine whether traction rope touches transmission line of electricity bar
Tower realizes the accuracy of positioning；After draught line touches electric power line pole tower, ejecting mechanism enables to adsorbing mechanism certainly
Dynamic to be detached from hook, the link of adsorbing mechanism is slipped to by traction rope on electric power line pole tower, and is fixed on by adsorption magnet
In the specified region of steel tower, to which completely instead of manual operation part in the prior art, which greatly improves tractions
The automatization level being fixed temporarily of restricting improves work efficiency to reduce operating cost.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Part preferred embodiment for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the distribution schematic diagram of ejecting mechanism and adsorbing mechanism in fixed casing；
Fig. 3 is the distribution side view of ejecting mechanism and adsorbing mechanism in fixed casing；
Fig. 4 is enlarged drawing at A in Fig. 2；
In figure：Casing, 211 fixed vertical plates, 22 micromotors, 231 hooks, 232 are fixed in 1 unmanned plane carrier, 11 supporting legs, 21
Feed belt, 233 drive pulleys, 24 sliding support plates, 241 sliding slots, 25 traction rope fixed rings, 31 links, 32 adsorption magnets,
331 slip rings, 332T types connecting pin, 333 fixing brackets.
Specific implementation mode
Below in conjunction with specific embodiment and attached drawing 1-4, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of preferred embodiment of the present invention, instead of all the embodiments.
Those skilled in the art can do similar deformation without violating the connotation of the present invention, therefore the present invention is not by described below
Specific embodiment limitation.
The present invention provides a kind of from absorption draught line restraint device (as shown in Figure 1), including unmanned plane carrier 1, this hair
Unmanned plane carrier 1 in bright is common unmanned plane in existing transmission line of electricity stringing, is the technical products of maturation in the market, therefore right
It being no longer described in detail in the basic structure composition of unmanned plane carrier 1, the unmanned plane carrier 1 includes control module and power supply,
Power supply connection corresponding with control module, the unmanned plane carrier 1 further include task management module and visual detection system,
The visual detection system includes front camera, rear camera and vision processing module, the task management module and institute
Control module and the corresponding connection of vision processing module are stated, the front camera and rear camera are separately positioned on the nothing
The rear and front end of man-machine carrier, and front camera and rear camera connection corresponding with the vision processing module, task
Management module is primarily used to the flight path of control unmanned plane carrier 1, and the setting of flight path is mainly staff's foundation
Draught line draws path to set, and setting method is existing mature technology, therefore in the present invention for the setting method in path
No longer it is described in detail.Vision processing module is primarily used to receive and process front camera and rear camera is collected
Video information, and result information will be sent to task management module after video information process.
As shown in Fig. 2, the restraint device further includes fixed casing 21, ejecting mechanism and at least one set of adsorbing mechanism, it is described
Fixed casing 21 is arranged between two supporting legs 11 of the unmanned plane carrier 1, and the ejecting mechanism includes 22 He of micromotor
Transport mechanism, the transport mechanism are arranged on the left side wall of the fixed vertical plate 211 in the fixed casing 21, the transmission
Mechanism includes at least one hook 231, the connection corresponding with the control module of the micromotor 22, and micromotor 22 is set
It sets on the right side wall of the fixed vertical plate 211；Absorption includes link 31 and adsorption magnet 32, the absorption magnetic described in each group
Iron 32 is flexibly connected with the link 31, and the link 31 is articulated on the hook 231, in this embodiment, absorption
The specific implementation mode being flexibly connected between magnet 32 and link 31 is：As shown in figure 4, the adsorption magnet 32 and the link
It is connected by an active connection between 31, the active connection includes slip ring 331, T-type connecting pin 332 and fixing bracket
333, the montant top of the T-type connecting pin 332 is fixed on 331 lateral wall of the slip ring, the T-type connecting pin 332
Bottom holding is in 333 upper end of the fixing bracket, and fixing bracket 333 can be freely rotated around the T-type connecting pin 332, institute
It states slip ring 331 to be nested in the link 31, the adsorption magnet 32 is arranged on the fixing bracket 333.
In this embodiment, two kinds of specific embodiments of transport mechanism are provided with, the first of transport mechanism is specific
Embodiment is：The transport mechanism includes drive pulley 233, driven pulley and the feed belt 232 with several partition boards,
The hook 231 is arranged on the partition board, and the feed belt 232 is nested in the drive pulley 233 and follower belt
On wheel, the output shaft of the micromotor 22 is connected with the drive pulley 233, when hook 231 follows the transmission skin
When band 232 is run near the drive pulley 233, with continuing to run with for feed belt 232, the meeting of the link 231 exists
The hook 231, the design peace of drive pulley 233, driven pulley and micromotor 22 are automatically disengaged under the action of gravity
Dress is existing mature technology, therefore is no longer described in detail；Specific embodiment is in the second of transport mechanism：The transport mechanism
Including drive sprocket, driven sprocket and transmission chain, the hook 231 is arranged on the transmission chain, specifically links up with 231
It may be provided on the carrier bar of transmission chain, the transmission chain is nested on the drive sprocket and driven sprocket, described miniature
The output shaft of motor 22 is connected with the drive sprocket, when hook 231 follows the transmission chain to run to the driven chain
When near wheel, with continuing to run with for transmission chain, the link 31 can automatically disengage the hook under gravity
231.In this embodiment, there are five hook 231, corresponding suctions for setting on feed belt 232 or transmission chain
Random structure is also equipped with five groups, and micromotor 22 selects micro direct current brushless motor, to reduce unmanned plane carrier 1 to the greatest extent
Loading capacity, here, preferentially select transport mechanism the first specific embodiment.
When transport mechanism is run, to ensure five groups of adsorbing mechanism even runnings under the drive of feed belt 232,
This, also sets up a sliding support plate 24 in 21 bottom of fixed casing, one and institute is also set up on the sliding support plate 24
The opposite sliding slot 241 of T-type connecting pin 332 is stated, the rear wall of the sliding support plate 24, institute are run through in one end of the sliding slot 241
The montant for stating T-type connecting pin 332 is located in the sliding slot 241, and sliding slot 241 can prevent adsorbing mechanism from flying in unmanned plane carrier 1
When double swerve, the adsorption magnet 32 is located at the lower section of the sliding support plate 24, and the sliding support plate 24 is by non magnetic material
Material is constituted.
Adsorption magnet 32 can be detected for the ease of visual detection system to be adsorbed on shaft tower, here, in absorption magnetic
The outer surface of iron 32 is coated with red expression color, so that rear camera can collect apparent acquisition image information.
The present invention in practical application, the head end of draught line pass through after five links 31 be fixed on 241 front end of sliding slot
Traction rope fixed ring 25 be connected.
The present invention realizes that the flow of constraint certainly of draught line is；The first, start unmanned plane carrier 1, unmanned plane carrier 1 is in task
Under the control of management module, flight specified region can be arrived automatically, after the flight of unmanned carrier machine 1 is to specified region, visual detection
Whether system detectio draught line has been overlapped on specified shaft tower, after detecting that draught line snaps on shaft tower, visual processes
Module sends information to task management module, after task management module receives information, sends instructions to control module, control
Module starts micromotor 22 after receiving instruction, and micromotor 22 starts, and drives driving belt 232 to rotate, in rotation process
After the time of one end, micromotor 22 stops operating, in 22 rotation process of micromotor, the link on one of hook 231
31 are detached from hook 231 under gravity, and link 31 then can be smooth at shaft tower along draught line, and adsorption magnet 32 passes through magnetic
Power can be fixed on shaft tower automatically, at this point, draught line is still nested in link 31, so as to complete draught line from moving constraint,
After visual detection system detects the adsorption magnet for being coated with red mark color on shaft tower, vision processing module sends information
To task management system, after task management system receives instruction, then controls unmanned plane carrier 1 and flies to next specified region,
Carry out working from moving constraint for draught line at next shaft tower.
In the present invention, "left", "right" is for facilitating the relative position for describing position relationship and using, therefore cannot make
It is interpreted as limiting of its scope for absolute position.
It is the known technology of those skilled in the art in addition to the technical characteristic described in specification.
The above combination attached drawing is described above in detail the preferred embodiment of the present invention and embodiment, but the present invention is not
The above-described embodiment and examples are confined to, for those skilled in the art, are not departing from structure of the present invention
Under the premise of think of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of from absorption draught line restraint device, including unmanned plane carrier, the unmanned plane carrier includes control module and electricity
Source, power supply connection corresponding with control module, characterized in that the unmanned plane carrier further includes task management module and regards
Feel detection system, the visual detection system includes front camera, rear camera and vision processing module, the task pipe
Module connection corresponding with the control module and vision processing module is managed, the front camera and rear camera are set respectively
It sets in the rear and front end of the unmanned plane carrier, and front camera and rear camera are corresponding with the vision processing module
Connection；
The restraint device further includes fixed casing, ejecting mechanism and at least one set of adsorbing mechanism, and the fixed casing is arranged in institute
Between two supporting legs for stating unmanned plane carrier, the ejecting mechanism includes micromotor and transport mechanism, and the transport mechanism is set
On the left side wall for setting the fixed vertical plate in the fixed casing, the transport mechanism includes at least one hook, described micro-
The connection corresponding with the control module of type motor, and micromotor is arranged on the right side wall of the fixed vertical plate；Each group
The adsorbing mechanism includes link and adsorption magnet, and the adsorption magnet is flexibly connected with the link, and the link is articulated in
On the hook；
It is connected by an active connection between the adsorption magnet and the link, the active connection includes slip ring, T
The montant top of type connecting pin and fixing bracket, the T-type connecting pin is fixed on the slip ring lateral wall, and the T-type connects
The bottom holding of outbound is in the fixing bracket upper end, and fixing bracket can be freely rotated around the T-type connecting pin, the cunning
Rotating ring is nested in the link, and the adsorption magnet is arranged on the fixing bracket；
A sliding support plate is also set up in the fixed bottom of shell, one and the T-type are also set up on the sliding support plate
The rear wall of the sliding support plate, the montant of the T-type connecting pin are run through in the opposite sliding slot of connecting pin, one end of the sliding slot
In the sliding slot, the adsorption magnet is located at below the sliding support plate, and the sliding support plate is by non-magnetic material
It constitutes.
2. according to claim 1 a kind of from absorption draught line restraint device, characterized in that in the outer of the adsorption magnet
Red mark color is coated on side surface.
3. according to claim 1 a kind of from absorption draught line restraint device, characterized in that the front end of the sliding slot also
One traction rope fixed ring is set.
4. according to claim 1 a kind of from absorption draught line restraint device, characterized in that the transport mechanism further includes
Drive pulley, driven pulley and the feed belt with several partition boards, the hook are arranged on the partition board, the biography
Belt is sent to be nested on the drive pulley and driven pulley, the output shaft of the micromotor and the drive pulley
It is connected, when hook follows the feed belt to run near the drive pulley, as feed belt is after reforwarding
Row, the link can automatically disengage the hook.
5. according to claim 1 a kind of from absorption draught line restraint device, characterized in that the transport mechanism further includes
Drive sprocket, driven sprocket and transmission chain, the hook are arranged on the transmission chain, and the transmission chain is nested in institute
Drive sprocket is stated on driven sprocket, the output shaft of the micromotor is connected with the drive sprocket, when hook follows institute
When stating transmission chain and running near the driven sprocket, with continuing to run with for transmission chain, the link can automatically disengage
The hook.
6. according to claim 1 a kind of from absorption draught line restraint device, characterized in that the micromotor is miniature
DC brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710430981.7A CN107147038B (en) | 2017-06-09 | 2017-06-09 | A kind of absorption draught line restraint device certainly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710430981.7A CN107147038B (en) | 2017-06-09 | 2017-06-09 | A kind of absorption draught line restraint device certainly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107147038A CN107147038A (en) | 2017-09-08 |
| CN107147038B true CN107147038B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710430981.7A Active CN107147038B (en) | 2017-06-09 | 2017-06-09 | A kind of absorption draught line restraint device certainly |
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| CN (1) | CN107147038B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108452451B (en) * | 2018-04-28 | 2023-07-14 | 国网河南省电力公司郑州供电公司 | Personal safety protection method and device for climbing of movable transmission line pole tower |
| CN110265923B (en) * | 2019-07-10 | 2024-02-09 | 国网冀北电力有限公司廊坊供电公司 | Arc-line-preventing clamp insulation shield mounting tool |
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| CN104158123A (en) * | 2014-09-05 | 2014-11-19 | 国家电网公司 | Overhead line phase sequence plate hot-line assembly and disassembly method and assembling device |
| CN104485606A (en) * | 2014-12-24 | 2015-04-01 | 国家电网公司 | Pulling rope release system of small multi-shaft unmanned aerial vehicle |
| CN204760879U (en) * | 2015-05-25 | 2015-11-11 | 国网辽宁省电力有限公司检修分公司 | Guide rope device is put in live working unmanned aerial vehicle exhibition |
| CN105490207A (en) * | 2015-12-18 | 2016-04-13 | 国家电网公司 | Grounding hanging ring installation tool for high-voltage insulation line |
| CN205407127U (en) * | 2016-05-30 | 2016-07-27 | 河北三丰航空科技发展有限公司 | High altitude draw off mechanism based on unmanned aerial vehicle |
| CN105914658A (en) * | 2016-05-19 | 2016-08-31 | 国网江苏省电力公司淮安供电公司 | UAV micro-tension leading rope pulling and paying-off method based on sag control |
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2017
- 2017-06-09 CN CN201710430981.7A patent/CN107147038B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007267484A (en) * | 2006-03-28 | 2007-10-11 | Chugoku Electric Power Co Inc:The | Method for extending pilot rope by unmanned helicopter |
| CN104158123A (en) * | 2014-09-05 | 2014-11-19 | 国家电网公司 | Overhead line phase sequence plate hot-line assembly and disassembly method and assembling device |
| CN104485606A (en) * | 2014-12-24 | 2015-04-01 | 国家电网公司 | Pulling rope release system of small multi-shaft unmanned aerial vehicle |
| CN204760879U (en) * | 2015-05-25 | 2015-11-11 | 国网辽宁省电力有限公司检修分公司 | Guide rope device is put in live working unmanned aerial vehicle exhibition |
| CN105490207A (en) * | 2015-12-18 | 2016-04-13 | 国家电网公司 | Grounding hanging ring installation tool for high-voltage insulation line |
| CN105914658A (en) * | 2016-05-19 | 2016-08-31 | 国网江苏省电力公司淮安供电公司 | UAV micro-tension leading rope pulling and paying-off method based on sag control |
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| CN107147038A (en) | 2017-09-08 |
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