CN111579953A - Electric power overhauls zero value detection device for unmanned aerial vehicle - Google Patents
Electric power overhauls zero value detection device for unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1245—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- 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
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Abstract
The invention discloses a zero value detection device for an electric power overhaul unmanned aerial vehicle, which is arranged at the lower part of an unmanned aerial vehicle body, and an overhaul worker can operate the unmanned aerial vehicle and a multi-axis mechanical arm through a controller to carry out contact type high-voltage zero value detection operation. On the premise of ensuring normal power supply of the overhead power line and the working safety of the unmanned aerial vehicle, the unmanned aerial vehicle detection system is convenient for a maintainer to remotely control the unmanned aerial vehicle to approach and contact the high-voltage overhead power transmission line insulator and control the multi-shaft mechanical arm to complete live zero detection operation.
Description
Technical Field
The invention relates to a zero value detection device for an unmanned aerial vehicle for electric power overhaul, in particular to a device which can operate a mechanical arm to carry out contact type overhaul zero value detection under the working condition of approaching and contacting an insulator of an overhead transmission line by applying a high-voltage insulating material, an extremely-low delay transmission technology and a low distortion image technology, and belongs to the field of electric power inspection of unmanned aerial vehicles.
Background
In an electric power system, a high-voltage overhead transmission line is an aorta for regional electric power transmission, and high-voltage overhead line maintenance is a basic technical guarantee for guaranteeing safe operation of a high-voltage transmission network. The overhaul work of the high-voltage overhead transmission line is used for guaranteeing the safe, stable and efficient operation of a power grid, but transmission line equipment is exposed outdoors for a long time, after a conducting wire, a lightning conductor, an insulator and hardware are operated for a long time, due to the long-term action of various factors, abnormal conditions such as tower collapse, abrasion, strand breakage, corrosion, overheating and the like are easily caused, the insulator is also damaged by lightning, high-voltage discharge and insulation aging are caused by branches, and the power transmission line accidents and other unexpected risks are caused by the covering of foreign matters, and the power inspection department must find and handle the conditions in time.
Unmanned aerial vehicle overhauls the direction of advance of future overhead transmission line maintenance, and it can be used for carrying on a series of equipment such as optical camera, infrared thermal imaging, ultraviolet formation of image and laser radar and patrols and contact operation to overhead transmission line shaft tower. The operation mode that the tradition relied on artifical shaft tower to overhaul, and it is big to overhaul work consumption physical power, has the high altitude risk of falling, and a large amount of maintenance work need have a power failure to go on, electrified maintenance is dangerous big, threatens maintainer life safety, and complicated geographical environment leads to some operation modes can't develop simultaneously, and overall efficiency is also not high. Simultaneously, unmanned aerial vehicle overhauls the influence of electrified position when needing fully to consider unmanned aerial vehicle fuselage protection and contact operation to the aircraft, through a plurality of technical field such as comprehensive communication, automatic control, insulation technology, accomplishes supplementary manual work or replaces the manual work to carry out overhead transmission line and overhauls the operation.
Therefore, aiming at the pain points of less contact type power inspection equipment, lower inspection efficiency, poorer adaptability under severe conditions and the like, the invention provides an inspection zero-value detection device for the unmanned aerial vehicle, which can adapt to severe conditions.
The existing patent about introducing the unmanned aerial vehicle device is patrolled and examined to contact electric power, for example chinese patent document with publication number CN 208915446U- "an unmanned aerial vehicle organism that electric power overhead line disappears" has mainly introduced an unmanned aerial vehicle organism that adopts remote control to right, and the device can eliminate electric power transmission line defect fast accurately, ensures the safe and stable operation of circuit. But the device only has the function of removing foreign matters and does not have the capability of detecting the maintenance zero value. Meanwhile, the bottom plate, the upright post, the frame and the motor support of the device are all made of hollow carbon fiber plates, and the machine body is easy to be broken down under high voltage under the condition of not performing insulation treatment; chinese patent document No. CN 109941436A- "an unmanned aerial vehicle capable of live working to overhaul power line faults", through adopting multiple systems such as multi-point image acquisition, 3D visual multi-dimensional control, GPS and beidou positioning, accurate control of ground personnel on unmanned aerial vehicle flight and line fault elimination mechanical arms is realized, rapid inspection and accurate positioning are performed on power line equipment faults, but the device still does not have the function of overhaul zero-value detection. Meanwhile, a power supply device which is included in the system and can wirelessly charge by using an electromagnetic field around the power line may impact the circuit of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the existing contact type electric power maintenance unmanned aerial vehicle device, and designs a device which can adapt to severe conditions and can operate a mechanical arm to perform contact type zero value detection under the working condition of approaching and contacting an insulator of an overhead transmission line by adopting a high-voltage insulating material, an extremely-low delay transmission technology and a low-distortion image technology.
The device comprises a control module 1, an execution module 2, a graph transmission module 3 and a power supply module 4; the control module 1 comprises a FUTABA 16SZ 2.4G 18 remote controller and a FUTABA R7008SB receiver, wherein the remote controller and the receiver are used for controlling a plurality of servo steering engines on the multi-axis mechanical arm and the pan-tilt; the execution module 2 comprises a zero-value detector, a multi-axis mechanical arm and a holder, wherein the multi-axis mechanical arm and a servo steering engine on the holder establish a communication link with a remote controller through a receiver adopting a wireless communication mode; the image transmission module 3 comprises a computer display, a high-precision industrial camera, a CONNEX5.8G digital high-definition image transmission module and an HDMI (high-definition multimedia interface) line, wherein the ground end of the CONNEX5.8G digital high-definition image transmission module is connected with the computer display through the HDMI line and is mainly used for displaying the power supply condition of equipment and the current working environment, and the high-precision industrial camera is installed on the holder and establishes a communication link with the holder; the power supply module 4 comprises 2 2200mah25C 11.1V 3S model airplane lithium batteries, a UBEC 3A voltage reduction module, a UBEC 10A voltage reduction module and a DuPont line.
Install the epoxy insulation board at unmanned aerial vehicle organism lower extreme, mainly used bears zero value detecting system load and reduces unmanned aerial vehicle because of the static or the puncture risk that zero value detection device contact high-voltage environment probably produced in the course of the work.
A multi-shaft mechanical arm is arranged below the central position of the epoxy resin insulating plate, and a fixed base and a rotating base of the multi-shaft mechanical arm are both steel plates; the lower plate of the fixed base is loaded on the epoxy resin insulation plate through screws and nuts, and the center of the upper plate is hollowed for loading the rotary base; the upper plate and the lower plate of the fixed base are connected through a double-end screw; the lower plate of the fixed base is connected with the lower plate of the rotating base through a double-head screw, and a first gear is arranged in the middle of the double-head screw; a first steering engine is loaded on the left side of the first gear, a steering wheel of the steering engine and a second gear are fixed into a whole through screws and nuts, the steering wheel drives the second gear to rotate, the first gear is further driven to rotate, and finally, a rotating base is driven, so that the winding direction of the multi-axis mechanical arm can be changed; and the first steering engine is arranged on the lower plate of the fixed base through screws and nuts.
The upper plate and the lower plate of the rotating base are connected through a double-end screw, and the first shaft arm of the multi-shaft mechanical arm is fixed on the upper plate of the rotating base through screws and nuts; a steering engine is arranged between two sides of the side wall of the first shaft arm, and a steering wheel of the steering engine is fixed at the front end of the second shaft arm through screws and nuts; steering engines are arranged on two surfaces of the tail end of the second shaft arm, and a steering wheel of the steering engines is fixed at the front end of the third shaft arm through screws and nuts; steering engines are arranged on two surfaces of the tail end of the third shaft arm, a steering wheel of the steering engines is fixed on the fourth shaft arm through screws and nuts, and a support rod is arranged between the third shaft arms; a connecting boss matched with the inner diameter of the zero-value detector is reserved at the front end of the plane of the fourth shaft arm; the zero value detector is connected with a connecting boss matched with the zero value detector and fixed at the tail end of the multi-axis mechanical arm.
The first shaft arm of multiaxis arm is half "native" word structure, and the second shaft arm is two "Y" shape structures, and the third shaft arm is two "one" shape structures, and the fourth shaft arm is half "H" shape structure.
The cradle head is installed on the side edge of the multi-axis mechanical arm, the high-precision industrial camera is installed on the cradle head, and the high-pressure zero-value detection working condition of the multi-axis mechanical arm is displayed in real time.
The multiaxis arm is supplied power by 2200mah25C 11.1V 3S model aeroplane and model ship lithium cell and UBEC 10A step-down module alone, the cloud platform is supplied power by 2200mah25C 11.1V 3S model aeroplane and model ship lithium cell and UBEC 3A step-down module alone, the power module, the figure passes module 3 and includes CONNEX5.8G digit high definition figure transfer machine year end and the FUTABAR7008SB receiver that control module 1 includes all fix on the epoxy insulation board, do not have electrical contact with unmanned aerial vehicle, ensure aircraft safety.
Each shaft arm of the multi-shaft mechanical arm is made of an epoxy resin material which has a withstand voltage value of 10kV per millimeter and can ensure that the device works in a high-voltage environment.
The invention has the positive effects that: (1) the detection device designed by the invention has a simple structure, and is easy for maintainers to carry out system control; (2) when the device is used, the efficiency of electric power repair and zero value detection can be improved to a greater extent; (3) the device can meet the requirement of monitoring the overhaul state of the high-voltage transmission line in real time; (4) the device can ensure the safety of the unmanned aerial vehicle and the operators to be overhauled to a greater extent; (5) the device is perfect in the aspects of selection of insulating materials, selection and protection of equipment and the like, and has the characteristics of high precision, good adaptability under severe conditions and the like.
Drawings
FIG. 1 is a schematic configuration of the present invention;
FIG. 2 is a schematic diagram of the system architecture of the present invention;
figure 3 is a schematic view of the multi-axis robotic arm structure of the present invention.
The configuration in fig. 1 is labeled as follows:
the device comprises a control module 1, an execution module 2, a graph transmission module 3 and a power supply module 4.
The components in fig. 2 are labeled as follows:
epoxy insulating board 101, multiaxis arm 102, cloud platform 103.
The components in fig. 3 are labeled as follows:
the device comprises a lower plate 201 of a fixed base, a double-end screw 202 of the fixed base, a first gear 203, a second gear 204, a first steering engine 205, an upper plate 206 of the fixed base, a lower plate 207 of a rotating base, a double-end screw 208 of the rotating base, an upper plate 209 of the rotating base, a first shaft arm 2010, a second shaft arm 2011, a third shaft arm 2012, a fourth shaft arm 2013, a connecting boss 2014, a zero value detector 2015, a second steering engine 2016, a third steering engine 2017, a fourth steering engine 2018, a fifth steering engine 2019, a sixth steering engine 2020 and a supporting rod 2021.
Detailed Description
Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 1 shows a zero value detection device for an unmanned aerial vehicle for electric power overhaul, which comprises a control module 1, an execution module 2, a graph transmission module 3 and a power supply module 4.
The control module 1 comprises a FUTABA 16SZ 2.4G 18 remote controller and a FUTABA R7008SB receiver, and the module is mainly used for controlling a plurality of servo steering engines on a multi-axis mechanical arm and a pan-tilt head and ensuring that all components related to each other complete an overhaul zero value detection task. Particularly, the control module can not adopt the expansion channel of the unmanned aerial vehicle flight controller, and can not be accessed into the aircraft flight control module, and an unmanned aerial vehicle control system and an overhaul zero value detection control system are mutually independent, so that no electrical connection exists, and the safety of the aircraft is guaranteed.
The execution module 2 comprises a zero value detector, a multi-axis mechanical arm and a holder, wherein a communication link is established between the multi-axis mechanical arm and a servo steering engine on the holder and a remote controller through a receiver adopting a wireless communication mode. The controller drives the steering wheel on the multi-axis mechanical arm, and then drives each shaft arm of forming the multi-axis mechanical arm, controls the whole straightening, bending and rotating direction of the multi-axis mechanical arm, and realizes accurate contact type zero value detection of the insulator. The controller controls the cradle head steering engine, and then controls the observation direction of the camera to show the current working environment of the device in real time.
The image transmission module 3 comprises a computer display, a high-precision industrial camera, a CONNEX5.8G digital high-definition image transmission module and an HDMI (high-definition multimedia interface) line, the high-precision industrial camera is installed on the holder and establishes a communication link with the holder, and the ground end of the CONNEX5.8G digital high-definition image transmission module is connected with the computer display through the HDMI line and is mainly used for displaying the power supply condition of equipment and the current working environment.
The power supply module 4 comprises 2 2200mah25C 11.1V 3S model airplane lithium batteries, a UBEC 3A voltage reduction module, a UBEC 10A voltage reduction module and a DuPont line, and the modules mainly convey electric energy for a multi-axis mechanical arm and a holder system.
Fig. 2 is a schematic structural diagram of the system of the present invention, which mainly includes an epoxy insulating plate 101, a multi-axis robot arm 102, and a pan-tilt 103.
Epoxy insulating board 101 mainly used bears zero value detecting system load and reduces the unmanned aerial vehicle in the course of the work because of the static or the puncture risk that zero value detection device contact high voltage environment probably produced, the follow-up through-hole of punching out of its four corner regions is so that install in unmanned aerial vehicle organism bottom, CONNEX5.8G digit high definition map machine carries the end, FUTABA R7008SB receiver, 2200mah25C 11.1V 3S aeromodelling lithium cell, UBEC 3A step-down module and UBEC 10A step-down module are all fixed on the insulating board upper surface, multiaxis arm 102 is loaded to the central position of insulating board lower surface, cloud platform 103 is loaded to the side position.
Fig. 3 shows a structural schematic diagram of the multi-axis mechanical arm, which mainly includes a lower plate 201 of a fixed base, a double-headed screw 202 of the fixed base, a first gear 203, a second gear 204, a first steering gear 205, an upper plate 206 of the fixed base, a lower plate 207 of a rotating base, a double-headed screw 208 of the rotating base, an upper plate 209 of the rotating base, a first shaft arm 2010, a second shaft arm 2011, a third shaft arm 2012, a fourth shaft arm 2013, a connecting boss 2014, a zero-value detector 2015, a second steering gear 2016, a third steering gear 2017, a fourth steering gear 2018, a fifth steering gear 2019, a sixth steering gear 2020, and a support rod 2021.
The fixed base and the rotating base of the multi-axis mechanical arm are both steel plates; the lower plate 201 of the fixed base is loaded on the epoxy resin insulation plate through screws and nuts, and the center of the upper plate is hollowed for loading the rotary base; the upper plate 206 and the lower plate 201 of the fixed base are connected through a double-end screw 202 of the fixed base; the lower plate 201 of the fixed base is connected with the lower plate 207 of the rotating base through a double-head screw, and a first gear 203 is arranged in the middle of the double-head screw; a first steering engine 205 is arranged on the left side of the first gear 203, a steering wheel of the steering engine and the second gear 204 are fixed into a whole through screws and nuts, the steering wheel drives the second gear 204 to rotate, the first gear 203 is further driven to rotate, finally, the rotating base is driven, and the winding direction of the multi-axis mechanical arm is changed; first steering wheel 205 is settled on unable adjustment base's hypoplastron 201 through screw, nut.
The upper plate 209 and the lower plate 207 of the rotating base are connected through a double-headed screw 208 of the rotating base, and a first shaft arm 2010 of the multi-shaft mechanical arm is fixed on the upper plate 209 of the rotating base through screws and nuts; a steering engine (a second steering engine 2016) is arranged between two sides of the side wall of the first shaft arm 2010, and a steering wheel of the first shaft arm is fixed to the front end of the second shaft arm 2011 through screws and nuts; steering engines (a third steering engine 2017 and a fourth steering engine 2018) are mounted on two surfaces of the tail end of the second shaft arm 2011, and a steering wheel of the second shaft arm is fixed to the front end of a third shaft arm 2012 through screws and nuts; steering engines (a fifth steering engine 2019 and a sixth steering engine 2020) are mounted on two surfaces of the tail end of the third shaft arm 2012, a steering wheel of the steering engine is fixed on the fourth shaft arm 2013 through screws and nuts, and a support rod 2021 is mounted between the third shaft arms 2012; a connecting boss 2014 matched with the inner diameter of a zero-value detector 2015 is reserved at the front end of the plane of the fourth shaft arm 2013; the zero value detector 2015 is connected with a connecting boss 2014 matched with the zero value detector 2015 and is fixed at the tail end of the multi-axis mechanical arm.
A first shaft arm 2010 of the multi-shaft mechanical arm is of a half-soil-shaped structure, a second shaft arm 2011 is of a double-Y-shaped structure, a third shaft arm 2012 is of a double-I-shaped structure, and a fourth shaft arm 2013 is of a half-H-shaped structure.
Connecting pieces at the joints of all the components of the device can adopt screws and nuts made of insulating materials, driving circuits of all the steering engines are tightly attached to all the shaft arms, the steering engines can be arranged in an insulating protection box, electromagnetic impact possibly brought by an external high-voltage environment is further isolated, and the risk of circuit breakdown in the steering engines is reduced; each shaft arm of the multi-shaft mechanical arm is made of an epoxy resin material which has a withstand voltage value of 10kV per millimeter and can ensure that the device works in a high-voltage environment.
In the zero-value detection operation process, a flying hand controls the unmanned aerial vehicle to approach to an insulator of a high-voltage transmission line through a flying controller, and an operating hand controls each steering engine to operate through a controller of the device, so that a mechanical arm drives a zero-value detector to touch the insulator; the operator can evaluate the state of the high-voltage line according to the flickering condition of the LED lamp in the zero-value detector, so that the zero-value detection function of the device and the real-time observation of the cloud platform on the device are realized, and the high-voltage zero-value detection and maintenance operation is completed.
While one embodiment of the present invention has been described in detail, and not by way of limitation, those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention to obtain equivalent technical solutions, such as increasing or decreasing the number of arms of a multi-axis robot arm to improve the system stability, and therefore all equivalent technical solutions should be included in the scope of the present invention.
Claims (8)
1. A zero value detection device for an unmanned aerial vehicle for electric power overhaul is characterized by comprising a control module (1), an execution module (2), a graph transmission module (3) and a power supply module (4); the control module (1) comprises a FUTABA 16SZ 2.4G 18 remote controller and a FUTABA R7008SB receiver, wherein the remote controller and the receiver are used for controlling the multi-axis mechanical arm and a plurality of servo steering engines on the pan-tilt; the execution module (2) comprises a zero-value detector, a multi-axis mechanical arm and a holder, wherein a communication link is established between the multi-axis mechanical arm and a servo steering engine on the holder and a remote controller through a receiver adopting a wireless communication mode; the drawing transmission module (3) comprises a computer display, a high-precision industrial camera, a CONNEX5.8G digital high-definition drawing transmission module and an HDMI (high-definition multimedia interface) wire, the ground end of the CONNEX5.8G digital high-definition drawing transmission module is connected with the computer display through the HDMI wire and is mainly used for displaying the power supply condition of equipment and the current working environment, and the high-precision industrial camera is installed on the holder and establishes a communication link with the holder; the power supply module (4) comprises 2 2200mah25C 11.1V 3S model airplane lithium batteries, a UBEC 3A voltage reduction module, a UBEC 10A voltage reduction module and a DuPont line.
2. The zero-value detection device for the unmanned aerial vehicle for electric power overhaul as claimed in claim 1, wherein an epoxy resin insulation board is installed at the lower end of the unmanned aerial vehicle body.
3. The zero-value detection device for the unmanned aerial vehicle for electric power overhaul as claimed in claim 2, wherein a multi-axis mechanical arm is mounted below the center position of the epoxy resin insulation plate, and a fixed base and a rotating base of the multi-axis mechanical arm are both steel plates; the lower plate of the fixed base is loaded on the epoxy resin insulation plate through screws and nuts, and the center of the upper plate is hollowed for loading the rotary base; the upper plate and the lower plate of the fixed base are connected through a double-end screw; the lower plate of the fixed base is connected with the lower plate of the rotating base through a double-head screw, and a first gear is arranged in the middle of the double-head screw; a first steering engine is loaded on the left side of the first gear, a steering wheel of the steering engine and a second gear are fixed into a whole through screws and nuts, the steering wheel drives the second gear to rotate, the first gear is further driven to rotate, and finally the rotating base is driven to change the winding direction of the multi-shaft mechanical arm; and the first steering engine is arranged on the lower plate of the fixed base through screws and nuts.
4. The zero-value detection device for the unmanned aerial vehicle for electric power overhaul as claimed in claim 3, wherein the upper and lower plates of the rotating base are connected by a double-headed screw, and the first shaft arm of the multi-shaft mechanical arm is fixed to the upper plate of the rotating base by a screw and a nut; a steering engine is arranged between two sides of the side wall of the first shaft arm, and a steering wheel of the steering engine is fixed at the front end of the second shaft arm through screws and nuts; steering engines are arranged on two surfaces of the tail end of the second shaft arm, and a steering wheel of the steering engines is fixed at the front end of the third shaft arm through screws and nuts; steering engines are arranged on two surfaces of the tail end of the third shaft arm, a steering wheel of the steering engines is fixed on the fourth shaft arm through screws and nuts, and a support rod is arranged between the third shaft arms; a connecting boss matched with the inner diameter of the zero-value detector is reserved at the front end of the plane of the fourth shaft arm; the zero value detector is connected with a connecting boss matched with the zero value detector and fixed at the tail end of the multi-axis mechanical arm.
5. The zero-value detection device for the electric power overhaul unmanned aerial vehicle as claimed in claim 3, wherein a first shaft arm of the multi-shaft mechanical arm is of a half-soil structure, a second shaft arm is of a double-Y-shaped structure, a third shaft arm is of a double-one structure, and a fourth shaft arm is of a half-H-shaped structure.
6. The zero-value detection device for the unmanned aerial vehicle for electric power overhaul as claimed in claim 1, wherein a holder is mounted on the side of the multi-axis mechanical arm, and a high-precision industrial camera is mounted on the holder.
7. The zero-value detection device for the unmanned aerial vehicle for electric power overhaul as claimed in claim 1, wherein the multiaxial robot arm is independently powered by 2200mah25C 11.1V 3S lithium battery for model airplane and UBEC 10A voltage reduction module, the pan head is independently powered by 2200mah25C 11.1.1V 3S lithium battery for model airplane and UBEC 3A voltage reduction module, and the power supply module (4), the digital high-definition map transmission onboard end of the map transmission module (3) and the FUTABA R7008SB receiver of the control module (1) are all fixed on the epoxy insulating plate.
8. The zero-value detection device for the electric power overhaul unmanned aerial vehicle as claimed in claim 1, wherein each shaft arm of the multi-shaft mechanical arm is made of epoxy resin.
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