CN112340017A - Overhead high-voltage line inspection unmanned aerial vehicle and unmanned aerial vehicle inspection method - Google Patents
Overhead high-voltage line inspection unmanned aerial vehicle and unmanned aerial vehicle inspection method Download PDFInfo
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- CN112340017A CN112340017A CN202011195783.5A CN202011195783A CN112340017A CN 112340017 A CN112340017 A CN 112340017A CN 202011195783 A CN202011195783 A CN 202011195783A CN 112340017 A CN112340017 A CN 112340017A
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- 238000007689 inspection Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 239000003381 stabilizer Substances 0.000 claims description 6
- 239000013013 elastic material Substances 0.000 claims description 4
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000725 suspension Substances 0.000 description 9
- 241000272165 Charadriidae Species 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
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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
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/10—Telescopic elements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Radar, Positioning & Navigation (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses an overhead high-voltage line inspection unmanned aerial vehicle and an unmanned aerial vehicle inspection method, which comprise a machine body, wherein four groups of flight assemblies are symmetrically arranged around the machine body, each group of flight assembly comprises a support, a flight motor and a paddle, one end of the support is fixedly connected with the middle position of the outer surface of the machine body, the other end of the support is fixedly connected with one side of the outer surface of the flight motor, the paddles are fixedly connected with an output shaft of the flight motor, four groups of support assemblies are symmetrically arranged at the edge of the lower surface of the machine body, each support assembly comprises a support leg, a spring, a support rod and a support leg, and the top end of each support leg is fixedly connected with the lower surface. According to the invention, the camera assembly is arranged, so that the first camera can rotate in all directions, inspection and observation are more comprehensive, the telescopic antenna can be unfolded through the telescopic mechanism, the anti-interference capability is improved, and small articles falling on the high-voltage wire can be processed through the clamping mechanism.
Description
Technical Field
The invention relates to the technical field of electric power facilities, in particular to an overhead high-voltage line inspection unmanned aerial vehicle and an unmanned aerial vehicle inspection method.
Background
An unmanned plane, called unmanned plane for short, is an unmanned plane operated by a radio remote control device and a self-contained program control device, and is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, mapping, news reporting, power inspection and the like at present, wherein the unmanned plane is increasingly used in the power inspection.
The existing high-voltage line inspection unmanned aerial vehicle has the following problems: through unmanned aerial vehicle to transmission high tension line work of patrolling and examining, receive the electric field interference of high-voltage line, unmanned aerial vehicle can't closely be close to the high-voltage line, and secondly, unmanned aerial vehicle can only shoot the high-voltage line, can't handle some simple problems, after shooing, needs artifical retreatment for it is low to patrol and examine work efficiency.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an overhead high-voltage line inspection unmanned aerial vehicle and an unmanned aerial vehicle inspection method.
In order to achieve the purpose, the invention adopts the following technical scheme: an overhead high-voltage line inspection unmanned aerial vehicle and an unmanned aerial vehicle inspection method comprise a machine body, wherein the overhead high-voltage line inspection unmanned aerial vehicle and the unmanned aerial vehicle inspection method comprise the machine body, four groups of flight assemblies are symmetrically arranged around the machine body, and each group of flight assemblies comprises a support, a flight motor and blades;
one end of the bracket is fixedly connected with the middle position of the outer surface of the aircraft body, the other end of the bracket is fixedly connected with one side of the outer surface of the flying motor, and the paddle is fixedly connected with an output shaft of the flying motor;
four groups of supporting assemblies are symmetrically arranged at the edge of the lower surface of the machine body, and each supporting assembly comprises a supporting leg, a spring, a supporting rod and a supporting leg;
the top of landing leg with the lower fixed surface of organism is connected, the one end slip nestification of branch is in the inner chamber of landing leg bottom, the other end of branch with stabilizer blade fixed connection, the spring slip cap is established the surface of branch, the both ends of spring respectively with the bottom of landing leg with the top fixed connection of stabilizer blade.
Preferably, a camera shooting assembly is nested on the outer wall of the machine body and comprises a first camera, a swing rod, a swing block, a swivel, a first gear, a first motor, a support plate and two steering engine mechanisms, wherein the two steering engine mechanisms respectively control horizontal swinging and vertical swinging of the first camera;
the rotating ring is nested in the inner wall sliding groove of the machine body in a sliding mode, the first camera penetrates through the side wall of the rotating ring and is in sliding connection with the rotating ring, one end of the oscillating rod is fixedly connected to one side of the outer surface of the first camera, the other end of the oscillating rod is fixedly connected to the outer surface of the oscillating block, the first motor is fixedly connected to one side of the top of the inner wall of the machine body, the first gear is fixedly connected with an output shaft of the first motor and is in meshed connection with a rack on the upper surface of the rotating ring, the support plate is located on one side of the oscillating block, and the support plate is fixedly connected with the inner wall of the rotating ring.
Preferably, the two steering engine mechanisms are identical in structure and are arranged approximately perpendicular to each other and are respectively located between the swing block and the support plate, and each steering engine mechanism comprises a sliding ball, a guide rod, a casing, a second motor and a second gear;
the sliding ball is nested in the inner cavity of the swinging block in a sliding mode, one end of the guide rod is fixedly connected with the outer surface of the sliding ball, the other end of the guide rod penetrates through the upper wall and the lower wall of the casing respectively, the guide rod is connected with the upper wall and the lower wall of the casing in a sliding mode, the outer surface of the casing is connected with the outer surface of the supporting plate in a rotating mode, the second motor is fixed to the inner wall of the casing, the second gear is fixedly connected with an output shaft of the second motor, and the second gear is connected with the rack on the outer surface of the guide rod in a meshing mode.
Preferably, the lower fixed surface of organism is connected with the fixed plate, just the fixed plate is located between two sets of landing legs, wall ditch inslot sliding connection has first jib and second jib respectively around the fixed plate, the preceding back wall lower surface intermediate position fixed connection of fixed plate has the third jib, just the third jib is located between first jib and the second jib.
Preferably, a telescopic mechanism is arranged below the fixed plate, and comprises two telescopic frames, a third motor, a screw rod, a plurality of first transverse connecting rods, a second transverse connecting rod and a telescopic antenna;
the telescopic frame comprises a plurality of first outer connecting rods, a plurality of first inner connecting rods, a second outer connecting rod and a second inner connecting rod;
it is a plurality of first outer connecting rod and a plurality of first inner connecting rod cross arrangement, just first outer connecting rod with first inner connecting rod both ends are rotated and are connected, first outer connecting rod with the mid portion of first inner connecting rod rotates and is connected, the one end of the outer connecting rod of second with the one end of first inner connecting rod rotates and is connected, the one end of second inner connecting rod with the one end of first outer connecting rod rotates and is connected, the other end of the outer connecting rod of second with the other end of second inner connecting rod rotates and is connected.
Preferably, the first transverse connecting rod is positioned between the two expansion brackets, two ends of the first transverse connecting rods are respectively and rotatably connected with the tail ends of the first inner connecting rods, the tail ends of the two second inner connecting rods are rotatably connected with two ends of the second transverse connecting rods, the third motor is positioned between the two telescopic frames and is fixedly connected with the outer surface of the first transverse connecting rod positioned in the middle of the telescopic frames, one end of the screw rod is fixedly connected with an output shaft of the third motor, the other end of the screw rod penetrates through the middle position of one first transverse connecting rod, the screw rod is in threaded connection with the first transverse connecting rod, one end of the telescopic antenna penetrates through the middle position of the second transverse connecting rod, the telescopic antenna is fixedly connected with the second transverse connecting rod, and the other end of the telescopic antenna is fixedly connected with the outer surface of the first transverse connecting rod which is located in the middle of the telescopic frame.
Preferably, a clamping mechanism is installed on one side, far away from the telescopic antenna, of the telescopic mechanism, and the clamping mechanism comprises a second camera, an upper clamp, a lower clamp, an upper fixing block, a lower fixing block, a hoop and a marking strip;
second camera fixed mounting be in go up upper surface one side of clamp, go up the one end of clamp with the terminal fixed connection of first internal connecting rod, it fixes to go up the fixed block go up the lower surface intermediate position of clamp, the one end of clamp down with the terminal fixed connection of first external connecting rod, the fixed block is fixed down the upper surface intermediate position of clamp down, run through respectively at the both ends of clamp go up the fixed block with lower fixed block, the clamp with go up the fixed block with lower fixed block sliding connection, the clamp passes through frictional force and fixes on the fixed block, the one end of mark strip with clamp fixed connection, flying motor's when unmanned aerial vehicle flies from the high-voltage line drive power can overcome frictional force to make the clamp break away from the fixed block and then the joint on the high-voltage line.
Preferably, the bottom ends of the two first suspension rods are fixedly connected with the two ends of the first transverse connecting rod respectively, the bottom ends of the two second suspension rods are fixedly connected with the two ends of the first transverse connecting rod respectively, the bottom ends of the two third suspension rods are fixedly connected with the two ends of the first transverse connecting rod in the middle of the telescopic frame respectively, the two steering engine mechanisms are arranged in a right angle mode on the vertical plane, and one end, close to the third motor, of the telescopic antenna is connected with the internal device of the machine body through a connecting wire.
Preferably, the first outer connecting rod, the first inner connecting rod, the first transverse connecting rod, the upper clamp, the lower clamp, the upper fixing block and the lower fixing block are made of insulating corrosion-resistant materials, and the hoop is made of elastic materials capable of rebounding.
The invention has the following beneficial effects:
1. this unmanned aerial vehicle is patrolled and examined to built on stilts high-voltage line, through the subassembly of making a video recording that sets up, it is rotatory that first motor in the subassembly of making a video recording drives the swivel, can make 360 all-round shootings of first camera, two steering wheel mechanisms can adjust the angle of pitch of first camera respectively and control the side view angle, steering wheel mechanism hides the effectual guard action that plays in the swivel, make only the camera expose the organism, can realize the all-round observation of first camera simultaneously, make the work of patrolling and examining more comprehensive.
2. This unmanned aerial vehicle is patrolled and examined to built on stilts high-voltage line, telescopic machanism through the setting, rotation through the third motor, it is rotatory to drive the lead screw, make the expansion bracket extend and drive telescopic antenna and expand, the expansion bracket hangs under the fixed plate through three jib, and the focus of expansion bracket is located the jib department of intermediate position, make unmanned aerial vehicle's after the expansion bracket expandes flight focus stable, be favorable to fixture's stable operation, simultaneously effectual unmanned aerial vehicle's signal interference killing feature that has improved, make unmanned aerial vehicle can be close to the high-voltage line, develop closely and patrol and examine work.
3. This unmanned aerial vehicle is patrolled and examined to built on stilts high-voltage line, through the fixture that sets up, can be rotatory through the third motor, it is rotatory to drive the lead screw for the expansion bracket extends or contracts, drives opening and shutting of going up clamp and clamp down, can be used for handling kite, the nest scheduling problem on convenient bag or the line tower on the high-voltage line that wafts.
4. This unmanned aerial vehicle is patrolled and examined to built on stilts high-voltage line, second camera through setting up on the fixture, go up the fixed block, lower fixed block, clamp and mark strip, when the second camera closely patrols and examines the high-voltage line and discover that the high-voltage cable appears disconnected silk phenomenon, unmanned aerial vehicle can't handle this moment, can only fix a position the mark, drive through telescopic machanism and go up clamp and clamp down and open, operation unmanned aerial vehicle flies to the high-voltage cable, make the high-voltage cable be in between clamp and the clamp down, the clamp supports the high-voltage cable simultaneously, continue to support nearly high-voltage cable, it drops to promote the clamp from last fixed block and the fixed block down to slide, clamp resilience chucking high-voltage cable in the twinkling of an eye simultaneously, unmanned aerial vehicle retreats and leaves, clamp and mark strip are stayed on the high-voltage cable.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an overall top view of the present invention;
FIG. 3 is an enlarged view of A of the present invention;
FIG. 4 is a cross-sectional view of the camera assembly of the present invention;
FIG. 5 is an enlarged view of B of the present invention;
FIG. 6 is a left side view of the steering engine mechanism of the present invention;
FIG. 7 is a perspective view of the telescoping and clamping mechanisms of the present invention;
FIG. 8 is a front view of the telescoping mechanism of the present invention;
fig. 9 is a cross-sectional view of the clamping mechanism of the present invention.
Illustration of the drawings: 1. a body; 2. a flight assembly; 21. a support; 22. a flying motor; 23. a paddle; 3. a support assembly; 31. a support leg; 32. a spring; 33. a strut; 34. a support leg; 4. a camera assembly; 41. a first camera; 42. a swing rod; 43. swinging a block; 44. rotating the ring; 45. a first gear; 46. a first motor; 47. a support plate; 48. a steering engine mechanism; 481. a sliding ball; 482. a guide bar; 483. a housing; 484. a second motor; 485. a second gear; 5. a fixing plate; 6. a first boom; 7. a second boom; 8. a third boom; 9. a telescoping mechanism; 91. a telescopic frame; 911. a first outer link; 912. a first inner link; 913. a second outer link; 914. a second inner link; 92. a third motor; 93. a screw rod; 94. a first transverse link; 95. a second transverse connecting rod; 96. a retractable antenna; 10. a clamping mechanism; 101. a second camera; 102. an upper clamp; 103. a lower clamp; 104. an upper fixed block; 105. a lower fixed block; 106. clamping a hoop; 107. a marker strip.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, 2 and 3, the present invention provides an embodiment: an overhead high-voltage line inspection unmanned aerial vehicle and an unmanned aerial vehicle inspection method comprise a machine body 1, four groups of flight assemblies 2 are symmetrically arranged on the periphery of the machine body 1, and each group of flight assemblies 2 comprises a support 21, a flight motor 22 and blades 23;
one end of the support 21 is fixedly connected with the middle position of the outer surface of the unmanned aerial vehicle body 1, the other end of the support 21 is fixedly connected with one side of the outer surface of the flying motor 22, and the paddle 23 is fixedly connected with an output shaft of the flying motor 22 and provides flying power for the unmanned aerial vehicle;
four groups of supporting components 3 are symmetrically arranged at the edge of the lower surface of the machine body 1, and each supporting component 3 comprises a supporting leg 31, a spring 32, a supporting rod 33 and a supporting leg 34;
landing leg 31's top and organism 1's lower surface fixed connection, the one end of branch 33 is slided and is nested in the inner chamber of landing leg 31 bottom, and branch 33's the other end and 34 fixed connection of stabilizer blade, spring 32 slip cover are established at branch 33's surface, and the both ends of spring 32 respectively with landing leg 31's bottom and 34 top fixed connection of stabilizer blade, descend for unmanned aerial vehicle to provide the support.
As shown in fig. 1, 2, 3 and 4, a camera assembly 4 is nested on an outer wall of the machine body 1, and the camera assembly 4 includes a first camera 41, a swing rod 42, a swing block 43, a swivel 44, a first gear 45, a first motor 46, a support plate 47 and two steering engine mechanisms 48;
swivel 44 slides and nests in the inner wall spout of organism 1, first camera 41 runs through the lateral wall of swivel 44, and first camera 41 and swivel 44 sliding connection, the one end fixed connection of pendulum rod 42 is in first camera 41's surface one side, the other end of pendulum rod 42 and the surface fixed connection of pendulum piece 43, first motor 46 fixed connection is in organism 1's inner wall top one side, first gear 45 and first motor 46's output shaft fixed connection, first gear 45 is connected with the rack toothing of swivel 44 upper surface, extension board 47 is located the one side of pendulum piece 43, extension board 47 and swivel 44 inner wall fixed connection, make first camera 41 can surround organism 1 all-round rotation.
As shown in fig. 4, 5 and 6, two steering gear mechanisms 48 are located between the swing block 43 and the support plate 47, and the steering gear mechanisms 48 include a sliding ball 481, a guide rod 482, a casing 483, a second motor 484 and a second gear 485;
the sliding ball 481 is slidably nested in the inner cavity of the swinging block 43, one end of the guide rod 482 is fixedly connected with the outer surface of the sliding ball 481, the other end of the guide rod 482 penetrates through the upper wall and the lower wall of the casing 483 respectively, the guide rod 482 is slidably connected with the upper wall and the lower wall of the casing 483, the outer surface of the casing 483 is rotatably connected with the outer surface of the support plate 47, the second motor 484 is fixed on the inner wall of the casing 483, the second gear 485 is fixedly connected with the output shaft of the second motor 484, the second gear 485 is meshed with the rack on the outer surface of the guide rod 482, and through the matching of the two steering engine mechanisms 48, the first camera 41 can be adjusted in angle up and down and left and right.
As shown in fig. 1 and 8, a fixing plate 5 is fixedly connected to the lower surface of the machine body 1, the fixing plate 5 is located between the two sets of legs 31, a first suspension rod 6 and a second suspension rod 7 are respectively slidably connected to the grooves of the front and rear walls of the fixing plate 5, a third suspension rod 8 is fixedly connected to the middle position of the lower surface of the front and rear walls of the fixing plate 5, and the third suspension rod 8 is located between the first suspension rod 6 and the second suspension rod 7 to provide stable support for the telescopic mechanism 9.
As shown in fig. 1, 7 and 8, a telescopic mechanism 9 is disposed below the fixing plate 5, and the telescopic mechanism 9 includes two telescopic frames 91, a third motor 92, a screw 93, a plurality of first transverse links 94, a second transverse link 95 and a telescopic antenna 96;
the telescopic bracket 91 includes a plurality of first outer links 911, a plurality of first inner links 912, a second outer link 913, and a second inner link 914;
the plurality of first outer connecting rods 911 and the plurality of first inner connecting rods 912 are arranged in a crossed manner, the first outer connecting rods 911 are rotatably connected with two ends of the first inner connecting rods 912, the first outer connecting rods 911 are rotatably connected with the middle part of the first inner connecting rods 912, one end of the second outer connecting rods 913 is rotatably connected with one end of the first inner connecting rods 912, one end of the second inner connecting rods 914 is rotatably connected with one end of the first outer connecting rods 911, the other end of the second outer connecting rods 913 is rotatably connected with the other end of the second inner connecting rods 914, and the telescopic frame 91 is formed by combining various parts and plays a telescopic role.
As shown in fig. 7, a first transverse connecting rod 94 is located between two telescopic frames 91, two ends of a plurality of first transverse connecting rods 94 are respectively rotatably connected with the ends of first inner connecting rods 912, the ends of two second inner connecting rods 914 are rotatably connected with two ends of second transverse connecting rods 95, a third motor 92 is located between the two telescopic frames 91, the third motor 92 is fixedly connected with the outer surface of the first transverse connecting rod 94 located in the middle of the telescopic frames 91, one end of a lead screw 93 is fixedly connected with an output shaft of the third motor 92, the other end of the lead screw 93 passes through the middle position of the first transverse connecting rod 94, the lead screw 93 is in threaded connection with the first transverse connecting rod 94, one end of a telescopic antenna 96 passes through the middle position of the second transverse connecting rod 95, the telescopic antenna 96 is fixedly connected with the second transverse connecting rod 95, the other end of the telescopic antenna 96 is fixedly connected with the outer surface of the first transverse connecting rod 94 located in the middle of the telescopic, the telescopic bracket 91 can be expanded or contracted by the action of the third motor 92, so as to drive the telescopic antenna 96 to be stretched.
As shown in fig. 1, 7, 8 and 9, a clamping mechanism 10 is mounted on a side of the telescopic mechanism 9 away from the telescopic antenna 96, and the clamping mechanism 10 includes a second camera 101, an upper clamp 102, a lower clamp 103, an upper fixing block 104, a lower fixing block 105, a hoop 106 and a marker strip 107;
the second camera 101 is fixedly installed on one side of the upper surface of the upper clamp 102, one end of the upper clamp 102 is fixedly connected with the tail end of the first inner connecting rod 912, the upper fixing block 104 is fixed at the middle position of the lower surface of the upper clamp 102, one end of the lower clamp 103 is fixedly connected with the tail end of the first outer connecting rod 911, the lower fixing block 105 is fixed at the middle position of the upper surface of the lower clamp 103, two ends of the hoop 106 penetrate through the upper fixing block 104 and the lower fixing block 105 respectively, the hoop 106 is slidably connected with the upper fixing block 104 and the lower fixing block 105, one end of the marking strip 107 is fixedly connected with the hoop 106, the clamping mechanism 10 can open the upper clamp 102 and the lower clamp 103 along with the expansion of the expansion mechanism 9, and can be.
As shown in fig. 1, 6 and 8, the bottom ends of the two first booms 6 are respectively fixedly connected with the two ends of the first transverse connecting rod 94, the bottom ends of the two second booms 7 are respectively fixedly connected with the two ends of the first transverse connecting rod 94, the bottom ends of the two third booms 8 are respectively fixedly connected with the two ends of the first transverse connecting rod 94 at the middle position of the telescopic frame 91, the two steering engine mechanisms 48 are arranged in a right angle with the vertical plane, one end of the telescopic antenna 96 close to the third motor 92 is connected with the internal device of the unmanned aerial vehicle body 1 through a connecting wire, so that the unmanned aerial vehicle can improve the anti-interference capability of signals through the telescopic antenna 96.
As shown in fig. 1, 7, 8 and 9, the first outer connecting rod 911, the first inner connecting rod 912, the first transverse connecting rod 94, the upper clamp 102, the lower clamp 103, the upper fixing block 104 and the lower fixing block 105 are made of insulating corrosion-resistant materials, the clamp 106 is made of elastic materials capable of rebounding, the high-voltage line current is prevented from damaging the unmanned aerial vehicle by the insulating materials, the clamp 106 can be sleeved on the high-voltage line by the elastic materials, the clamp is automatically clamped without falling off and moving, and the mark strip 107 fixed on the clamp 106 can help maintenance personnel to find the position needing maintenance more easily.
The working principle is as follows: when the aerial high-voltage line is used for inspecting the unmanned aerial vehicle, the unmanned aerial vehicle is started through a remote controller, the flying motor 22 drives the paddle 23 to rotate, the unmanned aerial vehicle is driven to the sky, the first camera 41 is started, the first motor 46 is started to drive the first gear 45 to rotate, the rotating ring 44 meshed and connected with the first gear 45 also rotates to drive the first camera 41 to rotate around the outer surface of the machine body 1, the camera can take pictures in all directions, then the steering gear mechanism 48 is adjusted respectively, the second motor 484 is started, the second motor 484 drives the guide rod 482 to stretch through the second gear 485, the guide rod 482 stretches to drive the swing block 43 to move, the swing rod 42 fixedly connected with the swing block 43 also moves along with the movement, and finally the swing rod 42 drives the first camera 41 to move up and down or left and right to achieve the purpose of adjusting the pitch angle of the first camera 41;
when the high-voltage cable needs to be approached to the high-voltage cable for operation, the third motor 92 is started, the third motor 92 drives the screw rod 93 to rotate, the first transverse connecting rod 94 in threaded connection with the screw rod 93 is pulled close to drive the expansion frame 91 to expand, the second transverse connecting rod 95 drives the telescopic antenna 96 to expand, signal interference of the high-voltage cable on the unmanned aerial vehicle is effectively prevented, the clamping mechanism 10 at the tail end of the expansion mechanism 9 can clamp an object, hung objects on the high-voltage cable are removed, and meanwhile, the expanded second camera 101 can be close to the high-voltage cable for inspection operation;
when the second camera 101 closely patrols and examines the high-voltage line and discover that the high-voltage cable appears disconnected silk phenomenon, unmanned aerial vehicle can't handle this moment, can only carry out the location mark, it opens with lower clamp 103 to drive upper clamp 102 through telescopic machanism 9, operation unmanned aerial vehicle flies to the high-voltage cable, make the high-voltage cable be in between upper clamp 102 and the lower clamp 103, clamp 106 supports the high-voltage cable simultaneously, continue to support nearly high-voltage cable, clamp 106 kick-backs the chucking high-voltage cable in the twinkling of an eye, unmanned aerial vehicle retreats and leaves, make clamp 106 overcome frictional force and slide and drop from last fixed block 104 and lower fixed block 105, clamp 106 and mark strip 107 stay on the high-voltage cable, the effect of mark is played, greatly reduced the artifical trouble point degree of difficulty of looking.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle is patrolled and examined to overhead high-voltage line, includes organism (1), its characterized in that: four groups of flight assemblies (2) are symmetrically arranged on the periphery of the machine body (1), and each group of flight assemblies (2) comprises a support (21), a flight motor (22) and blades (23);
one end of the support (21) is fixedly connected with the middle position of the outer surface of the machine body (1), the other end of the support (21) is fixedly connected with one side of the outer surface of the flying motor (22), and the paddle (23) is fixedly connected with an output shaft of the flying motor (22);
four groups of supporting assemblies (3) are symmetrically arranged at the edge of the lower surface of the machine body (1), and each supporting assembly (3) comprises a supporting leg (31), a spring (32), a supporting rod (33) and a supporting foot (34);
the top of landing leg (31) with the lower surface fixed connection of organism (1), the one end of branch (33) slides and nests in the inner chamber of landing leg (31) bottom, the other end of branch (33) with stabilizer blade (34) fixed connection, spring (32) slip cover is established the surface of branch (33), the both ends of spring (32) respectively with the bottom of landing leg (31) with the top fixed connection of stabilizer blade (34).
2. The overhead high-voltage line inspection unmanned aerial vehicle of claim 1, wherein: the camera shooting assembly (4) is nested on the outer wall of the machine body (1), the camera shooting assembly (4) comprises a first camera (41), a swing rod (42), a swing block (43), a rotating ring (44), a first gear (45), a first motor (46), a support plate (47) and two steering engine mechanisms (48), wherein the two steering engine mechanisms (48) respectively control horizontal swinging and vertical swinging of the first camera (41);
the rotating ring (44) is nested in a sliding groove on the inner wall of the machine body (1) in a sliding way, the first camera (41) penetrates through the side wall of the rotating ring (44), the first camera (41) is connected with the rotating ring (44) in a sliding way, one end of the swing rod (42) is fixedly connected with one side of the outer surface of the first camera (41), the other end of the swing rod (42) is fixedly connected with the outer surface of the swing block (43), the first motor (46) is fixedly connected with one side of the top of the inner wall of the machine body (1), the first gear (45) is fixedly connected with an output shaft of the first motor (46), the first gear (45) is meshed and connected with the rack on the upper surface of the rotating ring (44), the support plate (47) is positioned on one side of the swinging block (43), and the support plate (47) is fixedly connected with the inner wall of the rotating ring (44).
3. The overhead high-voltage line inspection unmanned aerial vehicle of claim 2, wherein: the two steering engine mechanisms (48) are identical in structure and are arranged approximately perpendicular to each other, and are respectively located between the swinging block (43) and the support plate (47), and each steering engine mechanism (48) comprises a sliding ball (481), a guide rod (482), a casing (483), a second motor (484) and a second gear (485);
the sliding ball (481) is slidably nested in an inner cavity of the swinging block (43), one end of the guide rod (482) is fixedly connected with the outer surface of the sliding ball (481), the other end of the guide rod (482) penetrates through the upper wall and the lower wall of the casing (483) respectively, the guide rod (482) is slidably connected with the upper wall and the lower wall of the casing (483), the outer surface of the casing (483) is rotatably connected with the outer surface of the support plate (47), the second motor (484) is fixed on the inner wall of the casing (483), the second gear (485) is fixedly connected with an output shaft of the second motor (484), and the second gear (485) is meshed with a rack on the outer surface of the guide rod (482).
4. The overhead high-voltage line inspection unmanned aerial vehicle of claim 3, wherein: the lower fixed surface of organism (1) is connected with fixed plate (5), just fixed plate (5) are located between two sets of landing legs (31), wall ditch inslot sliding connection respectively has first jib (6) and second jib (7) around fixed plate (5), wall lower surface intermediate position fixedly connected with third jib (8) around fixed plate (5), just third jib (8) are located between first jib (6) and second jib (7).
5. The overhead high-voltage line inspection unmanned aerial vehicle of claim 4, wherein: a telescopic mechanism (9) is arranged below the fixed plate (5), and the telescopic mechanism (9) comprises two telescopic frames (91), a third motor (92), a screw rod (93), a plurality of first transverse connecting rods (94), a second transverse connecting rod (95) and a telescopic antenna (96);
the telescopic bracket (91) comprises a plurality of first outer connecting rods (911), a plurality of first inner connecting rods (912), a second outer connecting rod (913) and a second inner connecting rod (914);
the plurality of first outer connecting rods (911) and the plurality of first inner connecting rods (912) are arranged in a crossed mode, the first outer connecting rods (911) are rotatably connected with two ends of the first inner connecting rods (912), the first outer connecting rods (911) are rotatably connected with the middle portions of the first inner connecting rods (912), one ends of the second outer connecting rods (913) are rotatably connected with one ends of the first inner connecting rods (912), one ends of the second inner connecting rods (914) are rotatably connected with one ends of the first outer connecting rods (911), and the other ends of the second outer connecting rods (913) are rotatably connected with the other ends of the second inner connecting rods (914).
6. The overhead high-voltage line inspection unmanned aerial vehicle of claim 5, wherein: the first transverse connecting rod (94) is positioned between two telescopic frames (91), two ends of the first transverse connecting rods (94) are respectively rotatably connected with the tail end of the first inner connecting rod (912), the tail ends of the second inner connecting rods (914) are rotatably connected with two ends of the second transverse connecting rod (95), the third motor (92) is positioned between the two telescopic frames (91), the third motor (92) is fixedly connected with the outer surface of the first transverse connecting rod (94) positioned in the middle of the telescopic frames (91), one end of the screw rod (93) is fixedly connected with an output shaft of the third motor (92), the other end of the screw rod (93) penetrates through the middle position of one first transverse connecting rod (94), the screw rod (93) is in threaded connection with the first transverse connecting rod (94), one end of the telescopic antenna (96) penetrates through the middle position of the second transverse connecting rod (95), the telescopic antenna (96) is fixedly connected with the second transverse connecting rod (95), and the other end of the telescopic antenna (96) is fixedly connected with the outer surface of the first transverse connecting rod (94) located in the middle of the telescopic frame (91).
7. The overhead high-voltage line inspection unmanned aerial vehicle of claim 6, wherein: a clamping mechanism (10) is installed on one side, away from the telescopic antenna (96), of the telescopic mechanism (9), and the clamping mechanism (10) comprises a second camera (101), an upper clamp (102), a lower clamp (103), an upper fixing block (104), a lower fixing block (105), a hoop (106) and a marking strip (107);
the second camera (101) is fixedly arranged on one side of the upper surface of the upper clamp (102), one end of the upper clamp (102) is fixedly connected with the tail end of the first inner connecting rod (912), the upper fixing block (104) is fixed at the middle position of the lower surface of the upper clamp (102), one end of the lower clamp (103) is fixedly connected with the tail end of the first outer connecting rod (911), the lower fixing block (105) is fixed at the middle position of the upper surface of the lower clamp (103), two ends of the clamp (106) respectively penetrate through the upper fixing block (104) and the lower fixing block (105), the clamp (106) is connected with the upper fixing block (104) and the lower fixing block (105) in a sliding way, the clamp (106) is fixed on the fixing block through friction force, and one end of the marking strip (107) is fixedly connected with the clamp (106).
8. The overhead high-voltage line inspection unmanned aerial vehicle of claim 7, wherein: the bottom ends of the two first hanging rods (6) are fixedly connected with the two ends of the first transverse connecting rod (94) respectively, the bottom ends of the two second hanging rods (7) are fixedly connected with the two ends of the first transverse connecting rod (94) respectively, the bottom ends of the two third hanging rods (8) are fixedly connected with the two ends of the first transverse connecting rod (94) in the middle of the telescopic frame (91) respectively, the two steering engine mechanisms (48) are arranged in a right angle mode on a vertical plane, and one end, close to the third motor (92), of the telescopic antenna (96) is connected with the internal device of the machine body (1) through a connecting line.
9. The overhead high-voltage line inspection unmanned aerial vehicle of claim 7, wherein: the first outer connecting rod (911), the first inner connecting rod (912), the first transverse connecting rod (94), the upper clamp (102), the lower clamp (103), the upper fixing block (104) and the lower fixing block (105) are made of insulating corrosion-resistant materials, and the clamp (106) is made of elastic materials capable of rebounding.
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| CN202011195783.5A CN112340017A (en) | 2020-10-31 | 2020-10-31 | Overhead high-voltage line inspection unmanned aerial vehicle and unmanned aerial vehicle inspection method |
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| CN202011195783.5A CN112340017A (en) | 2020-10-31 | 2020-10-31 | Overhead high-voltage line inspection unmanned aerial vehicle and unmanned aerial vehicle inspection method |
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| CN116946407A (en) * | 2023-09-21 | 2023-10-27 | 山东字节信息科技有限公司 | Unmanned aerial vehicle is surveyed to pipeline |
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