CN114447865A - Unmanned aerial vehicle and method for deicing in high-voltage lines - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle capable of deicing on a high-voltage line and a method, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and arms arranged on the periphery of the unmanned aerial vehicle body, an engine is arranged at the tail end of each arm, blades for providing lifting force are arranged at the output end of the engine, an annular protective ring is arranged on the outer side of each blade, the protective ring is fixedly connected with the outer side of the engine through a connecting rod, a suspender is arranged at the lower end of each arm, the suspender is connected with an arc-shaped supporting plate in an arch structure, a buffer seat for contacting with the ground is arranged at the lower end of each arc-shaped supporting plate, and a camera for acquiring image information is arranged at the end part of each buffer seat. The practicability is strong.

Description

Unmanned aerial vehicle and method for deicing in high-voltage lines

technical field

The invention relates to the technical field of high-voltage line maintenance, in particular to an unmanned aerial vehicle and a method for deicing high-voltage lines.

Background technique

The existing UAV inspection method is used in the maintenance of high-voltage lines. This method is flexible, less affected by terrain, low inspection risk, and low cost. Analysis of the real-time images returned by the UAV can find the deviation of wire clips, foreign objects in towers, etc. Defects such as breakage of insulators can even be found through image recognition technology, manual inspection methods and other methods that are difficult to find in manual inspections. Therefore, the research on UAV inspection technology has strong application value.

UAVs use lidar when conducting inspections. A variety of sensor obstacle avoidance technologies such as microwave radar and three-dimensional maps provide a reliable hardware foundation for power grid inspection. High-voltage line inspections are prone to occur in low temperature weather, and high-voltage lines are easily covered by ice, which makes the line under pressure. , the existing deicing method adopts fire deicing. This method has good effect, but it needs constant replenishment of fuel, and this kind of injection is not conducive to environmental protection. Drones and methods.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an unmanned aerial vehicle and a method for deicing high-voltage lines, so as to solve the problems raised in the above-mentioned background art.

To achieve the above object, the present invention provides the following technical solutions:

An unmanned aerial vehicle capable of deicing high-voltage lines, comprising an unmanned aerial vehicle body and arms arranged around the unmanned aerial vehicle body, an engine is installed at the end of each arm, and an output end of the engine is provided with a The blade that provides lifting force is provided with a ring-shaped protective ring on the outer side of the blade. The protective ring is connected and fixed with the outer side of the engine through a connecting rod. The lower end of the arm is provided with a hanger rod, and the hanger rod is connected in an arc shape of an arch structure. A support plate, the lower end of the arc-shaped support plate is provided with a buffer seat for contacting the ground, the end of the buffer seat is provided with a camera for acquiring image information, and the camera is electrically connected to the control panel arranged on the drone body, The control panel is provided with a wireless module for wireless interaction with the control terminal and a battery for power supply, the arc-shaped support plate is provided with a deicing assembly for deicing the high-voltage line, and the middle of the lower end of the arc-shaped support plate is provided. The position is provided with a sliding member for sliding contact with the end face of the high-voltage line.

As a further solution of the present invention: the de-icing assembly includes guide chutes symmetrically arranged on the arc-shaped support plate, each guide chute is slidably fitted with an ice-breaker, and the lower end of the ice-breaker is provided with a high-voltage line for impacting An ice-breaking board for ice cubes, the impact surface of the ice-breaking board is distributed with ice-breaking teeth, the ice-breaking rack is provided with a distance adjustment member for adjusting the distance between two ice-breaking boards to match high-voltage wires of different diameters, and the outer side of the upper end of the ice-breaking rack It is connected with the ice breaking rack through an elastic member. A horizontally arranged transmission rod is arranged on the outer side of the upper end of the ice breaking rack. The outer end of the transmission rod rotates and is provided with a pressing wheel, and the pressing wheel corresponds to the crushing driving member. ;

The crushing drive member includes a horizontal plate horizontally arranged on the outside of the boom, a vertical shaft is arranged on the horizontal plate for rotation, a transmission blade is arranged at the upper end of the vertical shaft, and an eccentric pressing member is arranged at the lower end of the vertical shaft , the lower end of the drone body is also provided with a spacer for isolating the rotation of the transmission blade.

As a further solution of the present invention: the spacer includes a double-headed cylinder arranged at the lower end of the drone body, two output ends of the double-headed cylinder are respectively provided with a drawbar, and each end of the drawbar is provided with A shroud above the drive vanes, the shroud is an arc guide structure.

As a further solution of the present invention, the eccentric pressing member includes a rotating rod, at least one end of the rotating rod is slidably sleeved with a counterweight sleeve, and a return spring for connecting the rotation rod is arranged inside the counterweight sleeve.

As a further solution of the present invention: the elastic member includes a guide rod connected to the boom and a guide sleeve slidably sleeved with the guide rod, the guide sleeve is connected and fixed with the ice breaking rack, and the guide sleeve is provided with a guide sleeve for connecting and guiding rod spring.

As a further solution of the present invention, the distance adjusting member includes an adjusting push rod installed on the outside of the ice breaking rack, and an output end of the adjusting push rod is provided with an installation area for installing the ice breaking plate.

As a further solution of the present invention: the transmission rod is slidably connected with the horizontal perforation on the hanger rod.

As a further solution of the present invention: the sliding member includes a plurality of spherical cavities arranged at the lower end of the arc-shaped support plate, and several sliding surfaces are rotated in the spherical cavities, and the plurality of sliding surfaces constitute sliding surfaces in contact with the high-voltage line.

Compared with the prior art, the beneficial effects of the present invention are: the present invention is designed according to the existing needs, which facilitates the inspection work of the unmanned aerial vehicle on the high-voltage line, and a corresponding ice-breaking structure is provided according to the needs, which can effectively perform ice-breaking, And the support force obtained by the high-voltage line improves its battery life and has strong practicability.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the internal structure of the present invention.

FIG. 3 is a schematic structural diagram of a crushing driving member in the present invention.

Fig. 4 is a three-dimensional schematic diagram of the crushing driving member in the present invention.

Among them: the drone body 11, the arm 12, the blades 13, the engine 14, the shroud 15, the transmission blade 16, the rotating rod 17, the pressing wheel 18, the transmission rod 19, the ice breaking frame 20, the ice breaking plate 21, the ice breaking tooth 22. Sliding surface 23, guide chute 24, adjusting push rod 25, camera 26, buffer seat 27, arc support plate 28, elastic member 29, boom 30, double-headed cylinder 32, counterweight sleeve 33, return spring 34 .

Detailed ways

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. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Please refer to FIG. 1-FIG. 4. In an embodiment of the present invention, an unmanned aerial vehicle device for maintenance and monitoring of high-voltage lines includes an unmanned aerial vehicle body 11 and arms 12 arranged around the unmanned aerial vehicle body 11. Each arm An engine 14 is installed at the end of the 12, the output end of the engine 14 is provided with a blade 13 for providing a lifting force, an annular protective ring is provided on the outer side of the blade 13, and the protective ring is connected and fixed with the outer side of the engine 14 through a connecting rod, The lower end of the arm 12 is provided with a boom 30, the boom 30 is connected to an arc-shaped support plate 28 in an arched structure, and the lower end of the arc-shaped support plate 28 is provided with a buffer seat 27 for contacting the ground. The end of the buffer seat 27 is provided with a camera 26 for acquiring image information. The camera 26 is electrically connected to a control panel arranged on the drone body 11, and the control panel is provided with a wireless module for wireless interaction with the control terminal and a A storage battery for power supply, the arc-shaped support plate 28 is provided with a deicing assembly for deicing the high-voltage line, and the middle position of the lower end of the arc-shaped support plate 28 is provided with a sliding member for sliding contact with the end surface of the high-voltage line. The parts are in contact with the high-voltage line, thereby reducing the energy required for flight and effectively improving the endurance of the UAV;

The deicing assembly includes guide chutes 24 symmetrically arranged on the arc-shaped support plate 28, and each guide chutes 24 is slidably fitted with an ice breaking rack 20, and the lower end of the ice breaking rack 20 is provided with ice cubes for striking the high-voltage line. The ice-breaking plate 21 is provided with ice-breaking teeth 22 on the impact surface of the ice-breaking plate 21. The ice-breaking rack 20 is provided with a distance adjustment member for adjusting the distance between the two ice-breaking plates 21 to match high-voltage wires of different diameters. The outer side of the upper end of the rack 20 and the ice breaking rack 20 are connected by an elastic member 29. A horizontally arranged transmission rod 19 is provided on the outer side of the upper end of the ice breaking rack 20. The abutting wheel 18 corresponds to the crushing driving member, and the crushing driving member intermittently generates a driving force on the abutting wheel 18, so that the transmission rod 19 drives the ice breaking rack 20 to move, and the ice breaking frame 20 drives the two ice breaking plates 21 to squeeze each other , so as to complete the crushing treatment of the ice layer on the high-voltage line;

The crushing drive member includes a horizontal plate horizontally arranged on the outside of the boom 30, a vertical shaft is provided on the horizontal plate for rotation, the upper end of the vertical shaft is provided with a transmission blade 16, and the lower end of the vertical shaft is provided with an eccentric abutment. Pressing piece, the lower end of the drone body 11 is also provided with a spacer for isolating the rotation of the transmission blade 16, under the action of the spacer, the airflow resistance generated by the blade 13 is reduced to avoid damage to the lifting force;

The spacer includes a double-headed cylinder 32 disposed at the lower end of the drone body 11, two output ends of the double-headed cylinder 32 are respectively provided with a drawbar, and each end of the drawbar is provided with a drive blade located at the end. The shroud 15 above the 16, the shroud 15 is an arc guide structure, which reduces the wind resistance, so that the position of the shroud 15 can be adjusted by the double-headed air cylinder 32, and the shroud 15 can be transferred to the transmission without ice breaking. Above the blade 16, the transmission blade 16 does not work at this time. When ice breaking is required, the shroud 15 is withdrawn from the upper part of the transmission blade 16. Under the action of the airflow generated by the blade 13, the transmission blade 16 rotates rapidly, thereby providing power for ice breaking;

Although part of the lifting force generated in this application is lost, the application has obtained the support force of the high-voltage line, so there is no need to worry about the problem of large energy loss, and the transmission method here in this application does not need to add an additional power source, which further simplifies the equipment , reducing the crushing cost;

The eccentric pressing member includes a rotating rod 17, at least one end of the rotating rod 17 is slidably sleeved with a counterweight sleeve 33, and a return spring 34 for connecting the rotating rod 17 is provided inside the counterweight sleeve 33. When the blade 16 initially rotates, due to the insufficient rotational speed of the rotating rod 17 and insufficient centrifugal force, under the traction of the return spring 34, the counterweight sleeve 33 cannot generate a pushing force on the abutting wheel 18. , the return spring 34 will intermittently generate impact force on the abutment wheel 18, so that the power transmission can be realized. Here, since the transmission blade 16 is driven by the airflow, the initial kinetic energy is low. If it directly contacts the abutment wheel 18, it is very difficult to It is easy to cause the problem of jamming. The application adopts a telescopic method here to facilitate the time for the speed increase of the rotating rod 17. On the other hand, the inertia of the rotating rod 17 is also increased, which makes its impact force stronger and avoids jamming. The problem;

The elastic member 29 includes a guide rod connected with the hanger rod 30 and a guide sleeve slidably sleeved with the guide rod, the guide sleeve is connected and fixed with the ice breaking rack 20, and a spring for connecting the guide rod is arranged inside the guide sleeve, In this way, the ice breaking rack 20 can be guided to slide back and forth along the guide chute 24;

The distance adjusting member includes an adjusting push rod 25 installed on the outside of the ice breaking rack 20, and the output end of the adjusting push rod 25 is provided with an installation area for the installation of the ice breaking plate 21, so that the breaking gap can be adjusted by adjusting the push rod 25. ;

The sliding member includes a number of spherical cavities arranged at the lower end of the arc-shaped support plate 28, and a number of sliding surfaces 23 are rotated in the spherical cavity. The sliding surface can be controlled to be in contact with the high-voltage line, thereby sharing the weight of the drone itself, and the engine only needs to provide a balance force.

The working principle of the invention is as follows: in actual use, the high-voltage line is inspected by remote control drones, and the use of laser radar, microwave radar and other sensor obstacle avoidance technologies and three-dimensional maps provide a reliable hardware basis for power grid inspection. , when breaking ice on the high-voltage line, first lift the drone above the high-voltage line, detect the position of the high-voltage line through the camera 26, and then make the sliding surface 23 at the lower end of the arc-shaped support plate 28 contact the high-voltage line, and the drone obtains the corresponding At this time, the load on the engine is sharply reduced, and then the shroud 15 is removed through the double-headed cylinder 32. Under the action of the airflow generated by the blade 13, the transmission blade 16 will start to rotate. When the transmission blade 16 initially rotates, due to The rotation speed of the rotating rod 17 is insufficient and the centrifugal force is insufficient. Under the traction of the return spring 34, the counterweight sleeve 33 cannot generate a pushing force on the pressing wheel 18. When the rotating speed of the rotating rod 17 reaches the set value, the return spring 34 will intermittently An impact force is generated on the pressing wheel 18, the pressing wheel 18 drives the transmission rod 19 and the ice breaking frame 20 to move, and the ice breaking frame 20 drives the two ice breaking plates 21 to squeeze each other, thereby completing the crushing treatment of the ice layer on the high voltage line.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention.

Claims (10)

1. An unmanned aerial vehicle capable of deicing high-voltage lines, comprising an unmanned aerial vehicle body (11) and arms (12) arranged around the unmanned aerial vehicle body (11), each end of the arm (12) being An engine (14) is installed, the output end of the engine (14) is provided with a blade (13) for providing lifting force, and the lower end of the arm (12) is provided with a boom (30); It is characterized in that the boom (30) is connected to an arc-shaped support plate (28) in an arch-shaped structure, the lower end of the arc-shaped support plate (28) is provided with a buffer seat (27) for contacting the ground, the The end of the buffer seat (27) is provided with a camera (26) for acquiring image information, the camera (26) is electrically connected to a control panel arranged on the drone body (11), and the control panel is provided with a control terminal A wireless module for wireless interaction and a battery for power supply; The arc-shaped support plate (28) is provided with a deicing component for deicing the high-voltage line, and a sliding member for sliding contact with the end surface of the high-voltage line is provided at the middle position of the lower end of the arc-shaped support plate (28). 2. The unmanned aerial vehicle capable of deicing high-voltage lines according to claim 1, wherein the deicing assembly comprises guide chutes (24) symmetrically arranged on the arc-shaped support plate (28), each An ice-breaker (20) is slidably fitted in each of the guide chutes (24), and an ice-breaker (21) is provided at the lower end of the ice-breaker (20) for striking ice cubes on the high-voltage line. The impact of the ice-breaker (21) Ice-breaking teeth (22) are distributed on the surface, and the ice-breaking rack (20) is provided with a distance adjusting member for adjusting the distance between the two ice-breaking plates (21) to match high-voltage wires of different diameters. It is connected with the ice breaking rack (20) through an elastic member (29), and a horizontally arranged transmission rod (19) is provided on the outer side of the upper end of the ice breaking rack (20), and the outer end of the transmission rod (19) is rotated with a a pressing wheel (18), the pressing wheel (18) corresponds to the crushing drive member; The crushing driving member comprises a horizontal plate horizontally arranged on the outer side of the boom (30), a vertical shaft is arranged on the horizontal plate for rotation, the upper end of the vertical shaft is provided with a transmission blade (16), and the lower end of the vertical shaft is provided with a transmission blade (16). An eccentric pressing member is provided, and the lower end of the drone body (11) is also provided with an isolation member for isolating the rotation of the transmission blade (16). 3. The unmanned aerial vehicle capable of deicing high-voltage lines according to claim 2, wherein the spacer comprises a double-headed air cylinder (32) arranged at the lower end of the unmanned aerial vehicle body (11), and the double-headed air cylinder (32) The two output ends of the head cylinder (32) are respectively provided with a draw rod, and the end of each draw rod is provided with a shroud (15) located above the transmission blade (16), and the shroud (15) is an arc shape guide structure. 4. The unmanned aerial vehicle capable of deicing high-voltage lines according to claim 2, wherein the eccentric pressing member comprises a rotating rod (17), and at least one end of the rotating rod (17) is slidably sleeved There is a counterweight cover (33), and a return spring (34) for connecting the rotating rod (17) is arranged inside the counterweight cover (33). 5. The unmanned aerial vehicle capable of deicing on high-voltage lines according to claim 2, wherein the elastic member (29) comprises a guide rod connected with the boom (30) and a sliding sleeve connected with the guide rod A guide sleeve, the guide sleeve is connected and fixed with the ice breaking rack (20), and a spring for connecting the guide rod is arranged inside the guide sleeve. 6 . The unmanned aerial vehicle capable of deicing on high-voltage lines according to claim 2 , wherein the distance adjusting member comprises an adjusting push rod ( 25 ) installed on the outside of the ice breaking rack ( 20 ), and the adjusting push rod The output end of the rod (25) is provided with an installation area for the installation of the ice breaking plate (21). 7. The unmanned aerial vehicle capable of deicing high-voltage lines according to claim 1, wherein the sliding member comprises several spherical cavities arranged at the lower end of the arc-shaped support plate (28). There are several sliding surfaces (23), and the plurality of sliding surfaces (23) form a sliding surface contacting with the high-voltage line. 8. The unmanned aerial vehicle capable of deicing on high-voltage lines according to claim 2, wherein the transmission rod (19) is slidably connected to the horizontal perforation on the boom (30). 9 . The unmanned aerial vehicle capable of deicing high-voltage lines according to claim 1 , wherein an annular protective ring is provided on the outer side of the blade (13), and the protective ring is connected to the engine (14) through a connecting rod. 10 . External connection is fixed. 10. A method of using an unmanned aerial vehicle capable of deicing a high-voltage line according to any one of claims 1-9, wherein the high-voltage line is inspected by a remote-controlled unmanned aerial vehicle, and when the high-voltage line is ice-breaking , first lift the drone above the high-voltage line, detect the position of the high-voltage line through the camera (26), and then make the sliding surface (23) at the lower end of the arc-shaped support plate (28) contact the high-voltage line, and the drone obtains the corresponding support at this time At this time, the load on the engine is sharply reduced, and then the shroud (15) is removed through the double-headed cylinder (32). Under the action of the airflow generated by the blade (13), the transmission blade (16) will start to rotate. During the initial rotation of the blade (16), due to the insufficient rotational speed of the rotating rod (17) and insufficient centrifugal force, under the traction of the return spring (34), the counterweight sleeve (33) cannot generate a pushing force on the abutting wheel (18), and with the When the rotation speed of the rotating rod (17) reaches the set value, the return spring (34) will intermittently generate an impact force on the pressing wheel (18), and the pressing wheel (18) drives the transmission rod (19) and the ice breaker (20). Moving, the ice breaking frame (20) drives the two ice breaking plates (21) to squeeze each other, so as to complete the crushing treatment of the ice layer on the high-voltage line.

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