CN114872913A - Transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique - Google Patents
Transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique Download PDFInfo
- Publication number
- CN114872913A CN114872913A CN202210624827.4A CN202210624827A CN114872913A CN 114872913 A CN114872913 A CN 114872913A CN 202210624827 A CN202210624827 A CN 202210624827A CN 114872913 A CN114872913 A CN 114872913A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- pipeline
- motor
- transmission line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims description 19
- 238000005507 spraying Methods 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000003292 glue Substances 0.000 claims abstract description 23
- 230000007306 turnover Effects 0.000 claims abstract description 19
- 238000005516 engineering process Methods 0.000 claims abstract description 13
- 238000001125 extrusion Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Catching Or Destruction (AREA)
Abstract
The utility model relates to the technical field of power transmission line maintenance equipment, in particular to a power transmission line cotter pin anti-drop mechanical device based on an unmanned aerial vehicle technology, which is arranged below an unmanned aerial vehicle body, wherein a mounting plate is fixedly arranged at the bottom of the unmanned aerial vehicle body, a turnover adjusting mechanism, a control device and a pressure container are fixedly arranged below the mounting plate, and the pressure container is connected with a spraying pipeline which is fixedly arranged on the turnover adjusting structure through a pipeline; the control device is wirelessly connected with the remote controller; upset adjustment mechanism is used for adjusting the spraying pipeline direction, makes the spraying pipeline can face three directions in unmanned aerial vehicle organism the place ahead, top, below at least. The device can be used for conveniently spraying the fixing glue on the screw rods which are provided with the split pins and are arranged in different directions, so that the split pins and the bolts can be fastened.
Description
Technical Field
The application relates to the technical field of power transmission line maintenance equipment, in particular to a power transmission line cotter pin anti-falling mechanical device based on an unmanned aerial vehicle technology.
Background
The statements in this section merely provide background information related to the present application and may not constitute prior art.
The power transmission line at the tail end of the cross arm at the upper part of the power transmission line tower is generally fixed through a bolt and a nut, and the bolt is prevented from loosening outside the bolt.
But can make the split pin to wet the corruption and warp and drop along with environmental change and the rocking of circuit to further make the bolt not hard up, can lead to the circuit contact failure when the bolt is not hard up, bolted connection's circuit position can generate heat, not only increases the cost of maintenance but also very big potential safety hazard.
At present, no better treatment method exists for the problem, and basically, the inspection and maintenance are not carried out until the quarterly overhaul, and the method has three defects: firstly, the potential safety hazard of the line is continuously increased because the line cannot be found and maintained in time; secondly, in order to prevent the cotter pin from being in fault, electric power workers must frequently and periodically check the cotter pin on the power transmission line, and the periodic check consumes manpower cost resources greatly because most of the power transmission line is located in a remote area; thirdly, the cotter pin is positioned on the cross arm, and the state of the cotter pin can be accurately judged only after manual pole climbing is needed during inspection, so that the potential safety hazard of climbing operation exists, and the potential safety hazard of electric shock also exists for workers due to the fact that the voltage of a power transmission line is high; and fourthly, the bolts are provided with the cotter pins, the screw directions of the bolts are indefinite, some screw directions face upwards, some screw directions face downwards, and some screw directions are horizontal directions, so that maintenance workers need to adjust the standing angle continuously for inspection during maintenance.
Therefore it is necessary to provide a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique, carry on the inspection by unmanned aerial vehicle and spray the integrative device of stationary glue, reduce the electric power inspection personnel's of patrolling and examining safety risk, ensure transmission line safe operation simultaneously.
Disclosure of Invention
The technical problem that this application will solve is: overcome prior art's not enough, provide a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique.
The technical scheme that this application solved the problem that prior art exists adopted is:
the application provides an anti-falling mechanical device for a cotter pin of a power transmission line based on an unmanned aerial vehicle technology, which is arranged below an unmanned aerial vehicle body, wherein a mounting plate is fixedly arranged at the bottom of the unmanned aerial vehicle body, a turnover adjusting mechanism, a control device and a pressure container are fixedly arranged below the mounting plate, and the pressure container is connected with a spraying pipeline fixedly arranged on the turnover adjusting mechanism through a pipeline;
the control device is wirelessly connected with the remote controller;
upset adjustment mechanism is used for adjusting the spraying pipeline direction, makes the spraying pipeline can face three directions in unmanned aerial vehicle organism the place ahead, top, below at least.
Preferably, the turnover adjusting mechanism comprises an upper limiting plate fixedly arranged below the mounting plate and a square frame fixedly arranged on the right side of the upper limiting plate, a sliding part is arranged in the square frame in a sliding connection mode, and a steering mechanism capable of adjusting the direction of the spraying pipeline is arranged in front of the sliding part;
the rear part of the sliding part is fixedly connected with two balancing rods, the balancing rods can be arranged in two through holes in the fixing part on the left side of the frame body in a sliding mode, the rear end of each balancing rod is fixedly connected with a balancing plate, and the balancing plate is connected with an upper limiting plate in a sliding mode;
the fixing piece is hinged with one end of a screw rod, the screw rod is in threaded connection with the balance plate through a threaded hole in the balance plate, and the other end of the screw rod is fixedly connected with a motor shaft of the advancing motor; the advancing motor is fixedly connected with the upper limiting plate;
the advancing motor is electrically connected with the control device;
preferably, the sliding part comprises a hinge block and a mounting block which are fixedly connected with each other perpendicularly;
the steering mechanism comprises a turnover motor fixedly arranged on the mounting block, and a motor shaft of the turnover motor penetrates through a rotating body fixedly connected with the turnover motor and then is hinged with the hinge block; the rotating body comprises an arc-shaped part and a supporting part fixedly connected with the arc-shaped part, a rotating motor is fixedly installed in front of the supporting part, a rotating plate is fixedly installed in front of a motor shaft of the rotating motor, two thread through holes are symmetrically formed in the rotating plate along the axial diameter direction of the motor shaft of the rotating motor, and spraying pipelines are respectively and fixedly installed at the front ends of the thread through holes on the rotating plate; the rear end of the threaded through hole is in threaded connection with a hollow screw head, a hose pipeline is sleeved on the hollow screw head, and a screw head cap is connected outside the hose pipeline on the hollow screw head in a connecting mode through threads;
the overturning motor and the rotating motor are electrically connected with the control device;
the hose pipeline is connected with the pipeline distribution device through a pipeline, the pipeline distribution device is connected with the pressure container through a pipeline, and the pipeline distribution device and the pressure container are fixedly installed below the installation plate.
Preferably, the pipeline distribution device comprises a shell fixedly arranged below the mounting plate, an electromagnetic valve is arranged in the shell, and an inlet of the electromagnetic valve is connected with an outlet pipeline of the fixed glue bottle; the outlet of the electromagnetic valve passes through a tee joint and then is respectively connected with two hose pipeline pipelines after passing through a through hole arranged on the shell;
a circular extrusion piece is arranged in the fixed glue bottle in a sliding connection mode, a sealing ring is arranged between the extrusion piece and the inner wall of the fixed glue bottle, and screw fixing glue is arranged between the extrusion piece and the outlet of the fixed glue bottle; the other end of the fixed rubber bottle, which is positioned on the extrusion piece, is connected with a main pipeline through an inlet, and the main pipeline is connected with a pressure container pipeline after passing through a through hole arranged on the shell;
the electromagnetic valve is electrically connected with the control device.
Preferably, the square frame lower plate is provided with a third through groove along the front-back direction, the width of the front end and the back end of the third through groove is greater than the length of the support part in the left-right direction, and the width of the middle of the third through groove is less than the length of the support part in the left-right direction and is respectively greater than the lengths of the rotating motor and the rotating plate in the left-right direction;
and a second through groove and a first through groove which are consistent with the front width of the third through groove are respectively arranged in front of the frame body and in front of the top of the frame body.
Preferably, a camera is fixedly arranged in the middle of the front part of the rotating plate, electrically connected with the control device and wirelessly connected with the mobile phone through a mobile phone end APP;
the front part of the rotating plate is fixedly provided with a laser range finder in the direction different from the radial line direction of the installation of the two spraying pipelines, and the laser range finder is electrically connected with the control device.
Preferably, the front ends of the two spraying pipelines are fixedly provided with bent pipes, and the pipe heads of the bent pipes are atomizing nozzles and face to the middle positions of the two spraying pipelines.
Preferably, the detection direction of the laser range finder passes through the middle positions of the two pipe heads at the front ends of the two spraying pipelines.
Preferably, the advancing motor, the overturning motor and the rotating motor are all stepping motors.
Preferably, two sides below the unmanned aerial vehicle body are fixedly provided with a support; the pressure container is filled with compressed air.
Compared with the prior art, the beneficial effect of this application is:
1. do not need the manual work to step on the pole, can realize through unmanned aerial vehicle that the condition of split pin is equipped with to the screw rod of bolt is unified to be maintained and is consolidated, and the split pin after consolidating uses reliably, no longer need frequent periodic inspection.
2. The essence is maintained the reliability of bolt to the reliability maintenance of split pin, and the power transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique of this application is through the design that uses laser range finder and spraying pipeline, the calculation spraying position that can be accurate.
3. Because the bolt at split pin place, its screw rod direction differs, the transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique of this application can realize carrying out the spraying of split glue according to the screw rod direction of different orientations through upset adjustment mechanism, and be the even spraying of circumference.
4. The design of upset adjustment mechanism for the atress center of unmanned aerial vehicle organism keeps at unmanned aerial vehicle's intermediate position, and unmanned aerial vehicle uses more steady safety.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the whole structure of an anti-drop mechanical device for a cotter pin of a power transmission line based on unmanned aerial vehicle technology,
fig. 2 is a bottom view of the power transmission line cotter pin anti-drop mechanical device based on the unmanned aerial vehicle technology in fig. 1,
FIG. 3 is a schematic view of the overall structure of the mechanism for adjusting the turnover of the cotter pin anti-drop mechanism of the power transmission line based on the unmanned aerial vehicle technology,
figure 4 is an enlarged view of the structure at a in figure 3,
figure 5 is a bottom view of the tumble adjustment mechanism of figure 3,
figure 6 is a schematic view of the internal structure of the roll-over adjustment mechanism of figure 3,
figure 7 is a schematic view of the connection structure of the turnover motor in figure 3,
figure 8 is a schematic view of the structure of the rotating body in figure 7,
figure 9 is an exploded view of the connection structure of the rotary plate and the hose line of figure 2,
figure 10 is a schematic view of the hinged connection structure of the screw rod and the fixing piece in figure 6,
figure 11 is a schematic view showing the internal structure of the pipeline distribution device in figure 2,
fig. 12 is a schematic diagram of laser range finder detection.
In the figure:
1. unmanned aerial vehicle organism, 2, mounting panel, 3, upper limiting plate, 4, control device, 5, pressure vessel, 6, cassette, 7, pipeline distribution device, 8, main pipeline, 9, hose pipeline, 10, spraying pipeline, 11, advancing motor, 12, balancing plate, 13, screw rod, 14, balancing rod, 15, overturning motor, 16, second through groove, 17, third through groove, 18, first through groove, 19, sliding part, 190, hinging block, 191, mounting block, 20, fixing part, 21, rotating motor, 22, rotating motor shaft, 23, rotating plate, 24, laser range finder, 25, camera, 26, rotating body, 260, arc part, 261, supporting part, 27, threaded through hole, 28, hollow filament head, 29, filament head cap, 30, electromagnetic valve, 31, tee joint, 32, base plate, 33, hinging disc, 34, elbow, 35, tube head, 36, fixing glue bottle, 37. extrusion piece, 38, setting element, 39, square frame.
The specific implementation mode is as follows:
the present application will be further described with reference to the following drawings and examples.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
Referring to fig. 1 and 2, a preferred embodiment of an anti-drop mechanical device for a cotter pin of a power transmission line based on an unmanned aerial vehicle technology is provided below an unmanned aerial vehicle body 1, a mounting plate 2 is fixedly mounted at the bottom of the unmanned aerial vehicle body 1, a turning adjusting mechanism, a control device 4 and a pressure container 5 are fixedly mounted below the mounting plate 2, the pressure container 5 is fixed on the mounting plate 2 through an arc-shaped clamp belt 6 and through bolt connection at two ends of the clamp belt 6, and the pressure container 5 is connected with a spraying pipeline 10 fixedly mounted on the turning adjusting mechanism through a pipeline; the control device 4 is wirelessly connected with a remote controller; the overturning adjusting mechanism is used for adjusting the direction of the spraying pipeline 10, so that the spraying pipeline 10 can at least face to the front, the upper and the lower directions of the unmanned aerial vehicle body 1; two sides below the unmanned aerial vehicle body 1 are fixedly provided with a bracket; the pressure container 5 is filled with compressed air.
Referring to fig. 3 and 5, the turnover adjusting mechanism includes an upper limiting plate 3 fixedly installed below the mounting plate 2 and a square frame 39 fixedly installed on the right side of the upper limiting plate 3, a sliding member 19 is slidably connected in the square frame 39, and a steering mechanism capable of adjusting the direction of the spraying pipeline 10 is arranged in front of the sliding member 19;
two balancing rods 14 are fixedly connected to the rear of the sliding piece 19, the balancing rods 14 can be slidably arranged in two through holes in the left fixing piece 20 of the square frame 39, the rear end of each balancing rod 14 is fixedly connected with the balancing plate 12, and the balancing plate 12 is slidably connected with the upper limiting plate 3;
the fixed part 20 is hinged with one end of the screw 13, a hinged disc 33 is fixedly installed at the front end of the screw 13, and hinged connection is realized through rotation of the hinged disc 33 in a cylindrical space inside the fixed part 20; as shown in fig. 10, the screw 13 is in threaded connection with the balance plate 12 through a threaded hole on the balance plate 12, and the other end of the screw 13 is fixedly connected with a motor shaft of the forward motor 11; the advancing motor 11 is fixedly arranged on an upper base plate 32, and the base plate 32 is fixedly arranged below the upper limiting plate 3;
the advancing motor 11 is electrically connected with the control device 4;
referring to fig. 6 and 7, the sliding member 19 includes a hinge block 190 and a mounting block 191 fixedly coupled to each other perpendicularly; the steering mechanism comprises a turnover motor 15 fixedly arranged on the mounting block 191, and a motor shaft of the turnover motor 15 penetrates through a rotating body 26 fixedly connected with the turnover motor and then is hinged with a hinge block 190; referring to fig. 8, the rotating body 26 includes an arc portion 260 and a support portion 261 fixedly coupled to the arc portion 260;
referring to fig. 7 and 9 again, a rotating motor 21 is fixedly installed in front of the supporting portion 261, a rotating plate 23 is fixedly installed in front of a motor shaft 22 of the rotating motor 21, two threaded through holes 27 are symmetrically formed in the rotating plate 23 along the axial diameter direction of the motor shaft 22 of the rotating motor 21, and the front ends of the threaded through holes 27 are located on the rotating plate 23 and are respectively and fixedly installed with the spraying pipelines 10; referring to fig. 4, an elbow 34 is fixedly arranged at the front ends of the two spraying pipelines 10, a pipe head 35 of the elbow 34 faces to the middle position of the two spraying pipelines 10, and the pipe head 35 is an atomizing nozzle; the rear end of the threaded through hole 27 is in threaded connection with a hollow screw head 28, a hose pipeline 9 is sleeved on the hollow screw head 28, and a screw head cap 29 is connected outside the hose pipeline 9 on the hollow screw head 28 in a threaded connection manner; the overturning motor 15 and the rotating motor 21 are electrically connected with the control device 4;
the hose pipeline 9 is connected with the pipeline distribution device 7 through a pipeline, the pipeline distribution device 7 is connected with the pressure container 5 through a pipeline, and the pipeline distribution device 7 and the pressure container 5 are fixedly arranged below the mounting plate 2; as shown in fig. 11, the pipeline distribution device 7 includes a housing fixedly installed below the mounting plate 2, an electromagnetic valve 30 is arranged in the housing, and an inlet of the electromagnetic valve 30 is connected with an outlet pipeline of a fixed glue bottle 36; the outlet of the electromagnetic valve 30 passes through a tee 31 and then passes through a through hole arranged on the shell and then is respectively connected with the two hose pipelines 9 through pipelines, and the hose pipelines 9 are left with allowance; a round extrusion piece 37 is arranged in the fixed rubber bottle 36 in a sliding connection mode, a sealing ring is arranged between the extrusion piece 37 and the inner wall of the fixed rubber bottle 36, and screw fixing rubber is arranged between the extrusion piece 37 and the outlet of the fixed rubber bottle 36; the other end of the fixed rubber bottle 36, which is positioned on the extrusion piece 37, is connected with a main pipeline 8 through an inlet, and the main pipeline 8 is connected with a pressure container 5 through a through hole arranged on the shell; a circular positioning piece 38 is fixedly arranged outside the extruding piece 37 in the direction towards the inlet, and the positioning piece 38 plays a role in positioning when the extruding piece 37 slides in the fixed glue bottle 36, so that the fixed glue bottle 36 is prevented from inclining and turning over; the solenoid valve 30 is electrically connected to the control device 4.
As shown in fig. 3 and 5, a third through groove 17 is provided below the support portion 261 and on the square frame 39, the widths of the front and rear ends of the third through groove 17 are greater than the length of the support portion 261 in the left-right direction, and the width of the middle of the third through groove 17 is less than the length of the support portion 261 in the left-right direction and is greater than the lengths of the rotary motor 21 and the rotary plate 23 in the left-right direction;
the second through groove 16 and the first through groove 18, which have the same width as the front width of the third through groove 17, are respectively arranged in front of the square frame 39 and in front of the top of the square frame 39.
Referring to fig. 6 and 12, a camera 25 is fixedly arranged in the middle of the front part of the rotating plate 23, and the camera 25 is electrically connected with the control device 4 and wirelessly connected with a mobile phone through a mobile phone end APP; the front part of the rotating plate 23 is fixedly provided with a laser range finder 24 in the direction different from the mounting radial line direction of the two spraying pipelines 10, and the laser range finder 24 is electrically connected with the control device 4; the laser range finder 24 detects the direction passing through the middle position of the two pipe heads 35 at the front ends of the two spraying pipelines 10.
In the preferred embodiment, the forward motor 11, the reverse motor 15 and the rotation motor 21 are all stepping motors, and a lithium battery pack, a wireless communication module and a control module are arranged in the control device 4.
The application provides a transmission line split pin anti-drop mechanical device application method based on unmanned aerial vehicle technique as follows:
the first step is as follows: initial preparation, determining the initial position of each motor.
The control device 4 wirelessly connected with the remote controller is controlled by sending a signal through the remote controller, so that the control device 4 controls the forward motor 11 to rotate, the balance plate 12 moves backwards under the thread transmission action of the screw 13 fixedly connected with the motor shaft of the forward motor 11, in the process, the screw 13 is hinged with the fixed part 20, the balance rod 14 passes through the through hole of the fixed part 20 and then is fixedly connected with the sliding part 19, therefore, when the balance plate 12 moves backwards, the balance plate 12 drives the balance rod 14 fixedly connected with the balance plate to move backwards, and the balance rod 14 pulls the sliding part 19 fixedly connected with the balance rod to move backwards; when the sliding piece 19 moves backwards, the whole steering mechanism is driven to move backwards, so that the spraying pipeline 10 is retracted to the lower part of the unmanned aerial vehicle body; in this embodiment, the control device 4 controls the number of rotation pulses of the forward motor 11 to control the distance that the forward motor 11 drives the slider 19 to move forward or backward, in this step, the supporting portion 261 is located behind the third through-slot 17, and the lower portion of the supporting portion 261 is just supported to the starting position by the square frame 39; at this time, the starting positions of the forward motor 11, the reverse motor 15, and the rotating motor 21 are set, that is, the number of rotation pulses of the forward motor 11, the reverse motor 15, and the rotating motor 21 is set to 0.
In this embodiment, the turning motor 15 is a stepping motor with a band-type brake, and the motor shaft thereof does not rotate when power is off.
The second step is that: control unmanned aerial vehicle to correspond bolt split pin position department, make spraying pipeline 10 just to installing the screw rod of split pin on the bolt.
Firstly: take off through remote controller control unmanned aerial vehicle, can observe the bolt position through camera 25, divide three kinds of circumstances this moment:
a: when the direction of one end of the screw rod of the bolt, which is provided with the cotter pin, is upward:
at this time, the spraying pipeline 10 needs to be directed to the lower side of the unmanned aerial vehicle body 1. Firstly, the unmanned aerial vehicle is lifted to a sufficient height, then according to the same operation mode as that in the first step, the control device 4 controls the advancing motor 11 to rotate by a pulse number M and then stop, so that the balance plate 12 moves backwards under the thread transmission action of the screw 13 fixedly connected with the motor shaft of the advancing motor 11, different from that in the first step, in the process that the balance plate 12 moves backwards, the supporting part 261 is slowly moved to the rear part close to the fixing part 20, and because the widths of the front end and the rear end of the third through groove 17 are greater than the length of the supporting part 261 in the left-right direction, the advancing motor 11 can be turned downwards at the moment;
then the control device 4 controls the overturning motor 15 to rotate by the number N and stop after the pulse number N, in the process, the overturning motor 15 drives the rotating motor 21 fixedly connected with the rotating body 26 to rotate downwards, meanwhile, the spraying pipeline 10 rotates downwards together, and when the spraying pipeline 10 rotates to a vertically downward position, the overturning motor 15 stops;
b: when the end of the bolt, which is provided with the cotter pin, faces downwards:
at this time, the spraying pipeline 10 needs to be directed to the upper side of the unmanned aerial vehicle body 1. In the initial position of the first step, firstly, the control device 4 controls the forward motor 11 to rotate by the pulse number Q through the remote controller, so that the screw transmission of the forward motor 11 drives the balance plate 12 to move forward, further the balance plate 12 pushes the sliding piece 19 to move forward through the balance rod 14, and finally the supporting part 261 is positioned at the front part of the third through groove 17; because the widths of the front end and the rear end of the third through groove 17 are greater than the length of the supporting part 261 in the left-right direction, the turning motor 15 is controlled to rotate by the pulse number S, so that the spraying pipeline 10 can rotate, and in addition, the second through groove 16 and the first through groove 18 which are consistent with the front width of the third through groove 17 are respectively arranged in front of the square frame 39 and in front of the top of the square frame 39, so that the spraying pipeline 10 can rotate upwards through the turning motor 15, and the turning motor 15 stops rotating after the spraying pipeline 10 rotates to the vertical upward position.
C: when the direction of one end of the bolt, which is provided with the cotter pin, is horizontal:
at this time, the spraying pipeline 10 needs to be directed to the front of the unmanned aerial vehicle body 1. Step B, the number of the rotation pulses of the forward motor 11 is T, and finally the supporting part 261 is just close to the front part of the third through groove 17, so that the supporting part 261 is just supported by the third through groove 17.
Then: the distance between the spray line 10 and the end of the bolt where the cotter pin is mounted is adjusted.
After the three conditions are adjusted, the unmanned aerial vehicle body 1 is controlled to move through the remote controller, the condition of the camera 25 wirelessly connected with the mobile phone end APP is observed through the mobile phone end APP, and the direction observed by the camera 25 is enabled to be opposite to one end, provided with the split pin, of the screw rod of the bolt; referring to fig. 12, assuming that the linear distance between the camera 25 and the target S is L and the distance between the camera 25 and the laser range finder 24 is D, the distance is L
At this time, the cotter pin is located right at the point S in fig. 12, and the fixing glue can be sprayed.
The third step: and (4) spraying fixing glue on the cotter pin.
meanwhile, the control device 4 controls the rotating motor 21 to rotate W pulses in a forward rotation mode, then rotates W pulses in a reverse rotation mode, and each W pulse rotates the motor 21 for a half-turn; this ensures that the spray line 10 can spray a circle around the bolt with the cotter pin in both the forward and reverse directions.
After the spraying is finished, the control device 4 controls the electromagnetic valve 30 to lose power, and the spraying of the fixing glue is stopped. Then according to the mode of first step, with this application based on each motor of transmission line split pin anti-drop mechanical device of unmanned aerial vehicle technique resume initial position can.
The utility model provides a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique to the screw rod of different orientation installation split pins, can make the staff realize spraying pipeline the place ahead, the ascending adjustment of top, below side at ground remote control through upset adjustment mechanism, and the trigger point as the spraying solid fixed glue is regarded as to the range finding result that fixes through laser range finder, and the spraying is accurate.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present application have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present application, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive effort by those skilled in the art.
Claims (10)
1. The utility model provides a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique sets up in unmanned aerial vehicle organism (1) below, its characterized in that:
the unmanned aerial vehicle is characterized in that a mounting plate (2) is fixedly mounted at the bottom of the unmanned aerial vehicle body (1), a turnover adjusting mechanism, a control device (4) and a pressure container (5) are fixedly mounted below the mounting plate (2), and the pressure container (5) is connected with a spraying pipeline (10) which is fixedly mounted on the turnover adjusting mechanism through a pipeline;
the control device (4) is in wireless connection with the remote controller;
upset adjustment mechanism is used for adjusting spraying pipeline (10) direction, makes spraying pipeline (10) can face unmanned aerial vehicle organism (1) the place ahead at least, three direction in top, below.
2. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device is characterized in that:
the overturning adjusting mechanism comprises an upper limiting plate (3) fixedly arranged below the mounting plate (2) and a square frame body (39) fixedly arranged on the right side of the upper limiting plate (3), a sliding piece (19) is arranged in the square frame body (39) in a sliding connection mode, and a steering mechanism capable of adjusting the direction of the spraying pipeline (10) is arranged in front of the sliding piece (19);
two balancing rods (14) are fixedly connected to the rear of the sliding piece (19), the balancing rods (14) can be slidably arranged in two through holes in a fixing piece (20) on the left side of the square frame body (39), the rear ends of the balancing rods (14) are fixedly connected with a balancing plate (12), and the balancing plate (12) is slidably connected with an upper limiting plate (3);
the fixing piece (20) is hinged with one end of the screw rod (13), the screw rod (13) is in threaded connection with the balance plate (12) through a threaded hole in the balance plate (12), and the other end of the screw rod (13) is fixedly connected with a motor shaft of the advancing motor (11); the advancing motor (11) is fixedly connected with the upper limiting plate (3);
the advancing motor (11) is electrically connected with the control device (4).
3. The utility model discloses a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique, its characterized in that:
the sliding part (19) comprises a hinge block (190) and a mounting block (191) which are vertically and fixedly connected with each other;
the steering mechanism comprises a turnover motor (15) fixedly mounted on the mounting block (191), and a motor shaft of the turnover motor (15) penetrates through a rotating body (26) fixedly connected with the turnover motor and then is hinged with the hinge block (190); the rotating body (26) comprises an arc-shaped part (260) and a supporting part (261) fixedly connected with the arc-shaped part (260), a rotating motor (21) is fixedly installed in front of the supporting part (261), a rotating plate (23) is fixedly installed in front of a motor shaft (22) of the rotating motor (21), two thread through holes (27) are symmetrically formed in the rotating plate (23) along the axial diameter direction of the motor shaft (22) of the rotating motor (21), and the front ends of the thread through holes (27) are located on the rotating plate (23) and are respectively and fixedly provided with a spraying pipeline (10); the rear end of the threaded through hole (27) is in threaded connection with a hollow screw head (28), a hose pipeline (9) is sleeved on the hollow screw head (28), and a screw head cap (29) is sleeved outside the hose pipeline (9) on the hollow screw head (28) in a threaded connection mode;
the overturning motor (15) and the rotating motor (21) are electrically connected with the control device (4);
the hose pipeline (9) is connected with the pipeline distribution device (7) through a pipeline, the pipeline distribution device (7) is connected with the pressure container (5) through a pipeline, and the pipeline distribution device (7) and the pressure container (5) are fixedly arranged below the mounting plate (2).
4. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device is characterized in that:
the pipeline distribution device (7) comprises a shell fixedly arranged below the mounting plate (2), an electromagnetic valve (30) is arranged in the shell, and an inlet of the electromagnetic valve (30) is connected with an outlet pipeline of the fixed glue bottle (36); the outlet of the electromagnetic valve (30) passes through a tee joint (31) and then is respectively connected with the two hose pipelines (9) through holes arranged on the shell;
a round extrusion piece (37) is arranged in the fixed rubber bottle (36) in a sliding connection mode, a sealing ring is arranged between the extrusion piece (37) and the inner wall of the fixed rubber bottle (36), and screw fixing rubber is arranged between the extrusion piece (37) and the outlet of the fixed rubber bottle (36); the other end of the fixed rubber bottle (36) positioned on the extrusion piece (37) is connected with a main pipeline (8) through an inlet, and the main pipeline (8) is connected with a pressure container (5) through a through hole arranged on the shell;
the electromagnetic valve (30) is electrically connected with the control device (4).
5. The utility model discloses a transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique, its characterized in that:
a third through groove (17) is formed in the lower plate of the square frame body (39) along the front-back direction, the width of the front end and the back end of the third through groove (17) is larger than the length of the supporting part (261) in the left-right direction, and the width of the middle of the third through groove (17) is smaller than the length of the supporting part (261) in the left-right direction and is respectively larger than the lengths of the rotating motor (21) and the rotating plate (23) in the left-right direction;
the front of the square frame body (39) and the front of the top of the square frame body (39) are respectively provided with a second through groove (16) and a first through groove (18) which are consistent with the front width of the third through groove (17).
6. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device is characterized in that:
a camera (25) is fixedly arranged in the middle of the front part of the rotating plate (23), and the camera (25) is electrically connected with the control device (4) and is wirelessly connected with a mobile phone through a mobile phone end APP;
the front part of the rotating plate (23) is different from the direction of the installation radial line of the two spraying pipelines (10), and a laser range finder (24) is fixedly arranged on the direction of the installation radial line of the two spraying pipelines (10), and the laser range finder (24) is electrically connected with the control device (4).
7. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device is characterized in that:
the front ends of the two spraying pipelines (10) are fixedly provided with bent pipes (34), and pipe heads (35) of the bent pipes (34) are atomizing nozzles and face to the middle positions of the two spraying pipelines (10).
8. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device of claim 6, characterized in that:
the detection direction of the laser range finder (24) passes through the middle positions of two pipe heads (35) at the front ends of the two spraying pipelines (10).
9. The transmission line cotter anti-drop mechanical device based on unmanned aerial vehicle technique of claim 2 or 3, characterized in that:
the advancing motor (11), the overturning motor (15) and the rotating motor (21) are all stepping motors.
10. The unmanned aerial vehicle technology-based power transmission line cotter anti-drop mechanical device is characterized in that:
supports are fixedly arranged on two sides below the unmanned aerial vehicle body (1); the pressure container (5) is filled with compressed air.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210624827.4A CN114872913B (en) | 2022-06-02 | 2022-06-02 | Unmanned aerial vehicle technology-based power transmission line cotter pin anti-drop mechanical device |
| CN202310616498.3A CN116639253A (en) | 2022-06-02 | 2022-06-02 | Method for spraying fixing glue on cotter pin of power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210624827.4A CN114872913B (en) | 2022-06-02 | 2022-06-02 | Unmanned aerial vehicle technology-based power transmission line cotter pin anti-drop mechanical device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310616498.3A Division CN116639253A (en) | 2022-06-02 | 2022-06-02 | Method for spraying fixing glue on cotter pin of power transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114872913A true CN114872913A (en) | 2022-08-09 |
| CN114872913B CN114872913B (en) | 2023-06-09 |
Family
ID=82679889
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210624827.4A Active CN114872913B (en) | 2022-06-02 | 2022-06-02 | Unmanned aerial vehicle technology-based power transmission line cotter pin anti-drop mechanical device |
| CN202310616498.3A Pending CN116639253A (en) | 2022-06-02 | 2022-06-02 | Method for spraying fixing glue on cotter pin of power transmission line |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310616498.3A Pending CN116639253A (en) | 2022-06-02 | 2022-06-02 | Method for spraying fixing glue on cotter pin of power transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114872913B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005328590A (en) * | 2004-05-12 | 2005-11-24 | Chubu Electric Power Co Inc | Repairing device of split pin for preventing dislocation of insulator string on power transmission line steel tower |
| US20100212784A1 (en) * | 2009-02-24 | 2010-08-26 | Richard Charles Hannay | Utility Pole Grounding Wire Replacement with an Embedment Method and Device |
| CN104218488A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line |
| CN109704220A (en) * | 2018-12-29 | 2019-05-03 | 重庆洎皋电力科技有限责任公司 | Electrification in high voltage overhead bare conductor elevating crane and its encapsulated spray robot |
| CN211639731U (en) * | 2019-12-27 | 2020-10-09 | 国网山东省电力公司威海供电公司 | Opening pin installation device |
| US10985539B1 (en) * | 2018-07-23 | 2021-04-20 | William Thomas | Unmanned aerial vehicle line and cable stringing system |
| CN113560839A (en) * | 2021-07-26 | 2021-10-29 | 天津送变电工程有限公司 | Multi-degree-of-freedom overhauling device based on unmanned aerial vehicle system |
-
2022
- 2022-06-02 CN CN202210624827.4A patent/CN114872913B/en active Active
- 2022-06-02 CN CN202310616498.3A patent/CN116639253A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005328590A (en) * | 2004-05-12 | 2005-11-24 | Chubu Electric Power Co Inc | Repairing device of split pin for preventing dislocation of insulator string on power transmission line steel tower |
| US20100212784A1 (en) * | 2009-02-24 | 2010-08-26 | Richard Charles Hannay | Utility Pole Grounding Wire Replacement with an Embedment Method and Device |
| CN104218488A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line |
| US10985539B1 (en) * | 2018-07-23 | 2021-04-20 | William Thomas | Unmanned aerial vehicle line and cable stringing system |
| CN109704220A (en) * | 2018-12-29 | 2019-05-03 | 重庆洎皋电力科技有限责任公司 | Electrification in high voltage overhead bare conductor elevating crane and its encapsulated spray robot |
| CN211639731U (en) * | 2019-12-27 | 2020-10-09 | 国网山东省电力公司威海供电公司 | Opening pin installation device |
| CN113560839A (en) * | 2021-07-26 | 2021-10-29 | 天津送变电工程有限公司 | Multi-degree-of-freedom overhauling device based on unmanned aerial vehicle system |
Non-Patent Citations (1)
| Title |
|---|
| 杨杰;邵帅;王凯;张庆雷;高翔;黄涛;王文贤;: "多旋翼无人机在输电线路巡检中的应用局限及发展前景", 电力与能源, no. 02 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114872913B (en) | 2023-06-09 |
| CN116639253A (en) | 2023-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109769670B (en) | A water-saving irrigation equipment that is used for having regulatory function of agricultural production | |
| CN213276888U (en) | A monitoring devices for forest fire prevention | |
| CN113941205A (en) | Adjustable spraying dust-settling device with wide coverage range and intelligent dust-settling method | |
| CN114872913A (en) | Transmission line split pin anti-drop mechanical device based on unmanned aerial vehicle technique | |
| CN207695019U (en) | A kind of automatically controlled automatic high pressure nozzle of movable type | |
| CN219702370U (en) | Steel pipe paint spraying equipment | |
| CN110548631B (en) | Diversified paint coating spraying device | |
| CN108914864B (en) | Automatic swinging device for simple water sprinkler | |
| CN208068248U (en) | A kind of crusing robot | |
| CN215965138U (en) | Vehicle-mounted high-altitude camera cleaning device | |
| CN114749291A (en) | Atomizing device suitable for arbitrary angle sprays | |
| CN214134425U (en) | High-reliability plasma cutting and perforating device for pipeline | |
| CN101670158B (en) | Indoor large-space automatic fire extinguishing device capable of seeking target in short time | |
| CN212609059U (en) | Tower crane safety monitoring intelligent terminal | |
| CN208670434U (en) | A kind of tapered pipeline robot | |
| CN214637510U (en) | Spraying dust fall ware convenient to adjust | |
| CN109237258B (en) | Traffic monitoring equipment mounting bracket with improved structure | |
| CN109590128B (en) | Lamp pole paint spraying device | |
| CN115253543B (en) | Water spraying device capable of intelligently controlling water spraying direction and water drop size based on wind speed and wind direction | |
| CN216148926U (en) | Oil gas field safety fire water cannon car | |
| CN215758674U (en) | Traffic control pole setting with adjustable angle | |
| CN218914196U (en) | Fork arm type lifting assembly and pipeline spraying device | |
| CN113696164B (en) | Stay-free charging rotatable pipe gallery inspection robot and inspection system | |
| CN218187584U (en) | Automatic fire-fighting equipment at wharf cargo distribution center | |
| CN113399138B (en) | High-voltage electrostatic coating equipment for new energy automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |