CN117382945B - Unmanned aerial vehicle is patrolled and examined to electric power - Google Patents
Unmanned aerial vehicle is patrolled and examined to electric power Download PDFInfo
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- CN117382945B CN117382945B CN202311658266.0A CN202311658266A CN117382945B CN 117382945 B CN117382945 B CN 117382945B CN 202311658266 A CN202311658266 A CN 202311658266A CN 117382945 B CN117382945 B CN 117382945B
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- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000007689 inspection Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 239000007788 liquid Substances 0.000 claims description 27
- 239000007921 spray Substances 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 8
- 239000011810 insulating material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- 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
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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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
-
- 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
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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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
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/28—UAVs specially adapted for particular uses or applications for manufacturing or servicing for painting or marking
-
- 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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses an electric power inspection unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle equipment. Comprising the following steps: organism and undercarriage device, undercarriage device includes adjusting part and inlay card subassembly, inlay card subassembly sets up in adjusting part bottom, adjusting part includes the strut, even frame, first servo motor, second servo motor, two pivots and revolving rack, inlay card subassembly includes two sets of clamping parts, diaphragm and two locking device, two locking device symmetry fixed mounting are at the diaphragm top, the diaphragm passes through two locking device and revolving rack both ends fixed joint, two sets of clamping part symmetry set up in the diaphragm downside, clamping part includes the fixture block, three first ball and two pressure springs, be equipped with detection mechanism between two sets of clamping parts. The invention effectively solves the problems that the unmanned aerial vehicle and the cable are in a separated state, the condition of the cable cannot be clearly checked when the unmanned aerial vehicle is far away, the cable can shake due to the aerodynamic force of the propeller when the unmanned aerial vehicle is near away, and the acquisition of images is inconvenient.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an electric power inspection unmanned aerial vehicle.
Background
Along with the continuous development of economy and scientific technology, various power systems are perfected, the cable is exposed outside for a long time, the environment is severe, the surface is easy to crack and the like, inspection is needed, the power inspection is a conventional but important work, along with the gradual adoption and use of an unmanned aerial vehicle inspection mode, a large amount of manpower can be replaced by the unmanned aerial vehicle inspection, the labor cost is reduced, the inspection working range is also exponentially increased along with the unmanned aerial vehicle inspection mode, and the effective application of the unmanned aerial vehicle promotes the sustainable development of the power industry.
The current unmanned aerial vehicle inspection mode, it is multi-pass through to fly to control unmanned aerial vehicle and use camera to patrol and examine the cable, as the patent application of publication number CN112478161A discloses an electric power inspection and use unmanned aerial vehicle, including unmanned aerial vehicle body and unmanned aerial vehicle on the camera, patrol and examine the shooting to the cable, the patent of bulletin number CN211253033U discloses an electric power inspection and use unmanned aerial vehicle, including high definition digtal camera, above-mentioned two modes, all patrol and examine the cable through unmanned aerial vehicle carries camera, when patrolling and examining, unmanned aerial vehicle and cable are in the separation state, and the distance is long-term, can't clear inspection cable situation, and when the distance is near, its screw is at the operation, and aerodynamic force can lead to the cable to rock, is also inconvenient for the collection of image.
Disclosure of Invention
The invention aims to provide an electric inspection unmanned aerial vehicle, which aims to solve the problems that in the prior art, when the unmanned aerial vehicle is inspected, the unmanned aerial vehicle is in a separated state with a cable, when the distance is far, the condition of the cable cannot be clearly inspected, when the distance is near, a propeller of the unmanned aerial vehicle runs, aerodynamic force can cause the cable to shake, and the image acquisition is inconvenient.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an electric power inspection unmanned aerial vehicle, comprising: the machine body is controlled by an external control terminal, landing gear devices are symmetrically arranged at the bottom ends of the two sides, and each landing gear device can independently operate;
the landing gear device comprises an adjusting component and a clamping and embedding component, and the clamping and embedding component is arranged at the bottom of the adjusting component;
the adjusting component comprises a support, a connecting frame, a first servo motor, a second servo motor, two rotating shafts and a rotating frame, wherein the support is fixedly arranged at the bottom of the machine body, the two rotating shafts are respectively rotatably sleeved in the support and at the bottom of the connecting frame, the top end of the connecting frame is fixedly sleeved on the rotating shaft positioned in the support, the top end of the rotating frame is fixedly sleeved on the rotating shaft positioned at the bottom of the connecting frame, the first servo motor is fixedly arranged at the outer side of the support, the output end of the first servo motor is fixedly connected with the end part of the rotating shaft at the upper side, the second servo motor is fixedly arranged at the outer side of the bottom of the connecting frame, and the output end of the second servo motor is fixedly connected with the end part of the rotating shaft at the bottom side;
the clamping assembly comprises two groups of clamping components, a transverse plate and two locking devices, the two locking devices are symmetrically and fixedly arranged at the top of the transverse plate, and the transverse plate is fixedly clamped with two ends of the rotating frame through the two locking devices;
the clamping components comprise a clamping block, three first balls and two pressure springs, wherein the clamping block is vertically and fixedly arranged on the bottom surface of the transverse plate, two sliding cavities are symmetrically formed in the clamping block in a left-right mode, the three first balls are embedded in the clamping block and are uniformly distributed in a ring shape, the first balls in the middle are located at the middle top of the clamping block, the two pressure springs are respectively arranged in the two sliding cavities, one ends, far away from each other, of the two pressure springs are fixedly connected with the inner wall of each sliding cavity, the two first balls on the bottom side are respectively embedded at the top ends of the two sliding cavities, and the three first balls can freely roll;
the machine body bottom is provided with a central camera shooting mechanism, and a detection mechanism is arranged between the two groups of clamping components.
Preferably, the detection mechanism comprises two groups of annular rails, an image acquisition device, two cross bars and two groups of rotating parts, wherein the two groups of annular rails are symmetrically arranged between the two groups of clamping parts, the annular rails are formed by two semi-rings, sliding grooves are formed in the side surfaces of the annular rails, the top of each annular rail is connected with the bottom surface of the cross plate through a deflection mechanism, the two cross bars are horizontally arranged and connected with the two groups of annular rails through the two groups of rotating parts, the two cross bars are distributed in one hundred eighty degrees, the image acquisition device is fixedly arranged on the inner side of one cross bar, and the lens faces the rotating axis.
Preferably, the rotary part comprises a first moving mechanism and an arc-shaped frame, the first moving mechanism is embedded in the circular rail in a sliding way through a sliding groove, the arc-shaped frame is fixedly arranged on the inner side surface of the first moving mechanism, and two ends of the cross rod are fixedly connected with the two arc-shaped frames respectively.
Preferably, the deflection mechanism comprises two brackets, two main shafts, four earplates and a third servo motor, wherein two brackets are vertically and fixedly arranged on the bottom surface of the transverse plate, the two main shafts are horizontally arranged, two ends of the two brackets are respectively rotatably arranged in the two brackets, the third servo motor is fixedly arranged on the outer side of one bracket, the output end of the third servo motor is connected with the end parts of the two main shafts through a gear set, the two main shafts are simultaneously and reversely rotated under the driving of the third servo motor, the four earplates are vertically and symmetrically arranged, and are respectively fixedly sleeved on the two main shafts, and the two ring rail top ends of the two groups of the third servo motor are fixedly connected with the top parts of the four earplates.
Preferably, the other horizontal pole that keeps away from image acquisition device is last to be equipped with the jacking part, the jacking part includes base, flexible jar, support body and a plurality of second ball, base fixed mounting is on the horizontal pole, flexible jar vertical fixation is in the base, support body horizontal fixation installs at flexible jar top output, and a plurality of the second ball is all rolled to inlay and is established at support body internal middle part, and is the arc and distributes, and first ball second ball and support body are insulating material.
Preferably, two groups of cleaning components and marking components are symmetrically arranged on a cross rod of the image acquisition device, the marking components comprise a second moving mechanism, a first liquid storage tank, a first pump body and a first spray head, the second moving mechanism is slidably sleeved on the cross rod, the first liquid storage tank is fixedly arranged at the bottom side of the second moving mechanism, the first pump body is fixedly arranged at the bottom end of the second moving mechanism, the input end is communicated with the inner connection of the first liquid storage tank, and the first spray head is fixedly arranged at the bottom output end of the first pump body.
Preferably, the cleaning component comprises a placement block, a second pump body, a second liquid storage tank and a second spray head, wherein the placement block is fixedly installed on the cross rod, the second liquid storage tank is fixedly installed at the bottom of the placement block, the second pump body is fixedly installed at the bottom of the placement block, the input end of the second pump body is fixedly connected and communicated with the inside of the second liquid storage tank, and the second spray head is fixedly installed at the output end of the bottom of the second pump body.
Compared with the prior art, the invention has the following beneficial effects:
1. under the cooperation of the four groups of clamping components, the cable and the machine body are combined together, the machine body can be close to the cable to collect image data, the cable is fixed through clamping, the unstable influence of lifting airflow generated by the propeller on the cable is eliminated, stable imaging is facilitated, and data collection is clearer;
2. during detection, the two first moving mechanisms can simultaneously operate, so that the image acquisition device can rotate around the cable, the machine body can move, the image acquisition device can transversely move along the cable, the cable can be inspected without dead angles, the inspection is more efficient, and under the action of the jacking component, the cable is bent towards the image pickup area of the image acquisition device, so that cracks on the surface of the cable can be highlighted, and the inspection of the cable cracks is more convenient;
3. when patrolling and examining, lie in the clean part operation of route front side of patrolling and examining, can shoot the cable region at image acquisition device, with the regional clean up of cable surface pollution, guarantee to clean, avoid polluting and lead to the fact the influence to imaging, in the testing process, if find that the cable has the problem, two sets of mark parts cooperate, can mark the cable has the region of problem, discernment when being convenient for later maintenance promotes work efficiency.
Drawings
Fig. 1 is a schematic perspective view of an electric power inspection unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic diagram of a front view partial cross-section structure of the electric inspection unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic perspective view of a jacking component in the electric power inspection unmanned aerial vehicle according to the present invention;
FIG. 4 is an enlarged view of the structure at A in FIG. 1;
fig. 5 is an enlarged view of the structure at B in fig. 2.
In the figure: 1. a body; 2. a supporting frame; 3. a connecting frame; 4. a first servo motor; 5. a second servo motor; 6. a rotating shaft; 7. a rotating frame; 8. a cross plate; 9. a locking device; 10. a clamping block; 11. a first ball; 12. a pressure spring; 13. a sliding cavity; 14. a central camera mechanism; 15. a circular rail; 16. an image acquisition device; 17. a cross bar; 18. a chute; 19. a first moving mechanism; 20. an arc-shaped frame; 21. a bracket; 22. a main shaft; 23. ear plates; 24. a third servo motor; 25. a base; 26. a telescopic cylinder; 27. a frame body; 28. a second ball; 29. a second moving mechanism; 30. a first reservoir; 31. a first pump body; 32. a first nozzle; 33. a placement block; 34. a second pump body; 35. a second liquid storage tank; 36. a second nozzle; 37. a cable.
Detailed Description
The following description of the present invention will be made more fully hereinafter with reference to the accompanying drawings, in which it is evident that only some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, reference numeral 37 represents a cable, an electric drone, comprising: the machine body 1, the machine body 1 is controlled by external control terminals, landing gear devices are symmetrically arranged at the bottom ends of two sides, each landing gear device can independently operate, each landing gear device comprises an adjusting component and a clamping component, the clamping component is arranged at the bottom of the adjusting component, the adjusting component comprises a support frame 2, a connecting frame 3, a first servo motor 4, a second servo motor 5, two rotating shafts 6 and a rotating frame 7, the support frame 2 is fixedly arranged at the bottom of the machine body 1, the two rotating shafts 6 are respectively rotatably sleeved in the support frame 2 and at the bottom of the connecting frame 3, the top end of the connecting frame 3 is fixedly sleeved on the rotating shaft 6 positioned in the support frame 2, the top end of the rotating frame 7 is fixedly sleeved on the rotating shaft 6 positioned at the bottom of the connecting frame 3, the first servo motor 4 is fixedly arranged at the outer side of the support frame 2, the output end of the first servo motor is fixedly connected with the end of the rotating shaft 6 at the upper side, the second servo motor 5 is fixedly arranged at the outer side of the bottom of the connecting frame 3, the output end is fixedly connected with the end part of the rotating shaft 6 at the bottom side, the clamping assembly comprises two groups of clamping components, a transverse plate 8 and two locking devices 9, the two locking devices 9 are symmetrically and fixedly arranged at the top of the transverse plate 8, the transverse plate 8 is fixedly clamped with the two ends of the rotating frame 7 through the two locking devices 9, the two groups of clamping components are symmetrically arranged at the bottom side of the transverse plate 8, the clamping components comprise a clamping block 10, three first balls 11 and two pressure springs 12, the clamping block 10 is vertically and fixedly arranged at the bottom surface of the transverse plate 8, two sliding cavities 13 are symmetrically arranged inside the clamping block 10, the three first balls 11 are embedded in the clamping block 10 and are uniformly distributed in a ring shape, the first balls 11 in the middle part are positioned at the middle top of the clamping block 10, the two pressure springs 12 are respectively arranged in the two sliding cavities 13, one ends far away from each other are fixedly connected with the inner walls of the sliding cavities 13, the two first balls 11 at the bottom side are respectively embedded at the top ends of the two sliding cavities 13, the three first balls 11 can roll freely, the locking device 9 can assemble and disassemble the clamping assembly and the transverse plate 8 so as to replace the corresponding clamping assembly according to the specification of the cable 37, the bottom of the machine body 1 is provided with the central camera shooting mechanism 14, the central camera shooting mechanism 14 of the detection mechanism is arranged between the two groups of clamping components, the machine body 1 can be combined with the cable 37 in an auxiliary mode, and meanwhile the detection mechanism can be assisted in image acquisition.
Each electrical equipment is supplied with power by an external power supply, and the whole device controls the implementation of the electrical equipment through the control terminal, and the electrical connection relation and the specific circuit structure of the electrical equipment are not repeated herein because the control terminal is common equipment and belongs to the prior art.
The detection mechanism comprises two groups of annular rails 15, an image acquisition device 16, two cross rods 17 and two groups of rotating parts, wherein the two groups of annular rails 15 are symmetrically arranged between the two groups of clamping parts, the annular rails 15 are composed of two semi-rings, sliding grooves 18 are formed in the side faces of the annular rails, the tops of the annular rails 15 are connected with the bottom face of the transverse plate 8 through a deflection mechanism, the two cross rods 17 are horizontally arranged and connected with the two groups of annular rails 15 through the two groups of rotating parts, the two cross rods 17 are distributed in one hundred eighty degrees, the image acquisition device 16 is fixedly arranged on the inner side of one cross rod 17, and a lens faces towards a rotation axis.
The turning part comprises a first moving mechanism 19 and an arc-shaped frame 20, the first moving mechanism 19 is embedded in the annular rail 15 in a sliding manner through a sliding groove 18, the arc-shaped frame 20 is fixedly arranged on the inner side surface of the first moving mechanism 19, and two ends of the cross rod 17 are fixedly connected with the two arc-shaped frames 20 respectively.
The deflection mechanism comprises two brackets 21, two main shafts 22, four lug plates 23 and a third servo motor 24, wherein the two brackets 21 are vertically and fixedly arranged on the bottom surface of the transverse plate 8, the two main shafts 22 are horizontally arranged, two ends of the two main shafts are respectively and rotatably arranged in the two brackets 21, the third servo motor 24 is fixedly arranged on the outer side of one bracket 21, the output end of the third servo motor is connected with the end parts of the two main shafts 22 through a gear set, the two main shafts 22 are driven by the third servo motor 24 to reversely rotate simultaneously, the four lug plates 23 are vertically and symmetrically arranged and are respectively and fixedly sleeved on the two main shafts 22, and the top ends of the two groups of ring rails 15 are fixedly connected with the top parts of the four lug plates 23.
The other horizontal pole 17 that keeps away from image acquisition device 16 is last to be equipped with the jacking part, the jacking part includes base 25, telescopic cylinder 26, support body 27 and a plurality of second ball 28, base 25 fixed mounting is on horizontal pole 17, telescopic cylinder 26 vertical fixed mounting is in base 25, support body 27 horizontal fixed mounting is at telescopic cylinder 26 top output, a plurality of second balls 28 all roll and inlay and establish middle part in support body 27, and be the arc and distribute, first ball 11, second ball 28 and support body 27 are insulating material, first ball 11 and second ball 28 support move, support body 27 can carry out spacingly to cable 37, avoid its off tracking.
When the equipment is used for selecting the cables 37, a fly controls the whole machine body 1 through a control terminal, the whole machine body 1 is close to the cables 37 needing inspection under the assistance of the central camera shooting mechanism 14, then the position of the rotating frame 7 is adjusted through the first servo motor 4 and the second servo motor 5, the rotating frame 7 drives the transverse plate 8 to move through the locking device 9, so that two groups of clamping components are adjusted, gaps at the bottoms of the two clamping blocks 10 are aligned with the cables 37, after the two clamping blocks 10 are aligned, the whole machine body 1 is controlled to descend, the clamping blocks 10 are clamped on the cables 37, during clamping, the two first balls 11 at the bottom side compress the pressure spring 12, after clamping is in place, the pressure spring 12 is reset, the three first balls 11 wrap the cables 37, and the four groups of clamping components cooperate, so that the cables 37 are clamped in the machine body 1.
Through the mode, under the cooperation of four groups of clamping components, the cable 37 and the machine body 1 are combined together, the machine body 1 can be close to the cable 37 for image data acquisition, the cable 37 is fixed through clamping, the unstable influence of lift airflow generated by a propeller on the cable 37 is eliminated, stable imaging is facilitated, and data acquisition is clearer.
In the initial state, the two first moving mechanisms 19 are all static on the two annular rails 15 on the same side, the two annular rails 15 are in a separated state, after being clamped in place, the third servo motor 24 is operated, under the cooperation of the gear sets, the two main shafts 22 are simultaneously rotated reversely, the two groups of annular rails 15 are driven to be closed through the lug plates 23, when image acquisition shooting is carried out, the image acquisition device 16 can shoot a cable 37, the telescopic cylinders 26 are stretched, a pushing force can be applied to the cable 37, the pushing direction faces the image acquisition device 16, under the action of the pushing force, the cable 37 is bent towards the shooting area of the image acquisition device 16, cracks on the surface of the cable 37 can be highlighted, inspection of the cable 37 is facilitated, during the inspection, the two first moving mechanisms 19 can be operated simultaneously, the two cross rods 17 are driven to rotate around the cable 37 through the arc-shaped frame 20, the shooting view angle of the image acquisition device 16 is changed, the camera body 1 is matched to move, the first ball 11 and the second ball 28 roll on the surface of the cable 37, transverse movement is realized, and no dead angle inspection is carried out on the cable 37, and inspection is more efficient.
The cross rod 17 provided with the image acquisition device 16 is symmetrically provided with two groups of cleaning components and marking components, the marking components comprise a second moving mechanism 29, a first liquid storage tank 30, a first pump body 31 and a first spray head 32, the second moving mechanism 29 is slidably sleeved on the cross rod 17, the first liquid storage tank 30 is fixedly arranged at the bottom side of the second moving mechanism 29, the first pump body 31 is fixedly arranged at the bottom end of the second moving mechanism 29, the input end is communicated with the interior of the first liquid storage tank 30, the first spray head 32 is fixedly arranged at the output end at the bottom of the first pump body 31, the second moving mechanism 29 moves and can drive the first liquid storage tank 30, the first pump body 31 and the first spray head 32 to move, if a defect is detected in the cable 37, the first pump body 31 can extract marking liquid from the interior of the first liquid storage tank 30 and output the marking liquid to the surface of the cable 37 through the first spray head 32, the two groups of marking components cooperate to define a problematic area, and the output marking liquid has no influence on the operation of the cable 37.
The cleaning component comprises a placement block 33, a second pump body 34, a second liquid storage tank 35 and a second spray head 36, wherein the placement block 33 is fixedly arranged on the cross rod 17, the second liquid storage tank 35 is fixedly arranged at the bottom of the placement block 33, the second pump body 34 is fixedly arranged at the bottom of the placement block 33, the input end of the second liquid storage tank is fixedly connected and communicated with the inside of the second liquid storage tank 35, the second spray head 36 is fixedly arranged at the output end of the bottom of the second pump body 34, when the machine body 1 moves and detects, the second pump body 34 operates, cleaning liquid is extracted from the second liquid storage tank 35 and is output through the second spray head 36, the surface of a cable 37 is cleaned, pollutants are washed away, and subsequent image acquisition is facilitated.
When patrolling and examining, lie in the clean part operation of route front side of patrolling and examining, can be when image acquisition device 16 shoots cable 37 region, with the regional clean up of cable 37 surface pollution, guarantee to clean, avoid pollution to influence the formation of image, in the testing process, if find that cable 37 has the problem, two sets of mark parts cooperate, can mark the region that cable 37 has the problem, discernment when being convenient for later maintenance promotes work efficiency.
When image acquisition is performed, if the circumferential direction of the cable 37 is required to be subjected to image acquisition, the machine body 1 is kept stationary, the two first moving mechanisms 19 are operated simultaneously, so that the image acquisition device 16 rotates along the circumferential direction of the cable 37, if the axial direction of the cable 37 is required to be subjected to image acquisition, the two first moving mechanisms 19 are kept stationary, the machine body 1 moves forward on the premise that the cable 37 is not separated from the clamping component, so that the image acquisition device 16 moves along the axial direction of the cable 37 to perform acquisition, after reaching the end point of an acquisition area, the first moving mechanisms 19 operate, change the acquisition area and keep still, then the machine body 1 moves reversely, axial image acquisition can be performed on another area, and two groups of cleaning components cooperate, so that the cable 37 can be cleaned in the advancing direction of the machine body 1.
After the detection is completed, the first moving mechanism 19 is reset, moves to the middle part of the outer annular rail 15 and is static, the telescopic cylinder 26 is shortened, the frame 27 and the second ball 28 are separated from the cable 37, the third servo motor 24 runs, the two annular rails 15 are separated, the upward aerodynamic force of the machine body 1 is increased, the two clamping blocks 10 are separated from the cable 37, the separation is completed, and the inspection work is completed.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. An electric power inspection unmanned aerial vehicle, comprising: the machine body (1) is controlled by an external control terminal, landing gear devices are symmetrically arranged at the bottom ends of two sides of the machine body (1), and each landing gear device can independently operate;
the method is characterized in that: the landing gear device comprises an adjusting component and a clamping and embedding component, and the clamping and embedding component is arranged at the bottom of the adjusting component;
the adjusting assembly comprises a support frame (2), a connecting frame (3), a first servo motor (4), a second servo motor (5), two rotating shafts (6) and a rotating frame (7), wherein the support frame (2) is fixedly arranged at the bottom of the machine body (1), the two rotating shafts (6) are respectively rotatably sleeved in the support frame (2) and at the bottom of the connecting frame (3), the top end of the connecting frame (3) is fixedly sleeved on the rotating shaft (6) positioned in the support frame (2), the top end of the rotating frame (7) is fixedly sleeved on the rotating shaft (6) positioned at the bottom of the connecting frame (3), the first servo motor (4) is fixedly arranged at the outer side of the support frame (2), the output end of the first servo motor is fixedly connected with the end of the rotating shaft (6) at the upper side, and the second servo motor (5) is fixedly arranged at the outer side of the bottom of the connecting frame (3) and the output end of the rotating shaft (6) at the bottom side of the connecting frame.
The clamping assembly comprises two groups of clamping components, a transverse plate (8) and two locking devices (9), wherein the two locking devices (9) are symmetrically and fixedly arranged at the top of the transverse plate (8), and the transverse plate (8) is fixedly clamped with two ends of the rotating frame (7) through the two locking devices (9);
the clamping components are symmetrically arranged at the bottom side of the transverse plate (8), each clamping component comprises a clamping block (10), three first balls (11) and two pressure springs (12), each clamping block (10) is vertically and fixedly arranged at the bottom surface of the transverse plate (8), two sliding cavities (13) are symmetrically formed in the clamping block (10) in a left-right symmetry mode, the three first balls (11) are embedded in the clamping block (10) and are uniformly distributed in a ring shape, the first balls (11) in the middle are located at the middle top of the clamping block (10), the two pressure springs (12) are respectively arranged in the two sliding cavities (13), one ends far away from each other are fixedly connected with the inner walls of the sliding cavities (13), the two first balls (11) at the bottom side are respectively embedded at the top ends of the two sliding cavities (13), and the three first balls (11) can freely roll;
a central camera shooting mechanism (14) is arranged at the bottom of the machine body (1), and a detection mechanism is arranged between the two groups of clamping components;
the detection mechanism comprises two groups of ring rails (15), an image acquisition device (16), two cross bars (17) and two groups of rotating parts, wherein the two groups of ring rails (15) are symmetrically arranged between the two groups of clamping parts, the ring rails (15) are composed of two semi-rings, sliding grooves (18) are formed in the side surfaces of the ring rails (15), the tops of the ring rails (15) are connected with the bottom surfaces of the cross bars (8) through deflection mechanisms, the two cross bars (17) are horizontally arranged and connected with the two groups of ring rails (15) through the two groups of rotating parts, the two cross bars (17) are distributed in a hundred eighty degree mode, and the image acquisition device (16) is fixedly arranged on the inner side of one cross bar (17) and the lens faces the rotating axis;
the rotary part comprises a first moving mechanism (19) and arc-shaped frames (20), the first moving mechanism (19) is embedded in the annular rail (15) in a sliding manner through a sliding groove (18), the arc-shaped frames (20) are fixedly arranged on the inner side surface of the first moving mechanism (19), and two ends of the cross rod (17) are fixedly connected with the two arc-shaped frames (20) respectively;
the other horizontal pole (17) of keeping away from image acquisition device (16) is last to be equipped with jacking part, jacking part includes base (25), flexible jar (26), support body (27) and a plurality of second ball (28), base (25) fixed mounting is on horizontal pole (17), flexible jar (26) vertical fixed mounting is in base (25), support body (27) horizontal fixed mounting is at flexible jar (26) top output, a plurality of second ball (28) all roll and inlay the middle part in support body (27), and be the arc and distribute, first ball (11), second ball (28) and support body (27) are insulating material.
2. The power inspection unmanned aerial vehicle of claim 1, wherein: the deflection mechanism comprises two supports (21), two main shafts (22), four lug plates (23) and a third servo motor (24), wherein the two supports (21) are vertically and fixedly installed on the bottom surface of a transverse plate (8), the two main shafts (22) are horizontally arranged, two ends of the two main shafts are respectively and rotatably installed in the two supports (21), the third servo motor (24) is fixedly installed on the outer side of one support (21), the output end of the third servo motor is connected with the end portions of the two main shafts (22) through a gear set, the two main shafts (22) are driven by the third servo motor (24) to reversely rotate simultaneously, the four lug plates (23) are vertically and symmetrically arranged, the two main shafts (22) are fixedly sleeved with the top ends of a ring rail (15) and the top of the four lug plates (23) respectively.
3. The power inspection unmanned aerial vehicle of claim 1, wherein: two groups of cleaning components and marking components are symmetrically arranged on a cross rod (17) of the image acquisition device (16), the marking components comprise a second moving mechanism (29), a first liquid storage tank (30), a first pump body (31) and a first spray head (32), the second moving mechanism (29) is slidably sleeved on the cross rod (17), the first liquid storage tank (30) is fixedly arranged on the bottom side of the second moving mechanism (29), the first pump body (31) is fixedly arranged at the bottom end of the second moving mechanism (29), the input end is communicated with the inner connection of the first liquid storage tank (30), and the first spray head (32) is fixedly arranged at the bottom output end of the first pump body (31).
4. A power inspection drone as claimed in claim 3, wherein: the cleaning component comprises a placement block (33), a second pump body (34), a second liquid storage tank (35) and a second spray head (36), wherein the placement block (33) is fixedly installed on a cross rod (17), the second liquid storage tank (35) is fixedly installed at the bottom of the placement block (33), the second pump body (34) is fixedly installed at the bottom of the placement block (33), an input end is communicated with the inside fixed connection of the second liquid storage tank (35), and the second spray head (36) is fixedly installed at the bottom output end of the second pump body (34).
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