CN117728316A - Intelligent pin supplementing vehicle for double-split-row transmission line carried by unmanned aerial vehicle - Google Patents
Intelligent pin supplementing vehicle for double-split-row transmission line carried by unmanned aerial vehicle Download PDFInfo
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- CN117728316A CN117728316A CN202311755899.3A CN202311755899A CN117728316A CN 117728316 A CN117728316 A CN 117728316A CN 202311755899 A CN202311755899 A CN 202311755899A CN 117728316 A CN117728316 A CN 117728316A
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- 230000000712 assembly Effects 0.000 abstract 1
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- 238000000034 method Methods 0.000 description 6
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Abstract
The invention discloses an intelligent pin supplementing vehicle for a double-split-row transmission line carried by an unmanned aerial vehicle, which comprises a frame, wherein two traveling assemblies are arranged on the inner side of the frame, two supports are fixedly connected to the bottom of the frame, and two mechanical arms are arranged on the opposite sides of the two supports. According to the invention, two six-axis manipulators can supplement pins to a plurality of positions at the same time, so that the flexibility and the efficiency are high; the walking assembly adopts a toothed obstacle crossing guide wheel, and can cross obstacles such as a spacer rod, a damper and the like on a high-voltage line, so that the obstacle crossing capability of the pin supplementing vehicle is greatly improved; and when the pin supplementing vehicle works, the setting of balancing weight can be to the stability of effectual promotion pin supplementing vehicle work, can realize the effect of preventing weighing down to the pin supplementing vehicle moreover, promotes the security of pin supplementing vehicle during operation.
Description
Technical Field
The invention relates to the technical field of compensation vehicles, in particular to an intelligent compensation vehicle for double-branch transmission lines carried by an unmanned aerial vehicle.
Background
In recent years, the safety rate of a transmission line in operation is reduced due to damage and falling of pins additionally arranged at electric connection parts in the operation time and the construction period of the transmission line along with weather (such as acid rain, snow, hail and the like) and vibration in the operation process, and the intelligent pin supplementing vehicle for the double-split transmission line is a device capable of carrying a pin supplementing mechanism to walk on the double-split transmission line, and drives the pin supplementing mechanism to be near a loose or faulty pin to repair the pin.
At present, two main methods of power failure treatment and electrification treatment are adopted for supplementing pins, the power failure and electrification treatment can bring great economic loss, the electrification treatment process is complex and has great potential safety hazard, so that a completely unmanned and efficient electrification treatment mode is needed in the present, and an intelligent double-branch-line power transmission line pin supplementing vehicle carried by an unmanned aerial vehicle is needed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an intelligent compensation vehicle for double-branch-row transmission lines carried by an unmanned aerial vehicle, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The utility model provides a two branch electric transmission line intelligence of unmanned aerial vehicle carrying mend round pin car, includes the frame, two traveling components are installed to the inboard of frame, the bottom fixedly connected with of frame two supports, two the arm is all installed to the opposite side of support.
The walking assembly comprises two mounting frames, the surfaces of the two mounting frames are fixedly connected with the inner sides of the frames, the inner walls of the two mounting frames are respectively connected with a rotating rod in a rotating mode, two obstacle crossing guide wheels fixedly connected with the rotating rods are respectively sleeved on the rotating rods, one side of each frame is fixedly connected with a motor I, an output shaft of each motor I is fixedly connected with a driving wheel, one end of each rotating rod penetrates through and extends to the outer side of each frame, a driven wheel meshed with the driving wheel is fixedly connected to the rotating rod and close to one side of each motor, and chain wheels are fixedly connected to the rotating rods and are connected through chain transmission.
As a further description of the above technical solution:
one side of the bracket is fixedly connected with a controller for controlling the mechanical arm and the motor to be opened and closed.
As a further description of the above technical solution:
and a camera is arranged on the frame, and an output shaft of the camera is connected with the controller through signals.
As a further description of the above technical solution:
the camera is inserted on the rotating block and is fixedly connected with the rotating block, and the input end of the second motor is connected with a controller signal.
As a further description of the above technical solution:
the three-dimensional intelligent control device is characterized in that a sliding rod is connected to the support in a rotating mode, a motor three is fixedly connected to the support, an output shaft of the motor three penetrates through the support and is fixedly connected with the sliding rod, a balancing weight in sliding connection with the sliding rod is sleeved on the sliding rod, and an input end of the motor three is connected with a controller through signals.
As a further description of the above technical solution:
the balancing weight is inserted with an electric push rod fixedly connected with the balancing weight, and the input end of the electric push rod is connected with the controller through signals.
As a further description of the above technical solution:
one end of the electric push rod is fixedly connected with an anti-skid block, and the anti-skid block is a rubber layer.
As a further description of the above technical solution:
the shape of the sliding rod is L-shaped, and two limiting plates fixedly connected with the sliding rod are sleeved on the sliding rod.
Compared with the prior art, the invention has the advantages that:
according to the scheme, two six-axis manipulators can supplement pins to a plurality of positions at the same time, so that the flexibility is high and the efficiency is high; the walking assembly adopts a toothed obstacle crossing guide wheel, and can cross obstacles such as a spacer rod, a damper and the like on a high-voltage line, so that the obstacle crossing capability of the pin supplementing vehicle is greatly improved; and when the pin supplementing vehicle works, the setting of balancing weight can be to the stability of effectual promotion pin supplementing vehicle work, can realize the effect of preventing weighing down to the pin supplementing vehicle moreover, promotes the security of pin supplementing vehicle during operation.
Drawings
FIG. 1 is a perspective view of one embodiment of the present invention;
FIG. 2 is a perspective view of the second embodiment of the present invention;
FIG. 3 is a perspective view of the third embodiment of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 1 in accordance with the present invention;
FIG. 5 is a diagram showing the relationship between the positions of the electric push rod and the protection block when the pin supplementing vehicle works;
fig. 6 is a diagram showing the relationship between the positions of the electric push rod, the anti-skid block and the balancing weight in the invention.
The reference numerals in the figures illustrate:
1. a frame; 2. a walking assembly; 201. a mounting frame; 202. a rotating lever; 203. obstacle crossing guide wheels; 204. a first motor; 205. a driving wheel; 206. a driven wheel; 207. a sprocket; 3. a bracket; 4. a mechanical arm; 5. a controller; 6. a camera; 7. a through groove; 8. a rotating block; 9. a second motor; 10. a slide bar; 11. a third motor; 12. balancing weight; 13. an electric push rod; 14. an anti-skid block; 15. and a limiting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention;
referring to fig. 1-6, in the present invention: the utility model provides a two branch lines transmission line intelligence of unmanned aerial vehicle carrying mends round pin car, includes frame 1, and two traveling components 2 are installed to frame 1's inboard, and frame 1's bottom fixedly connected with two supports 3, two arms 4 are all installed to two supports 3's opposite sides.
The walking assembly 2 comprises two mounting frames 201, the surfaces of the two mounting frames 201 are fixedly connected with the inner sides of the frames 1, the inner walls of the two mounting frames 201 are rotatably connected with rotating rods 202, two obstacle crossing guide wheels 203 fixedly connected with the rotating rods 202 are sleeved on the two rotating rods 202, one side of the frame 1 is fixedly connected with a motor I204, an output shaft of the motor I204 is fixedly connected with a driving wheel 205, one end of the two rotating rods 202 penetrates through and extends to the outer side of the frame 1, a driven wheel 206 meshed with the driving wheel 205 is fixedly connected to the rotating rod 202 close to one side of the motor I204, chain wheels 207 are fixedly connected to the two rotating rods 202, and the two chain wheels 207 are in transmission connection through a chain; the frame 1 is provided with a camera 6, and an output shaft of the camera 6 is connected with the controller 5 in a signal way.
According to the invention, the unmanned aerial vehicle determines the safe flying space and the position of a problem point through the 3D scanning operation environment, the clamping jaw for the unmanned aerial vehicle and the pin supplementing vehicle are automatically flown to the vicinity of the problem point, in order to avoid insulation breakdown of a line, the unmanned aerial vehicle and the pin supplementing vehicle are mounted to enter the operation area from the outer side surface of the line, the frame 1 is slowly moved downwards through the delivery mechanism until two adjacent obstacle crossing guide wheels 203 are buckled on the line, the pin supplementing vehicle can be hung near the fault point, then the unmanned aerial vehicle flies away, a motor 204 on the pin supplementing vehicle drives a driving wheel 205 to rotate so as to drive a driven wheel 206 to rotate, then the obstacle crossing guide wheels 203 roll along the line so as to drive the pin supplementing vehicle to cross obstacles such as a spacer on the line, and further walk to the fault position.
And then, observing through a camera 6, guiding the mechanical arm 4 to align the pin supplementing assembly arranged on the mechanical arm 4 with the pin hole at the fault position, and driving the pin supplementing assembly to completely penetrate the pin into the pin hole to complete pin supplementing work for the fault point, and after repairing, the unmanned aerial vehicle flies above the pin supplementing vehicle to clamp and take away the unmanned aerial vehicle.
Please refer to fig. 4, wherein: one side of the bracket 3 is fixedly connected with a controller 5 for controlling the mechanical arm 4 and the motor I204 to be opened and closed.
In the invention, the arrangement of the controller 5 can facilitate the control of the electricity on the device by a user, and can transmit the working state to the ground staff in real time, thereby being beneficial to the staff to control the pin supplementing work.
Please refer to fig. 3, wherein: the frame 1 is provided with a through groove 7, the inner wall of the through groove 7 is rotationally connected with a rotating block 8, the bottom of the frame 1 is fixedly connected with a motor II 9, an output shaft of the motor II 9 penetrates through the frame 1 and is fixedly connected with the rotating block 8, the camera 6 is inserted on the rotating block 8 and is fixedly connected with the rotating block 8, and the input end of the motor II 9 is in signal connection with the controller 5.
According to the invention, the second motor 9 is started to drive the rotating block 8 to rotate, and the rotating block 8 drives the camera 6 to rotate in the rotating process, so that a worker can observe a fault point, and the pin supplementing effect and efficiency are improved.
Please refer to fig. 1, 2, 3, 5 and 6, wherein: the support 3 is rotatably connected with a slide bar 10, the support 3 is fixedly connected with a motor III 11, an output shaft of the motor III 11 penetrates through the support 3 and is fixedly connected with the slide bar 10, a balancing weight 12 which is in sliding connection with the slide bar 10 is sleeved on the slide bar 10, and an input end of the motor III 11 is in signal connection with the controller 5; the slide bar 10 is L-shaped, and two limiting plates 15 fixedly connected with the slide bar 10 are sleeved on the slide bar 10.
According to the invention, in the process of mounting the pin supplementing vehicle on the unmanned aerial vehicle and moving, one end of the sliding rod 10, far from the motor III 11, can incline towards the direction, at the moment, the balancing weight 12 can slide downwards along the sliding rod 10, the balancing weight 12 can be positioned at the central position of the frame 1, further stable flying of the unmanned aerial vehicle is facilitated, until the pin supplementing vehicle is placed on a cable, a user starts the motor III 11 to drive the sliding rod 10 to rotate until one end of the sliding rod 10, far from the motor III 11, is vertically arranged on the ground, at the moment, the balancing weight 12 can move until one end, far from the motor III 11, of the sliding rod 10 is contacted with the limiting plate 15, at the moment, the gravity effect of the balancing weight 12 can reduce the gravity center of the pin supplementing vehicle, the pin supplementing vehicle is clung to a circuit, the condition that the pin supplementing vehicle is blown by strong wind is inclined is reduced, and the stability of the device is improved.
Please refer to fig. 1, 2, 3, 5 and 6, wherein: the balancing weight 12 is inserted with an electric push rod 13 fixedly connected with the balancing weight, and the input end of the electric push rod 13 is connected with the controller 5 in a signal manner; one end of the electric push rod 13 is fixedly connected with an anti-skid block 14, and the anti-skid block 14 is a rubber layer.
In the invention, two electric push rods 13 are started in the process of moving the pin supplementing vehicle on the line, opposite ends of the two electric push rods 13 are mutually close until two anti-slip blocks 14 on the electric push rods 13 are tightly attached, at the moment, the two slide rods 10 and the two electric push rods 13 form a closed loop, the pin supplementing vehicle is sleeved on the line, even if the pin supplementing vehicle is blown off in windy weather, the pin supplementing vehicle cannot fall from a high place, the anti-falling effect of the pin supplementing vehicle is achieved, the condition that the pin supplementing vehicle falls to harm the line and workers below is avoided, and the safety of the device is improved.
The above is a preferred embodiment of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (8)
1. The utility model provides an intelligent pin supplementing vehicle for double-branch transmission lines of unmanned aerial vehicle carrying, includes frame (1), its characterized in that: two walking components (2) are arranged on the inner side of the frame (1), two supports (3) are fixedly connected to the bottom of the frame (1), and two mechanical arms (4) are arranged on the opposite sides of the two supports (3);
the walking assembly (2) comprises two mounting frames (201), the surfaces of the two mounting frames (201) are fixedly connected with the inner sides of the frames (1), the inner walls of the two mounting frames (201) are rotatably connected with rotating rods (202), two obstacle crossing guide wheels (203) fixedly connected with the rotating rods are sleeved on the rotating rods (202), one side of each frame (1) is fixedly connected with a motor I (204), an output shaft of each motor I (204) is fixedly connected with a driving wheel (205), one end of each rotating rod (202) penetrates through and extends to the outer side of each frame (1), driven wheels (206) meshed with the corresponding driving wheel (205) are fixedly connected to the rotating rods (202), and two chain wheels (207) are connected through chain transmission.
2. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 1, is characterized in that: one side of the bracket (3) is fixedly connected with a controller (5) for controlling the mechanical arm (4) and the motor I (204) to be opened and closed.
3. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 2, is characterized in that: the camera (6) is installed on the frame (1), and an output shaft of the camera (6) is connected with the controller (5) in a signal mode.
4. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 3, wherein: the camera is characterized in that a through groove (7) is formed in the frame (1), the inner wall of the through groove (7) is rotationally connected with a rotating block (8), a motor II (9) is fixedly connected to the bottom of the frame (1), an output shaft of the motor II (9) penetrates through the frame (1) and is fixedly connected with the rotating block (8), the camera (6) is inserted on the rotating block (8) and is fixedly connected with the rotating block, and the input end of the motor II (9) is connected with a controller (5) through signals.
5. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 2, is characterized in that: the novel intelligent control device is characterized in that a sliding rod (10) is connected onto the support (3) in a rotating mode, a motor III (11) is fixedly connected onto the support (3), an output shaft of the motor III (11) penetrates through the support (3) and is fixedly connected with the sliding rod (10), a balancing weight (12) in sliding connection with the sliding rod is sleeved on the sliding rod (10), and an input end of the motor III (11) is in signal connection with the controller (5).
6. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 5, wherein the intelligent compensation vehicle is characterized in that: the balancing weight (12) is inserted with an electric push rod (13) fixedly connected with the balancing weight, and the input end of the electric push rod (13) is connected with the controller (5) in a signal mode.
7. The unmanned aerial vehicle-mounted intelligent compensation vehicle for the double-split-row transmission line, according to claim 6, is characterized in that: one end of the electric push rod (13) is fixedly connected with an anti-skid block (14), and the anti-skid block (14) is a rubber layer.
8. The unmanned aerial vehicle-mounted intelligent compensation vehicle for double-split-row transmission lines, according to claim 5, wherein the intelligent compensation vehicle is characterized in that: the sliding rod (10) is L-shaped, and two limiting plates (15) fixedly connected with the sliding rod (10) are sleeved on the sliding rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311755899.3A CN117728316A (en) | 2023-12-20 | 2023-12-20 | Intelligent pin supplementing vehicle for double-split-row transmission line carried by unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311755899.3A CN117728316A (en) | 2023-12-20 | 2023-12-20 | Intelligent pin supplementing vehicle for double-split-row transmission line carried by unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117728316A true CN117728316A (en) | 2024-03-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311755899.3A Pending CN117728316A (en) | 2023-12-20 | 2023-12-20 | Intelligent pin supplementing vehicle for double-split-row transmission line carried by unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117728316A (en) |
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2023
- 2023-12-20 CN CN202311755899.3A patent/CN117728316A/en active Pending
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