CN118405264A - A method for automatically hanging and taking safety rope of unmanned aerial vehicle - Google Patents
A method for automatically hanging and taking safety rope of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN118405264A CN118405264A CN202410504617.0A CN202410504617A CN118405264A CN 118405264 A CN118405264 A CN 118405264A CN 202410504617 A CN202410504617 A CN 202410504617A CN 118405264 A CN118405264 A CN 118405264A
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- aerial vehicle
- unmanned aerial
- fixing device
- safety
- crank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
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- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention relates to the technical field of electric power construction, in particular to a method for automatically hanging safety ropes of an unmanned aerial vehicle, which comprises the following steps: acquiring a pick-up point; carrying a safety fixing device; positioning a hanging point; the installation and the dismantlement of safe fixing device, safe fixing device includes the frame arch, the frame arch top is equipped with the slide bar, the slide bar top is equipped with rings, frame arch one side is equipped with crank block assembly, crank block assembly's bottom is provided with crank mechanism, just one side of crank block assembly is provided with the latch bolt locking subassembly, the slide bar pass through the connecting rope and link to each other with crank block and latch bolt locking subassembly respectively, with the frame arch bottom of one side opposite to the spout is provided with safety rope installation mechanism. The safety fixing device has good integral structure, does not need to assemble excessive parts, greatly reduces the preparation time, improves the operation efficiency and simplifies the difficulty of field operation.
Description
Technical Field
The invention relates to the technical field of electric power construction, in particular to a method for automatically hanging safety ropes of an unmanned aerial vehicle.
Background
The prior art is not considered to install safety rope devices at the beginning of the design of a large number of in-service iron towers, so that when workers climb the iron towers, the first worker only needs to climb the tower top by carrying safety ropes with unequal lengths under the protection of no anti-falling system, then manually fix the safety ropes to the angle steel at the tower top, put down the safety ropes for the rest workers to climb the iron towers, and the rest workers can have the protection of safety falling protectors, and after the workers finish the operation, the last worker who falls the tower still needs to take down the safety ropes and take the safety ropes back to the tower bottom. This is dangerous for the first and last tower-lowering operators due to the lack of safety guards.
At present, the technical scheme that the existing automatic hanging and taking safety fixing device of the unmanned aerial vehicle in the domestic market depends on is that a hook device is hung at the bottom of the unmanned aerial vehicle, the hook device is connected with the safety fixing device, the safety fixing device is connected with a vertical safety rope, an operator at the bottom of the tower controls the unmanned aerial vehicle to fly to the right upper part of the angle steel of the tower top of the iron tower, the unmanned aerial vehicle is controlled to fall down to clamp the safety fixing device on the angle steel, the vertical safety rope is tensioned and fixed at the bottom of the tower, the unmanned aerial vehicle is controlled to carry out unhooking operation of the hook device and the safety fixing device, and then the unmanned aerial vehicle flies back to the ground to complete hanging action. At the moment, an operator can hang the anti-falling device on the vertical safety rope for operation, and the safety fixing device can provide safety anti-falling guarantee for the operator. When the worker finishes the operation and returns to the bottom of the tower, the worker can control the unmanned aerial vehicle to fly to the position right above the tower top safety fixing device, the hook device at the bottom of the unmanned aerial vehicle is connected with the safety fixing device through the operation unmanned aerial vehicle, the vertical safety rope locking device at the bottom of the tower is loosened, the operation unmanned aerial vehicle takes off the safety fixing device from the angle steel and flies back to the ground, the hook taking action is completed, and at the moment, a whole set of operation action is completed.
In the prior art, the safety fixing device is poor in integrity, a plurality of mechanisms are often required to form the safety fixing device on the market, the integration level is low, the installation is troublesome, the operation complexity is high, the unmanned aerial vehicle bottom is often required to be hung with a plurality of mechanisms to realize the hanging action, the operation is complicated when the unmanned aerial vehicle bottom is installed on the ground to be connected, and under the condition that certain working environments are narrow, the unmanned aerial vehicle bottom is hung with too many mechanisms to influence the flight of the unmanned aerial vehicle and realize the action of whole hanging.
Disclosure of Invention
The invention solves the problems in the related art, and provides the method for automatically hanging the safety rope by the unmanned aerial vehicle, which has the advantages of good safety fixing device integration, simplified field operation difficulty, simple unmanned aerial vehicle hanging, high efficiency and low difficulty.
In order to solve the technical problems, the invention is realized by the following technical scheme: a method for automatically hanging a safety rope of an unmanned aerial vehicle, comprising the following steps:
s1, acquiring a pick-up point;
s2, carrying a safety fixing device;
S3, positioning a hanging point;
S4, installing a safety fixing device;
S5, disassembling the safety fixing device;
The safety fixing device comprises an arch frame, a sliding rod is arranged at the top end of the arch frame, a hanging ring is arranged at the top end of the sliding rod, the sliding rod is slidably mounted on a mounting seat at the top end of the arch frame, a sliding groove is formed in one side of the arch frame, a crank block component is arranged in the sliding groove, the crank block component comprises a crank block and a fixing rod, the fixing rod is arranged on the arch frame, the crank block is slidably connected onto the fixing rod, a crank mechanism is arranged at the bottom of the crank block component, an inclined tongue locking component is arranged on one side of the crank block component, and the sliding rod is connected with the crank block and the inclined tongue locking component through connecting ropes, and a safety rope mounting mechanism is arranged at the bottom of the arch frame on one side opposite to the sliding groove.
As the preferred scheme, crank mechanism includes articulated pole, articulated frame, pivot, grip block, the one end of articulated pole is articulated with the bottom of slider-crank, and the other end articulates on the articulated frame, the pivot rotates the bottom of connecting at the frame arch, articulated frame fixed connection is in the outer wall of pivot, grip block fixed mounting just sets up the inside of frame arch in the outer wall of pivot.
As the preferred scheme, the latch locking subassembly includes L type mounting bracket, latch, spring, cam lever, L template, L type mounting bracket fixed mounting is on the frame of arch, the latch sets up at slider-crank's top, the spring housing is established at the outer wall of latch, L template fixed connection is at the inner wall of L type mounting bracket, the rectangular hole has been seted up on the L type mounting bracket, the latch passes rectangular hole and rectangular hole swing joint, the both ends of spring respectively with the inner wall of L type mounting bracket and the inner wall fixed connection of L template, the cam lever sets up on the latch and links to each other with the slide bar through the connecting rope.
As the preferable scheme, safety rope installation mechanism includes locking groove and locking lever, the both sides of locking groove are provided with the locking hole, the locking lever is installed in the locking hole through the screw rod screw thread at both ends.
Preferably, the width of the opening of the arch is 150mm.
As a preferred solution, in step S1, the control signal of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle through the unmanned aerial vehicle control device by the operator on site after passing through the base station, so as to control the flight of the unmanned aerial vehicle, and after the operator moves the unmanned aerial vehicle to the set position, namely, the position of the safety fixing device, the unmanned aerial vehicle is made to fall on the ground or hover in the air.
As a preferred solution, the step S2 specifically includes:
s21, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
s22, the unmanned aerial vehicle moves to the top end of the safety fixing device, and the self-locking lifting hook is aligned with the lifting ring at the top end of the safety fixing device through the laser radar;
S23, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the hanging ring and the safety fixing device is suspended on the self-locking hook through the self-locking hook;
S24, after the unmanned aerial vehicle lifts the safety fixing device through the lifting ring, the sliding rod at the bottom of the lifting ring ascends synchronously, and meanwhile, the sliding rod pulls the crank sliding block and the cam rod to rotate through the connecting rope, so that the clamping plate is opened along with the rotation of the crank sliding block and the cam rod.
As a preferable scheme, the step S3 specifically comprises the steps that an operator moves the unmanned aerial vehicle to fly to the tower top of the iron tower through a high-definition camera on the unmanned aerial vehicle, and then cooperates with a laser radar to position an installation hanging point.
As a preferred solution, the step S4 specifically includes:
s41, operating the unmanned aerial vehicle to continuously descend and moving the angle steel to the inside of the safety fixing device after the operator aligns the angle steel at the top of the iron tower with the cavity in the safety fixing device;
s42, when the safety fixing device continuously descends until the angle steel moves to the top end inside the safety fixing device, the unmanned aerial vehicle mutually separates the self-locking hook from the hanging ring through self posture adjustment;
S43, the slide bar descends under the action of gravity of the slide bar, meanwhile, the crank slide block moves downwards along the slide groove after losing the limit of the slide bar, after the crank slide block and the inclined tongue are dislocated with each other, the inclined tongue ejects the inclined tongue and limits the crank slide block under the elastic action of the spring, and meanwhile, after the crank slide block moves to the bottom end, the clamping plate rotates inwards and clamps and fixes the angle steel.
Preferably, the specific operation in step S5 includes:
s51, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
S52, the unmanned aerial vehicle moves to the top end of the safety fixing device, and the self-locking lifting hook is aligned with the lifting ring at the top end of the safety fixing device through the laser radar;
s53, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the hanging ring and the safety fixing device is suspended on the self-locking hook through the self-locking hook;
S54, after the unmanned aerial vehicle lifts the safety fixing device through the lifting ring, the sliding rod at the bottom of the lifting ring ascends synchronously, and meanwhile, the sliding rod pulls the crank sliding block and the cam rod to rotate through the connecting rope, so that the clamping plate is opened along with the rotation of the crank sliding block and the cam rod.
Compared with the prior art, the invention has the beneficial effects that:
(1) The safety fixing device has good integral structure, does not need to assemble excessive parts during field operation, greatly reduces the preparation time of field operators, improves the operation efficiency and simplifies the difficulty of field operation;
(2) The arch frame of the installation fixing device has a larger opening, can be suitable for angle steel of all types on the market, does not need to adjust the size of the angle steel before operation, can provide great convenience for field operators, and can relieve the condition of stress concentration when the arch frame is subjected to impact load;
(3) The safety fixing device is large in opening, the unmanned aerial vehicle is high in positioning precision, the camera is wide in rotatable angle, and when the unmanned aerial vehicle is controlled to operate, the contact state between the safety fixing device and the angle steel can be monitored in real time through the high-definition camera, so that an operator can conveniently and well control the unmanned aerial vehicle to implement the hooking action, after the safety fixing device is completely hung on the angle steel, other special operations are not needed, and unhooking actions between the unmanned aerial vehicle and the safety fixing device can be completed only by controlling the unmanned aerial vehicle to fly; the operation integration is realized, and the operation flow of operators is simplified; when the safety fixing device is taken after the operation is finished, the docking action can be finished only by controlling the flight of the unmanned aerial vehicle, and the manual assistance of a person is not needed; high-efficiency and low-difficulty operation is realized;
(4) The invention has low manufacturing cost, and all other mechanisms except the unmanned aerial vehicle which is an electric control device are of pure mechanical structure, and other electric control system auxiliary operation is not needed, so that the reliability of the device is improved, and the cost of the whole equipment is greatly reduced.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic structural view of the safety fixture of the present invention;
FIG. 3 is a schematic view of the structure of the safety fixture of the present invention;
FIG. 4 is a schematic view of the construction of the latch locking assembly of the present invention;
fig. 5 is a schematic view of the structure of the lock lever of the present invention.
In the figure:
1. the device comprises an arch frame, 2, a sliding rod, 3, a hanging ring, 4, a sliding groove, 5, a crank block component, 501, a crank block, 502, a fixed rod, 6, a crank mechanism, 601, a hinge rod, 602, a hinge frame, 603, a rotating shaft, 604, a clamping plate, 7, a latch locking component, 701, an L-shaped mounting frame, 702, a latch, 703, a spring, 704, a cam rod, 705, an L-shaped plate, 8, a connecting rope, 9, a safety rope mounting mechanism, 901, a locking groove, 902, a locking rod, 903, a screw rod, 904, a locking hole, 10 and a weight reducing groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. 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.
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 exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1 to 5, a method for automatically hooking a safety rope of an unmanned aerial vehicle, wherein a safety fixing device comprises a arch 1, and the arch 1 can alleviate stress concentration when being subjected to impact load; the top end of the arch-shaped frame 1 is provided with a slide bar 2, the slide bar 2 is slidably arranged on a mounting seat at the top end of the arch-shaped frame 1, the top end of the slide bar 2 is provided with a hanging ring 3, one side of the arch-shaped frame 1 is provided with a sliding chute 4, a crank block component 5 is arranged in the sliding chute 4, the crank block component 5 comprises a crank block 501 and a fixed rod 502, the fixed rod 502 is arranged on the arch-shaped frame 1, the crank block 501 is slidably connected to the fixed rod 502, the bottom of the crank block component 5 is provided with a crank mechanism 6, one side of the crank block component 5 is provided with a bevel tongue locking component 7, the slide bar 2 is respectively connected with the crank block 501 and the bevel tongue locking component 7 through connecting ropes 8, specifically, two circular rings are arranged on the slide bar 2, one ends of the two connecting ropes 8 are respectively fixed on the two circular rings, and the other ends of the two connecting ropes 8 are fixed on the circular rings at the top end of the crank block 501 and the bevel tongue locking component 7, and the crank block 501 can be driven to move up and down through the connecting ropes 8 when the slide bar 2 moves up and down; the bottom of the arch 1 on the side opposite to the chute 4 is provided with a safety rope mounting mechanism 9.
Wherein, carry out emulation to the angle steel of different model sizes and different orientation repeatedly and calculate, when the opening width of frame arch 1 is 150mm, applicable in the angle steel of all models on the market for safe fixing device's installation adaptation degree is high, then need not to do the adjustment to the size of angle steel before the operation, this can provide very big convenience for on-the-spot operating personnel.
In one embodiment, the crank mechanism 6 includes a hinge rod 601, a hinge frame 602, a rotating shaft 603, and a clamping plate 604, wherein one end of the hinge rod 601 is hinged to the bottom of the crank block 501, and the other end of the hinge rod is hinged to the hinge frame 602, the rotating shaft 603 is rotatably connected to the bottom of the arch frame 1, the hinge frame 602 is fixedly connected to the outer wall of the rotating shaft 603, and the clamping plate 604 is fixedly mounted on the outer wall of the rotating shaft 603 and is arranged inside the arch frame 1.
In one embodiment, the latch locking assembly 7 includes an L-shaped mounting frame 701, a latch 702, a spring 703, a cam rod 704, and an L-shaped plate 705, where the L-shaped mounting frame 701 is fixedly mounted on the arch frame 1, the latch 702 is disposed at the top of the crank block 501, the spring 703 is sleeved on the outer wall of the latch 702, the L-shaped plate 705 is fixedly connected to the inner wall of the L-shaped mounting frame 701, a rectangular hole is formed on the L-shaped mounting frame 701, the latch 702 passes through the rectangular hole and is movably connected to the rectangular hole, two ends of the spring 703 are respectively fixedly connected to the inner wall of the L-shaped mounting frame 701 and the inner wall of the L-shaped plate 705, the cam rod 704 is disposed on the latch 702 and is connected to the slide rod 2 through a connecting rope 8, and by designing the lengths of the two connecting ropes 8, the cam rod 704 can be rotated first when the hook is taken, and then the crank block 501 is forced to move upwards (in general case, the length of the connecting rope 8 connecting the cam rod 704 is shorter than the connecting rope 8 connecting the crank block 501).
In addition, the clamping plate 604 is rotated by 90 degrees by the crank mechanism 6 through the up-and-down movement of the crank slider 501, so that an open loop hook is changed into a closed loop hook, and the safety and the reliability of the device are improved; after the crank block 501 moves to the bottom limit, the inclined tongue 702 can be ejected by the spring 703 in the inclined tongue locking assembly 7 to clamp the crank block 501 and can not move up and down, so that the clamping plate 604 is fixed, and the overall safety of the equipment is further improved; the crank slide block 501 and the cam rod 704 of the inclined tongue locking assembly 7 are connected with the top slide bar 2 through a flexible connecting rope 8, the slide bar 2 moves up and down to drive the crank slide block 501 to move on the fixed bar 502 through the connecting rope 8, the inclined tongue 702 is sprung out by the elastic force of an internal spring 703, and the inclined tongue 702 is closed by the cam rod 704 connected with the slide bar 2 moving up along with the slide bar 2, the rope is pulled to rotate with the cam rod 704, and a cam device in the cam rod 704 drives the spring 703 to compress, so that the automatic closing action of the inclined tongue 702 is realized.
In one embodiment, the safety rope mounting mechanism 9 includes a locking groove 901 and locking bars 902, both sides of the locking groove 901 are provided with locking holes 904, and the locking bars 902 are screw-mounted in the locking holes 904 by screw rods 903 at both ends.
In addition, a weight reduction groove 10 is formed in the arch 1 on the opposite side of the chute 4, so that the weight of the whole structure is reduced as much as possible.
The specific steps are as follows:
Early preparation: the staff hangs the self-locking hook (the opening is in the horizontal direction) at the bottom of the unmanned aerial vehicle through rigid connection, and the safety rope is sleeved on the locking rod 902 through the circular ring of the opening to check the unmanned aerial vehicle state and whether the connection between all the parts is firm;
S1, acquiring a pick-up point: the unmanned aerial vehicle control device is used on site by an operator to transmit the control signal of the unmanned aerial vehicle to the unmanned aerial vehicle after passing through the base station, so that the flight of the unmanned aerial vehicle is controlled, and the unmanned aerial vehicle is moved to a set position, namely the position of the safety fixing device by the operator, so that the unmanned aerial vehicle falls on the ground or hovers in the air.
S2, carrying a safety fixing device:
s21, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
S22, the unmanned aerial vehicle moves to the top end of the safety fixing device and aligns the self-locking lifting hook with the lifting ring 3 at the top end of the safety fixing device through a laser radar;
s23, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the position of the hanging ring 3, and the safety fixing device is suspended on the self-locking hook through the self-locking hook;
S24, after the unmanned aerial vehicle lifts the safety fixing device through the lifting ring 3, the sliding rod 2 at the bottom of the lifting ring 3 ascends synchronously and preferentially drives the cam rod 704 to rotate, so that the spring 703 is compressed, the inclined tongue 702 is driven to retract into the device, the limit of the crank slider 501 is achieved, the crank slider 501 slides upwards along the fixing rod 502 under the tensile force of the connecting rope 8, the clamping plate 604 rotates outwards, and the clamping plate 604 is opened accordingly.
S3, positioning hanging points: operating personnel remove unmanned aerial vehicle through the high definition digtal camera on the unmanned aerial vehicle and fly to the iron tower top of the tower, cooperate laser radar to fix a position the installation suspension point afterwards.
S4, mounting a safety fixing device:
S41, operating an unmanned aerial vehicle to take off by an operator, flying the unmanned aerial vehicle to a position right above the angle steel of the iron tower, feeding back the angle steel towards the opening of the arch frame 1 through real-time high-definition cameras at the bottom of the unmanned aerial vehicle, and operating the unmanned aerial vehicle to continuously descend and move the angle steel to the inside of the safety fixing device after the operator aligns the angle steel at the top of the iron tower with a cavity in the safety fixing device;
S42, when the safety fixing device continuously descends until the angle steel moves to the top end inside the safety fixing device, the unmanned aerial vehicle separates the self-locking hook from the hanging ring 3 through posture adjustment of the unmanned aerial vehicle;
S43, the slide bar 2 descends under the action of self gravity, meanwhile, the crank slide block 501 moves downwards along the slide groove 4 after losing the limit of the slide bar 2, after the crank slide block 501 and the inclined tongue 702 are staggered with each other, the inclined tongue 702 ejects the inclined tongue 702 and limits the crank slide block 501 under the elastic action of the spring 703, meanwhile, after the crank slide block 501 moves to the bottom end, the clamping plate 604 rotates inwards and clamps and fixes angle steel, when the slide bar 2 moves to the bottom, the self-locking hook device tilts along with the descending of the unmanned aerial vehicle until the spring 703 opens a hook of the self-locking hook device, and the unmanned aerial vehicle is controlled to translate for unhooking;
in addition, after the unmanned aerial vehicle returns to the ground, the operation of hanging the safety fixing device on the whole unmanned aerial vehicle is completed after an operator is in a tensioning state of the safety rope at the bottom of the tower, the operator can bind the anti-falling device on the safety rope to start to climb the tower, and after the operator completes the whole operation of taking off the tower, the operation of taking the hook of the unmanned aerial vehicle can be started.
S5, disassembling the safety fixing device:
s51, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
S52, the unmanned aerial vehicle moves to the top end of the safety fixing device and aligns the self-locking lifting hook with the lifting ring 3 at the top end of the safety fixing device through a laser radar;
S53, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the position of the hanging ring 3, and the safety fixing device is suspended on the self-locking hook through the self-locking hook, so that the safety fixing device is in a natural suspension state;
S54, control unmanned aerial vehicle slowly and rise this moment, tilting device can be adjusted after the atress of auto-lock couple bottom, make couple automatic closure, unmanned aerial vehicle continues to fly upwards, unmanned aerial vehicle lifts by crane safety fixing device through rings 3 back, the slide bar 2 of rings 3 bottom rises in step, preferentially drive cam lever 704 and rotate, thereby compress spring 703, drive the latch bolt 702 and retract inside the device, realize slider crank 501 'S spacing, slider crank 501 upwards slides along dead lever 502 under connecting rope 8' S pulling force, make grip block 604 outwards rotate, grip block 604 opens thereupon, wait until slide bar 2 moves to the top, unmanned aerial vehicle continues to fly upwards, can make safety fixing device break away from the angle steel, afterwards only need control unmanned aerial vehicle and return ground, the safety rope, safety fixing device, the auto-lock couple is taken off from unmanned aerial vehicle bottom and is put in order to use next time.
The above is a preferred embodiment of the present invention, and a person skilled in the art can also make alterations and modifications to the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvements, substitutions or modifications made by the person skilled in the art on the basis of the present invention are all within the scope of the present invention.
Claims (10)
1. The method for automatically hanging the safety rope of the unmanned aerial vehicle is characterized by comprising the following steps of:
s1, acquiring a pick-up point;
s2, carrying a safety fixing device;
S3, positioning a hanging point;
S4, installing a safety fixing device;
S5, disassembling the safety fixing device;
The safety fixing device comprises an arch frame, a sliding rod is arranged at the top end of the arch frame, a hanging ring is arranged at the top end of the sliding rod, the sliding rod is slidably mounted on a mounting seat at the top end of the arch frame, a sliding groove is formed in one side of the arch frame, a crank block component is arranged in the sliding groove and comprises a crank block and a fixing rod, the fixing rod is arranged on the arch frame, the crank block is slidably connected onto the fixing rod, a crank mechanism is arranged at the bottom of the crank block component, an inclined tongue locking component is arranged on one side of the crank block component, and the sliding rod is connected with the crank block and the inclined tongue locking component through connecting ropes; and a safety rope mounting mechanism is arranged at the bottom of the arch frame at one side opposite to the chute.
2. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the crank mechanism comprises a hinge rod, a hinge frame, a rotating shaft and a clamping plate, wherein one end of the hinge rod is hinged to the bottom of the crank block, the other end of the hinge rod is hinged to the hinge frame, the rotating shaft is rotationally connected to the bottom of the arch frame, the hinge frame is fixedly connected to the outer wall of the rotating shaft, and the clamping plate is fixedly installed on the outer wall of the rotating shaft and is provided with the inside of the arch frame.
3. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the inclined tongue locking assembly comprises an L-shaped mounting frame, an inclined tongue, a spring, a cam rod and an L-shaped plate, wherein the L-shaped mounting frame is fixedly arranged on an arch-shaped frame, the inclined tongue is arranged at the top of a crank block, the spring is sleeved on the outer wall of the inclined tongue, the L-shaped plate is fixedly connected with the inner wall of the L-shaped mounting frame, a rectangular hole is formed in the L-shaped mounting frame, the inclined tongue penetrates through the rectangular hole and is movably connected with the rectangular hole, two ends of the spring are respectively fixedly connected with the inner wall of the L-shaped mounting frame and the inner wall of the L-shaped plate, and the cam rod is arranged on the inclined tongue and is connected with a sliding rod through a connecting rope.
4. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the safety rope installation mechanism comprises a locking groove and a locking rod, wherein locking holes are formed in two sides of the locking groove, and the locking rod is installed in the locking holes through screw threads at two ends.
5. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the width of the opening of the arch frame is 150mm.
6. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: specifically, step S1 includes that an operator uses the unmanned aerial vehicle control device on site to transmit a control signal of the unmanned aerial vehicle to the unmanned aerial vehicle after passing through the base station, so as to control the flight of the unmanned aerial vehicle, and the operator moves the unmanned aerial vehicle to a set position, namely, a position of the safety fixing device, and then enables the unmanned aerial vehicle to fall on the ground or hover in the air.
7. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the step S2 specifically includes:
s21, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
s22, the unmanned aerial vehicle moves to the top end of the safety fixing device, and the self-locking lifting hook is aligned with the lifting ring at the top end of the safety fixing device through the laser radar;
S23, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the hanging ring and the safety fixing device is suspended on the self-locking hook through the self-locking hook;
S24, after the unmanned aerial vehicle lifts the safety fixing device through the lifting ring, the sliding rod at the bottom of the lifting ring ascends synchronously, and meanwhile, the sliding rod pulls the crank sliding block and the cam rod to rotate through the connecting rope, so that the clamping plate is opened along with the rotation of the crank sliding block and the cam rod.
8. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: in the step S3, an operator moves the unmanned aerial vehicle to fly to the tower top of the iron tower through a high-definition camera on the unmanned aerial vehicle, and then cooperates with a laser radar to position an installation hanging point.
9. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the step S4 specifically includes:
s41, operating the unmanned aerial vehicle to continuously descend and moving the angle steel to the inside of the safety fixing device after the operator aligns the angle steel at the top of the iron tower with the cavity in the safety fixing device;
s42, when the safety fixing device continuously descends until the angle steel moves to the top end inside the safety fixing device, the unmanned aerial vehicle mutually separates the self-locking hook from the hanging ring through self posture adjustment;
S43, the slide bar descends under the action of gravity of the slide bar, meanwhile, the crank slide block moves downwards along the slide groove after losing the limit of the slide bar, after the crank slide block and the inclined tongue are dislocated with each other, the inclined tongue ejects the inclined tongue and limits the crank slide block under the elastic action of the spring, and meanwhile, after the crank slide block moves to the bottom end, the clamping plate rotates inwards and clamps and fixes the angle steel.
10. The method for automatically hooking a safety rope by an unmanned aerial vehicle according to claim 1, wherein: the specific operations in step S5 include:
s51, after the unmanned aerial vehicle moves to a set position, positioning the safety fixing device through a laser radar at the bottom of the unmanned aerial vehicle;
S52, the unmanned aerial vehicle moves to the top end of the safety fixing device, and the self-locking lifting hook is aligned with the lifting ring at the top end of the safety fixing device through the laser radar;
s53, the unmanned aerial vehicle continuously descends, the self-locking hook moves to the hanging ring and the safety fixing device is suspended on the self-locking hook through the self-locking hook;
S54, after the unmanned aerial vehicle lifts the safety fixing device through the lifting ring, the sliding rod at the bottom of the lifting ring ascends synchronously, and meanwhile, the sliding rod pulls the crank sliding block and the cam rod to rotate through the connecting rope, so that the clamping plate is opened along with the rotation of the crank sliding block and the cam rod.
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| CN202410504617.0A CN118405264A (en) | 2024-04-25 | 2024-04-25 | A method for automatically hanging and taking safety rope of unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119070185A (en) * | 2024-11-05 | 2024-12-03 | 山东五洲和兴设计咨询有限公司 | System and method for live transmission work based on drone and electric lifting technology |
| CN120049330A (en) * | 2025-01-17 | 2025-05-27 | 国网山东省电力公司青岛供电公司 | Tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and working method |
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2024
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119070185A (en) * | 2024-11-05 | 2024-12-03 | 山东五洲和兴设计咨询有限公司 | System and method for live transmission work based on drone and electric lifting technology |
| CN120049330A (en) * | 2025-01-17 | 2025-05-27 | 国网山东省电力公司青岛供电公司 | Tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and working method |
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