CN120049330A - Tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and working method - Google Patents
Tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and working method Download PDFInfo
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- CN120049330A CN120049330A CN202510079011.1A CN202510079011A CN120049330A CN 120049330 A CN120049330 A CN 120049330A CN 202510079011 A CN202510079011 A CN 202510079011A CN 120049330 A CN120049330 A CN 120049330A
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- aerial vehicle
- unmanned aerial
- tool
- working
- carrying platform
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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
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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
- B64D47/00—Equipment not otherwise provided for
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of electric power engineering, in particular to a tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and a working method thereof, wherein the tool carrying platform comprises a mounting frame and a hanging frame which are connected through an electromagnetic lock, the mounting frame is positioned on the upper top surface of a working tool, the hanging frame is connected with an UAV through an insulating rope, and a hanging ring connected with the tail end of the insulating rope stretches into a U-shaped groove of the electromagnetic lock; the electromagnetic lock comprises a mounting plate, wherein the surface of the mounting plate is provided with a positioning column and a limiting rib, the positioning column is sleeved with a torsion spring and a locking plate, the limiting rib is fixedly connected with the electromagnet, the electromagnet is connected with the limiting column through a spring, the locking plate comprises a rotating part, the rotating part is sleeved with the positioning column, long lock tongues and short lock tongues which are arranged in parallel and arc-shaped bulges which are arranged along the circumferential direction are arranged on the rotating part, the locking plate is locked when rotated to a set angle, the long lock tongues are positioned at the bottom of a U-shaped groove in a locking state, the short lock tongues penetrate through a hanging ring and are positioned in an upper space of the long lock tongues, and an included angle area formed by the edges of the bulges and the surface of the rotating part is clamped with the limiting column.
Description
Technical Field
The invention relates to the technical field of power engineering, in particular to a tool carrying platform based on unmanned frame empty cable live working and a working method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Live working is a maintenance mode aiming at overhead lines at present, and is mainly carried out by utilizing an insulating rod and an insulating arm car, and if the working scene is proper, the live working of the robot can be carried out. Part of robots need to utilize insulating rods and insulating arm trucks to need the staff to directly carry out relevant maintenance and maintenance operations in the face of electrified equipment, and the safety risk of electric shock of the staff is high.
If the unmanned aerial vehicle is adopted to carry the working tool to fly to the working point, the risk of electric shock of the staff can be reduced. When adopting this kind of operation mode, after the operation instrument is fixed on overhead cable, can utilize unlocking means to separate unmanned aerial vehicle and operation instrument body, ensure that the operation instrument can reliably carry out corresponding live working, and unlocking means's among the prior art structure is too complicated so that weight is great to the reliability is not ideal, and unexpected the leading to unable unblock easily appears.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working and a working method thereof, which simplify an electromagnetic lock structure for connecting an UAV and a working tool, make the structure more compact, reduce weight and improve reliability during operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The first aspect of the invention provides a tool carrying platform based on Unmanned Aerial Vehicle (UAV) empty cable live working, which comprises a mounting frame and a hanging frame, wherein the mounting frame and the hanging frame are connected through an electromagnetic lock, the mounting frame is positioned on the upper top surface of the working tool, the hanging frame is connected with an UAV through an insulating rope, and a hanging ring connected with the tail end of the insulating rope stretches into a U-shaped groove of the electromagnetic lock to realize connection;
The electromagnetic lock comprises a mounting plate, wherein the surface of the mounting plate is provided with a positioning column and a limiting rib, the positioning column is sleeved with a torsion spring and a locking plate, the limiting rib is fixedly connected with the electromagnet, the electromagnet is connected with the limiting column through a spring, the locking plate comprises a rotating part, the rotating part is sleeved with the positioning column, a long lock tongue and a short lock tongue which are arranged in parallel and arc-shaped bulges which are arranged along the circumferential direction are arranged on the rotating part, the locking plate is locked when rotated to a set angle, the long lock tongue is positioned at the bottom of a U-shaped groove in a locking state, the short lock tongue penetrates through a hanging ring and is positioned in an upper space of the long lock tongue, and an included angle area formed by the edges of the bulges and the surface of the rotating part is in butt joint with the top end of the limiting column.
Further, a guide plate is arranged on the lower bottom surface of the working tool and used for guiding the cable to enter the inner space of the working tool when the unmanned aerial vehicle drives the working tool to descend to the working point of the overhead cable.
Further, the deflector has two sets at least that arrange side by side, and every deflector of group has "people" style of calligraphy opening, and the open top of deflector is equipped with target in place detection sensor and pressure sensor.
Further, the electromagnetic lock comprises a mounting plate and a housing, wherein the housing is used for being connected with the hanging frame.
Further, a U-shaped groove is formed in the shell, and a hanging ring at the tail end of the insulating rope is located in the U-shaped groove.
Further, the length of the short bolt does not exceed the length of the long bolt.
Further, when the electromagnetic lock is in the unlocking state, the bulge is abutted with the top end of the limiting column, an opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock, and the lifting ring on the insulating rope can pass through the opening formed between the long lock tongue and the short lock tongue and the notch of the U-shaped groove.
Further, rings promote the locking plate rotation, and when the locking plate rotated to the settlement angle state, the spacing post was supported to the rotation portion of locking plate and the draw-in groove department that protruding edge formed and is realized the joint, hinders the reverse rotation trend of locking plate under the torsional spring effect.
Further, when satisfying the condition of releasing the insulating rope, the electro-magnet circular telegram produces magnetic force, attracts spacing post to be close to the electro-magnet and compression spring, makes spacing post not blockking the rotation action of locking plate, and the locking plate receives the torsional spring effect reversal, makes the opening that forms between long spring bolt and the short spring bolt, aligns with the notch in the U type groove of electromagnetic lock again, allows the rings of insulating rope to release from the U type groove, realizes the unblock.
A second aspect of the present invention provides a working method of a tool carrying platform based on unmanned aerial vehicle (unmanned aerial vehicle) empty cable live working, comprising the steps of:
The operation tool is fixedly arranged on the carrying platform, the carrying platform is connected with the unmanned aerial vehicle through an insulating rope, and the unmanned aerial vehicle is controlled to lift to a space above the overhead cable by carrying the operation tool on the carrying platform;
Confirming the working position through the positions of the wire rod and the cable;
The unmanned aerial vehicle hangs the working tool to the space above the working position and gradually falls down, when two in-place sensors have signals at the same time, the cable reliably enters the top of the U-shaped clamping groove, and the working tool starts to work and prepare;
When the signal fluctuation of the two pressure sensors is in a set range, the unmanned aerial vehicle descends to set height, so that the insulating rope is not in a tight state, and the operation is started;
After the operation is finished, the unmanned aerial vehicle ascends, the insulating rope is tensioned until the tension sensor reaches a set value, and the operation tool is ready to act and is released;
and resetting the tool, and lifting the tool to a preset position by the unmanned aerial vehicle to prepare for the next operation.
Compared with the prior art, the above technical scheme has the following beneficial effects:
The safety and the reliability of live working are difficult to be improved in weight by the aid of the working tool body, so that the structure of the electromagnetic lock is simplified, the structure of the electromagnetic lock is more compact, the weight is reduced, the reliability during the action is improved, and the probability of accidents is reduced. The opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock, so that the hanging ring on the insulating rope is allowed to be placed in, the short lock tongue penetrating through the hanging ring is utilized to lock the hanging ring, and meanwhile, the limiting column pushed by the spring is utilized to be connected with the locking plate in a clamping manner, so that the locking plate is prevented from rotating, and the hanging ring is locked in the electromagnetic lock. During locking, the elasticity of the torsion spring has a reverse movement trend on the rotating part of the locking plate, the movement trend generates lateral force on the limiting column, the limiting column realizes clamping by means of the elasticity of the spring, and the direction of the elasticity of the spring is different from the direction of the lateral force born by the limiting column, so that the locking action can be ensured to be reliable. When the locking plate is unlocked, the electromagnet attracts the limiting column to be separated from the clamping connection, so that the locking plate is reversed, and the hanging ring is allowed to be separated from the U-shaped groove. The whole structure is simpler, the movement mode is more reliable, and faults are not easy to occur.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic structural diagram of an overall unmanned aerial vehicle carrying platform according to one or more embodiments of the present invention;
Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle carrying platform according to one or more embodiments of the present invention when the unmanned aerial vehicle carrying platform is matched with an overhead cable;
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle carrying platform according to one or more embodiments of the present invention in a front view;
fig. 4 is a schematic view of an electromagnetic lock structure in an unmanned aerial vehicle carrying platform according to one or more embodiments of the present invention;
Fig. 5 is a schematic structural diagram of an electromagnetic lock in a unmanned aerial vehicle carrying platform according to one or more embodiments of the present invention;
fig. 6 is a schematic diagram of a control unit architecture of a unmanned aerial vehicle mounting platform according to one or more embodiments of the present invention;
Fig. 7 is a schematic diagram of an abnormal unlocking control module in a control unit according to one or more embodiments of the present invention.
In the figures 1-3, a working tool 1, a mounting frame 2, an insulating rope 3, a hanging frame 4, an electromagnetic lock 5, a tension sensor 6, a laser scanner 7, a camera 8, a guide plate 9, an overhead cable 10, an 11 in-place detection sensor and a pressure sensor 12 are arranged;
In fig. 4, a locking plate 51, a positioning column 52, a torsion spring 53, an electromagnet 54, a limiting rib 55, a spring 56, a limiting column 57 and a mounting plate 58 are arranged.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It should be noted that the terminology herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the invention. 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.
Term interpretation:
live working of overhead cables refers to maintenance, overhaul, replacement, reconstruction and other works performed in a live state of distribution lines.
As introduced in the background art, the unmanned aerial vehicle is adopted to carry the working tool to fly to the working point, so that the risk of electric shock of workers can be reduced. After the operation tool is fixed on the overhead cable, the unmanned aerial vehicle and the operation tool body can be separated by the unlocking device, so that the operation tool can reliably execute corresponding live working, the unlocking device is too complex in structure, the weight is large, the reliability is not ideal, and the unlocking is easy to occur due to accidents.
Therefore, the following embodiments provide a tool carrying platform and a working method based on unmanned aerial vehicle empty cable live working, simplify an electromagnetic lock structure for connecting an unmanned aerial vehicle and a working tool, make the structure more compact, reduce weight and improve reliability during operation.
Embodiment one:
Tool carrying platform based on unmanned aerial vehicle frame empty cable live working includes:
The installation frame is positioned on the upper top surface of the operation tool, the suspension frame is connected with the unmanned aerial vehicle through an insulating rope, and a hanging ring connected with the tail end of the insulating rope stretches into a U-shaped groove of the electromagnetic lock to realize connection;
The electromagnetic lock comprises a mounting plate, wherein the surface of the mounting plate is provided with a positioning column and a limiting rib, the positioning column is sleeved with a torsion spring and a locking plate, the limiting rib is fixedly connected with the electromagnet, the electromagnet is connected with the limiting column through a spring, the locking plate comprises a rotating part, the rotating part is sleeved with the positioning column, a long lock tongue and a short lock tongue which are arranged in parallel and arc-shaped bulges which are arranged along the circumferential direction are arranged on the rotating part, the locking plate is locked when rotating to a horizontal state, the long lock tongue is positioned at the bottom of a U-shaped groove in the locking state, the short lock tongue penetrates through a hanging ring and is positioned in the space above the long lock tongue, and an included angle area formed by the edges of the bulges and the surface of the rotating part is in butt joint with the top end of the limiting column.
In this embodiment, as shown in fig. 1 to 3, the working tool 1 is used for performing corresponding live working, such as live wire stripping, live insulation layer damage repair, and the like, and the specific structural type of this embodiment is not described in detail.
The upper top surface of the working tool 1 is provided with a mounting frame 2, the mounting frame 2 is connected to a hanging frame 4 through an electromagnetic lock 5, and the hanging frame 4 is connected with an unmanned aerial vehicle through a plurality of insulating ropes 3.
In this embodiment, the electromagnetic lock 5 is located at the geometric center of the hanger 4, avoiding tilting of the work tool 1 during work.
The electromagnetic lock 5 is provided with a tension sensor 6, and according to the obtained tensile stress data, the unmanned aerial vehicle can be reliably separated from the working tool.
The working tool 1 is provided with a camera 8 and a laser scanner 7 on one side thereof facing the overhead cable 10, the camera 8 being used for acquiring image information during the operation, so as to facilitate control of the working tool to perform the corresponding operation. The laser scanner 7 can perform three-dimensional scanning on the wire rod and the overhead cable and model the wire rod and the overhead cable, automatically confirms the position of the overhead cable, which needs to be operated, according to the set parameters, and automatically hoists the operation tool to the position, which needs to be operated, according to the positioning by the unmanned aerial vehicle.
The lower bottom surface of the working tool 1 is provided with a guide plate 9 for guiding the incoming air into the interior space of the working tool 1 when the unmanned aerial vehicle drives the working tool down to the working point of the overhead cable.
In this embodiment, the guide plate 9 has a herringbone opening, and has two groups arranged in parallel, and the open top ends of the two groups of guide plates 9 are both provided with an in-place detection sensor 11 and a pressure sensor 12, when the cable contacts the in-place detection sensors 11 on both sides at the same time, it is indicated that the cable has been smoothly clamped into the working tool. When the feedback data of the pressure sensors 12 on both sides are stable, it is indicated that the work tool has been placed stably.
In this embodiment, the in-place detection sensor 11 may be a sensor made by electromagnetic induction principle, and when the distance from the overhead cable 10 is sufficiently close, the conductor in the overhead cable 10 generates an induction signal to the detection sensor 11, reflecting that the sensor has reached the position where the overhead cable 10 is located.
The electromagnetic lock 5 has a structure shown in fig. 4, and comprises a mounting plate 58 and a shell, wherein the shell is used for being connected with the hanging frame 4, a positioning column 52 and a limiting rib 55 are arranged on the surface of the mounting plate 58, a torsion spring 53 and a locking plate 51 are sleeved on the positioning column 52, the limiting rib 55 is fixedly connected with an electromagnet 54, and the electromagnet 54 is connected with a limiting column 57 through a spring 56.
The shell is provided with a U-shaped groove, a plurality of insulating ropes 3 are connected with the hanging frame 4 and then gathered on the hanging ring, and the hanging ring is positioned in the U-shaped groove of the electromagnetic lock 5.
The locking plate 51 includes a rotating portion that is sleeved on the positioning post 52, so that the locking plate 51 rotates around the positioning post 52 under the action of the torsion spring 53.
In the present embodiment, the torsion spring 52 rotates the locking plate 51 counterclockwise around the positioning post 52 by its own elastic deformation.
The rotating part is provided with a long lock tongue and a short lock tongue which are arranged in parallel, the space between the two lock tongues allows the hanging ring to pass through, when the locking plate 51 rotates to a horizontal state, the long lock tongue is positioned at the bottom of the U-shaped groove, and the short lock tongue is positioned in the space above the long lock tongue and forms a structure for blocking the hanging ring.
In this embodiment, the hanging ring is placed in the U-shaped groove of the electromagnetic lock 5, the hanging ring descends to press the long locking tongue, the locking plate 51 is pushed to rotate clockwise, when the locking plate 51 rotates to be in a horizontal state, the long locking tongue is located in the space below the hanging ring, the short locking tongue penetrates through the hanging ring to form a structure for blocking the hanging ring to ascend, and the torsion spring 52 is compressed during the process.
The rotating part is provided with an arc-shaped bulge, when the electromagnetic lock 5 is in an unlocking state, the bulge is abutted with the top end of the limiting post 57, the structure of the electromagnetic lock 5 in the state is shown in fig. 4, when the locking plate 51 rotates to a horizontal state, the electromagnetic lock 5 is in a locking state, as shown in fig. 5, at the moment, an included angle area formed by the edge of the bulge and the surface of the rotating part is abutted with the top end of the limiting post 57, the abutting acting force of the limiting post 57 is derived from the elasticity of the torsion spring 52, and the locking plate 51 is prevented from rotating (anticlockwise rotation is prevented in the embodiment) by utilizing the blocking effect of the limiting post 57 on the bulge, so that locking is realized.
In this embodiment, the space between the long lock tongue and the short lock tongue allows the hanging ring to pass through, in the unlocking state, as shown in fig. 4, the opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock 5, the hanging ring on the insulating rope 3 is allowed to be put in, the hanging ring presses the locking plate 51 to rotate clockwise, after the locking plate 41 rotates clockwise by a set angle (in this embodiment, rotates to a horizontal state), the limiting post 55 is blocked at the clamping groove formed by the rotating part of the locking plate 41 and the protrusion, so that the locking plate 51 is blocked from rotating anticlockwise, thereby enabling the U-shaped groove and the gap between the long lock tongue and the short lock tongue to form a closed empty groove, the hanging ring is reliably sleeved in the empty groove, and the structure in the locking state is as shown in fig. 5.
When the condition of releasing the insulating rope 3 is satisfied, the electromagnet 54 is electrified to generate magnetic force, the limiting post 57 is attracted to be close to the electromagnet 54 along the vertical direction and compresses the spring 56, so that the limiting post 57 does not block the rotation action of the locking plate 51, the locking plate 51 is rotated anticlockwise under the action of the torsion spring 53, and the insulating rope 3 can be released from the U-shaped groove of the electromagnetic lock 5, and unlocking is realized.
During the period, the tension sensor 6 detects the magnitude of the tensile force born by the unmanned aerial vehicle in the operation process in real time, and the action of the electromagnetic lock 5 is controlled according to the condition of the tensile force change, so that the unmanned aerial vehicle is prevented from falling due to unexpected stress of an operation tool in the operation process, and safety accidents are caused.
The unmanned aerial vehicle loading platform in this embodiment has improved the structure of electromagnetic lock, aligns with the notch in the U type groove of electromagnetic lock through the opening that forms between long spring bolt and the short spring bolt, allows rings on the insulating rope to put into to utilize the joint by spacing post and the locking board of spring promotion, in order to block locking board pivoted mode, when the unblock, attracts spacing post to break away from the joint through the electro-magnet, makes the locking board reverse, allows rings to break away from in the U type groove. The whole structure is simpler, the movement mode is more reliable, and faults are not easy to occur.
The carrying platform is further provided with a control unit, as shown in fig. 6, the control unit comprises a main control module, in-place detection sensors (a left in-place detection sensor and a right in-place detection sensor) on two sides, a pressure acquisition module connected with the two side pressure sensors, a tension acquisition module connected with the tension sensor and a data preprocessing module connected with the laser scanner are respectively connected with the main control module, the main control module is further connected with an abnormal unlocking control module and a double-backup communication module, the double-backup communication module comprises a Zigbee communication module and WiFi Halow communication modules, and the camera, the remote controller and the unmanned aerial vehicle are respectively connected with the main control module through corresponding communication modules.
The power supply module is used for providing power for all modules in the tool and has the functions of reverse connection protection, short circuit protection, voltage monitoring, low voltage protection and the like.
The main control module is a core control module and is used for detecting sensor states such as tension, pressure and position and controlling the unmanned aerial vehicle flight state according to the sensor states and the scanning data, so that the tool hoisting task is completed. And the remote control of the tool and the feedback and display of the state of the tool are realized by communicating with the remote controller through the zigbee and WiFi Halow double-backup communication module.
The camera can be a network camera, is installed in the central position above the tool and is used for observing the position of the overhead cable when the unmanned aerial vehicle is hoisted and mounted, so that the hoisting condition of the tool can be conveniently detected in real time by workers. The data of the network camera is transmitted to the remote controller through the WiFi Halow image transmission module, and the real-time picture of the network camera can be displayed on the remote controller. WiFi Halow is a long-distance and high-speed data transmission protocol with a working frequency band of 900MHz, and has the advantages of long transmission distance and small data delay, thereby being beneficial to the observation of the operation process of the system.
The in-place detection sensors are 2 in number and are respectively arranged at the left side and the right side of the tool, and when the cable approaches the sensors, the sensors output high-level signals for detecting whether the cable reliably enters the tool. When the two side sensors have stable signals at the same time, the cable is considered to be in place, the working tool can perform working preparation such as holding the cable tightly, if one of the two side sensors has no signal, the unmanned aerial vehicle can be placed to incline along the direction of the lead, and the unmanned aerial vehicle is required to lift the tool again until the two side sensors have signals at the same time. The in-place sensor can adopt a photoelectric switch, a proximity switch, a laser correlation sensor, a pull-up encoder and the like.
The pressure sensors are respectively arranged at the left side and the right side of the tool, when the sensors at the two sides have stable signals at the same time, the working tool is considered to be placed or fixed in place, the working tool can work according to the setting, and if one of the sensors has no signal or the signal is unstable, the working tool is not placed stably, and the working personnel is required to check whether the working tool has working conditions or not so as to eliminate potential safety hazards.
The number of the tension sensors is 1, the tension sensors detect the tensile force of the unmanned aerial vehicle in the operation process in real time, and the electromagnetic lock is controlled to be opened and closed according to the condition of tension change, so that the unmanned aerial vehicle is prevented from falling due to unexpected stress of an operation tool in the operation process, and safety accidents are caused. Meanwhile, feedback of 2 pressure sensors is combined, fine operation of the unmanned aerial vehicle is achieved, and tool hoisting is more accurate.
The laser scanner can perform three-dimensional scanning on the wire rod and the overhead cable and model the wire rod and the overhead cable, then automatically confirms the position of the overhead cable, which needs to be operated, according to the set parameters, and the unmanned aerial vehicle automatically hoists the operation tool to the position, which needs to be operated, according to the positioning.
The abnormal unlocking control module is used for controlling the electromagnetic lock to be opened to enable the unmanned aerial vehicle to trip when the working process is abnormal, and avoiding the crash accident of the unmanned aerial vehicle. The abnormal unlocking control module is realized through a control circuit with two paths of backups, one path of the abnormal unlocking control module is controlled by the main control module, and the other path of the abnormal unlocking control module is directly controlled by the WiFi Halow communication module, so that the unmanned aerial vehicle can not be unlocked due to the fact that one path of communication is abnormal. The control principle is as follows:
As shown in fig. 7, the control circuit of the main control module is connected with the resistor R1 through the diode D1, and the standby control circuit is connected with the resistor R1 through the diode D2, the other end of the resistor R1 is connected with the triode Q2, the triode Q2 is grounded, the other end of the triode Q2 is connected with the power VCC terminal after being sequentially connected with the resistor R3 and the resistor R2 in series, and the triode Q1 is connected with the power VCC terminal, the electromagnetic lock, and the resistor R3 and the resistor R2 respectively.
Embodiment two:
the working method of the tool carrying platform based on unmanned aerial vehicle frame empty cable live working comprises the following steps:
The operation tool is fixedly arranged on the carrying platform, the carrying platform is connected with the unmanned aerial vehicle through an insulating rope, and the unmanned aerial vehicle is controlled to lift to a space above the overhead cable by carrying the operation tool on the carrying platform;
Confirming the working position through the positions of the wire rod and the cable;
The unmanned aerial vehicle hangs the working tool to the space above the working position and gradually falls down, when two in-place sensors have signals at the same time, the cable reliably enters the top of the U-shaped clamping groove, and the working tool starts to work and prepare, such as holding the cable tightly;
When the signal fluctuation of the two pressure sensors is in a set range, the tool is placed reliably and stably, the unmanned aerial vehicle descends by a certain height, so that the insulating rope is not in a tight state, and the operation is started;
after the operation is finished, the unmanned aerial vehicle ascends, and the insulating rope is tensioned until the tension sensor reaches a set value, so that the operation tool is ready to act and is released;
after the tool is reset, the unmanned aerial vehicle lifts the tool to a preset position and prepares for the next operation.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The tool carrying platform is characterized by comprising a mounting frame and a hanging frame which are connected through an electromagnetic lock, wherein the mounting frame is positioned on the upper top surface of the working tool, the hanging frame is connected with an unmanned aerial vehicle through an insulating rope, and a hanging ring connected with the tail end of the insulating rope stretches into a U-shaped groove of the electromagnetic lock to be connected;
The electromagnetic lock comprises a mounting plate, wherein the surface of the mounting plate is provided with a positioning column and a limiting rib, the positioning column is sleeved with a torsion spring and a locking plate, the limiting rib is fixedly connected with the electromagnet, the electromagnet is connected with the limiting column through a spring, the locking plate comprises a rotating part, the rotating part is sleeved with the positioning column, a long lock tongue and a short lock tongue which are arranged in parallel and arc-shaped bulges which are arranged along the circumferential direction are arranged on the rotating part, the locking plate is locked when rotated to a set angle, the long lock tongue is positioned at the bottom of a U-shaped groove in a locking state, the short lock tongue penetrates through a hanging ring and is positioned in an upper space of the long lock tongue, and an included angle area formed by the edges of the bulges and the surface of the rotating part is in butt joint with the top end of the limiting column.
2. The tool carrying platform for unmanned aerial vehicle-based live working of empty cables as claimed in claim 1, wherein the lower bottom surface of the working tool is provided with a guide plate for guiding the cables into the inner space of the working tool when the unmanned aerial vehicle drives the working tool to descend to the working point of the overhead cable.
3. The unmanned aerial vehicle empty cable live working-based tool carrying platform according to claim 1, wherein the guide plates are provided with at least two groups which are arranged in parallel, each group of guide plates is provided with a herringbone opening, and the top ends of the openings of the guide plates are provided with an in-place detection sensor and a pressure sensor.
4. The unmanned aerial vehicle empty cable live working based tool carrying platform of claim 1, wherein the electromagnetic lock comprises a mounting plate and a housing, the housing being configured to connect with a hanger.
5. The tool carrying platform based on unmanned aerial vehicle empty cable live working of claim 4, wherein the shell is provided with a U-shaped groove, and the hanging ring at the tail end of the insulating rope is positioned in the U-shaped groove.
6. The unmanned aerial vehicle empty cable live working based tool carrying platform of claim 1, wherein the length of the short locking tongue does not exceed the length of the long locking tongue.
7. The tool carrying platform based on unmanned aerial vehicle empty cable live working of claim 1, wherein when the electromagnetic lock is in an unlocking state, the protrusion is abutted against the top end of the limiting column, an opening formed between the long lock tongue and the short lock tongue is aligned with a notch of a U-shaped groove of the electromagnetic lock, and a lifting ring on the insulating rope can pass through the opening formed between the long lock tongue and the short lock tongue and the notch of the U-shaped groove.
8. The tool carrying platform based on unmanned aerial vehicle empty cable live working of claim 1, wherein the hanging ring pushes the locking plate to rotate, when the locking plate rotates to a set angle state, the limiting post abuts against a clamping groove formed by the rotating part of the locking plate and the protruding edge to realize clamping, and the reverse rotation trend of the locking plate under the action of the torsion spring is blocked.
9. The tool carrying platform based on unmanned aerial vehicle empty cable live working of claim 1, wherein when the condition of releasing the insulating rope is met, the electromagnet is electrified to generate magnetic force, the limiting column is attracted to be close to the electromagnet and compresses the spring, the limiting column is not blocking the rotation action of the locking plate, the locking plate is reversed under the action of the torsion spring, the opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock again, and the hanging ring of the insulating rope is allowed to be released from the U-shaped groove, so that unlocking is realized.
10. A method of operating a tool-carrying platform for unmanned aerial vehicle (unmanned aerial vehicle) blank cable live working according to any one of claims 1 to 9, comprising the steps of:
The operation tool is fixedly arranged on the carrying platform, the carrying platform is connected with the unmanned aerial vehicle through an insulating rope, and the unmanned aerial vehicle is controlled to lift to a space above the overhead cable by carrying the operation tool on the carrying platform;
Confirming the working position through the positions of the wire rod and the cable;
The unmanned aerial vehicle hangs the working tool to the space above the working position and gradually falls down, when two in-place sensors have signals at the same time, the cable reliably enters the top of the U-shaped clamping groove, and the working tool starts to work and prepare;
When the signal fluctuation of the two pressure sensors is in a set range, the unmanned aerial vehicle descends to set height, so that the insulating rope is not in a tight state, and the operation is started;
After the operation is finished, the unmanned aerial vehicle ascends, the insulating rope is tensioned until the tension sensor reaches a set value, and the operation tool is ready to act and is released;
and resetting the tool, and lifting the tool to a preset position by the unmanned aerial vehicle to prepare for the next operation.
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| JP2024030260A (en) * | 2022-08-24 | 2024-03-07 | 双葉電子工業株式会社 | unmanned aerial vehicle |
| CN118405264A (en) * | 2024-04-25 | 2024-07-30 | 国网江苏省电力有限公司常州供电分公司 | A method for automatically hanging and taking safety rope of unmanned aerial vehicle |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2890256Y (en) * | 2005-12-16 | 2007-04-18 | 张振怀 | Lever type electrically-controlled lock |
| CN211391687U (en) * | 2019-07-05 | 2020-09-01 | 浙江思创机械有限公司 | Automatic detection device based on unmanned aerial vehicle |
| CN114408196A (en) * | 2022-02-15 | 2022-04-29 | 明阳 | Positioning balance acquisition device for geographic information surveying and mapping |
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| CN120049330B (en) | 2025-12-05 |
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