CN208915446U - A kind of power overhead network defect elimination unmanned plane body - Google Patents
A kind of power overhead network defect elimination unmanned plane body Download PDFInfo
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- CN208915446U CN208915446U CN201920386489.9U CN201920386489U CN208915446U CN 208915446 U CN208915446 U CN 208915446U CN 201920386489 U CN201920386489 U CN 201920386489U CN 208915446 U CN208915446 U CN 208915446U
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- bottom plate
- unmanned plane
- defect elimination
- power overhead
- forearm
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Abstract
The utility model discloses a kind of power overhead network defect elimination unmanned plane bodies, the rack being fixed on including bottom plate and by column at the top of bottom plate, rack includes central flat part and four wing sections that central flat part surrounding is arranged in, the end top of four wing sections is provided with motor support base, motor is provided on motor support base, rotor is fixedly connected on the output shaft of motor, the two sides of the bottom of bottom plate are arranged symmetrically, and there are two mechanical arms, gripper is respectively connected on each mechanical arm, the bottom of bottom plate is connected with camera holder, camera is connected on camera holder, the two sides of the not set mechanical arm in the bottom of bottom plate are arranged symmetrically, and there are two undercarriages, console is provided at the top of bottom plate.The utility model structure is simple, and it is convenient to realize, after constituting power overhead network defect elimination unmanned plane, highly-safe, defect elimination is high-efficient, and manpower and material resources consuming is low, practical.
Description
Technical field
The utility model belongs to power overhead network defect elimination technical field, and in particular to a kind of power overhead network defect elimination without
Man-machine body.
Background technique
Foreign matter takes the phenomenon that falling conducting wire frequent occurrence in power overhead network, and such as hanging plastic bag on conducting wire, kite string is color
Band etc., these factors bring very big security risk to the operation of power circuit.Traditional power circuit defect elimination mode is mainly
Manual operation is handled using equipotential live-line Work processing or power failure, and major way is as follows:
It is handled 1. charging using insulating bar, but operating distance is limited, needs to climb shaft tower, it is time-consuming and laborious, and have
Certain risk；
2. insulation ropes winding traction remove, need by remove device throwing to overhead transmission line on the road, for it is liftoff compared with
It is high, relatively difficult from foreign matter operation on the farther away route of tower；
3. carrying out equipotential live line work processing using hanging basket, rope ladder, need to climb shaft tower, task difficulty is larger, has certain
Risk；
4. being handled with aerial lift device with insulated arm, the defect moved on a large scale can be handled, but very big by geographical conditions and height limitation；
Above-mentioned tool and method, generally have that operation procedure is complicated, the activity duration is long, personnel's physical demand is big, manpower object
The problems such as power consumption is big.
Application of the unmanned plane in power overhead network at present has unmanned plane carry high-temperature electric resistance furnace silk, flame projector or high energy
Ray emitter removes foreign matter.Unmanned plane carry high-temperature electric resistance furnace silk is directly to be contacted using electric furnace heating wire in foreign matter, and foreign matter is separated
It removes, but this method needs unmanned plane very close with conducting wire, operation difficulty is big, risk is high；Unmanned plane carry flame projector is by gasoline etc.
It is sprayed on foreign matter and lights, such as Publication No. CN105762709A, CN205753173U Chinese patent literature；Such device
Poor controllability, the impurity for generation of burning may cause phase fault tripping, while usage scenario is limited to, and be only applicable to lead using naked
The transmission line of electricity of line, and use the transmission line of electricity of insulated conductor and be not suitable for such flame device.Unmanned plane carry high energy is penetrated
Line transmitter is to irradiate foreign matter by transmitter to be cut, but this method operation difficulty is big, may cut to electric power cable, cause
Bigger harm.
In order to solve problem above, it is thought that quick and precisely eliminating defect using the unmanned plane of remote control pair, with
Ensure power circuit safe and stable operation；And to realize such unmanned plane, it first has to design and realizes unmanned plane body.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of electric power
Overhead transmission line defect elimination unmanned plane body, structure is simple, and novel in design rationally it is convenient to realize, constitutes power overhead network defect elimination
Highly-safe after unmanned plane, defect elimination is high-efficient, and manpower and material resources consuming is low, practical, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of power overhead network defect elimination without
Man-machine body is fixed on the rack at the top of bottom plate including bottom plate and by column, and the rack includes central flat part and sets
Four wing sections in central flat part surrounding are set, the end top of four wing sections is provided with motor branch
, it is provided with motor on the motor support base, rotor, the bottom two of the bottom plate are fixedly connected on the output shaft of the motor
Side is symmetrical arranged there are two mechanical arm, is respectively connected with gripper on each mechanical arm, the bottom of the bottom plate, which is connected with, to be taken the photograph
As head holder, it is connected with camera on the camera holder, the two sides of the not set mechanical arm in the bottom of the bottom plate are symmetrically set
It sets there are two undercarriage, is provided with console at the top of the bottom plate.
A kind of above-mentioned power overhead network defect elimination unmanned plane body, the mechanical arm is two degrees of freedom mechanical arm, described
Mechanical arm includes the forearm for being fixedly connected on the large arm of bottom base plate and being rotatably connected on large arm lower end by the first steering engine, described
The second steering engine is provided on forearm, the output axis direction of second steering engine and the output axis direction of the first steering engine are perpendicular, institute
It states and is connected with first gear on the output shaft of the second steering engine, be connected with by shaft on the forearm and to be meshed with first gear
Second gear, the gripper include half pawl of a left side being connected in first gear and half pawl of the right side being connected in second gear, institute
It states and is provided with the left half-connection bar hinged with left half pawl and forearm between left half pawl and forearm, between right half pawl and forearm
It is provided with the right half-connection bar hinged with right half pawl and forearm.
The inside setting of a kind of above-mentioned power overhead network defect elimination unmanned plane body, left half pawl and/or right half pawl
There is blade.
A kind of above-mentioned power overhead network defect elimination unmanned plane body, the undercarriage connect by the way that bolt and bottom plate are fixed
It connects.
A kind of above-mentioned power overhead network defect elimination unmanned plane body, the bottom plate, column, rack and motor support base are adopted
It is made of hollow out carbon fiber board.
Compared with the prior art, the utility model has the following advantages:
1, two mechanical arms of the utility model are symmetricly set on the two sides of the bottom of bottom plate, so that the power overhead network defect elimination
The stability of unmanned plane body is good, after constituting power overhead network defect elimination unmanned plane using the utility model, ensure that it is being made
Flight stability when industry.
2, the utility model passes through setting two degrees of freedom mechanical arm, and by setting on the inside of left half pawl and/or right half pawl
Blade is set or be not provided with, can be realized the defect elimination work in the case of Various Complex.
3, the utility model can realize accurate operation when controlling unmanned plane defect elimination by setting camera.
4, after constituting power overhead network defect elimination unmanned plane using the utility model, power overhead network defect elimination, phase are carried out
Than stepping on bar or livewire work defect elimination method in traditional artificial, with high security, defect elimination is high-efficient, manpower and material resources consuming is low excellent
Point.
5, after constituting power overhead network defect elimination unmanned plane using the utility model, compared to the nothing of existing simple function
The man-machine application on electric power, the common deficiency of power overhead network road are to take to fall branch, colored ribbon winding, lodge kite, greenhouse
Plastics, sunshade net, advertising cloth etc., the utility model can stablize rapidly crawl take the foreign matter for falling in power overhead network road or
Foreign matter is quickly and effectively cut off, can be realized the quickly and efficiently removing for different suspension foreign matters.
6, the utility model has the advantages of simple structure, novel in design reasonable, after constituting power overhead network defect elimination unmanned plane, safety
Property it is high, defect elimination is high-efficient, manpower and material resources expend it is low, it is practical, convenient for promoting the use of.
In conclusion the utility model has the advantages of simple structure, novel in design rationally it is convenient to realize, constitutes power overhead network
Highly-safe after defect elimination unmanned plane, defect elimination is high-efficient, and manpower and material resources consuming is low, practical, convenient for promoting the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the schematic block circuit diagram of the utility model control circuit.
Fig. 4 is the circuit diagram of the utility model micro controller module.
Fig. 5 is the circuit diagram of the utility model infrared receiving module.
Fig. 6 is the circuit diagram of the utility model attitude transducer.
Fig. 7 is the circuit diagram of the utility model motor drive module.
Description of symbols:
1-rotor；2-motors；3-racks；
4-mechanical grippings；Half pawl of 4-1-left side；Half pawl of 4-2-right side；
The left half-connection bar of 4-3-；The right half-connection bar of 4-4-；5-1-large arm；
5-2-forearm；The first steering engine of 5-3-；The second steering engine of 5-4-；
5-5-first gear；5-6-second gear；6-camera holders；
7-undercarriages；8-cameras；9-bottom plates；
10-consoles；10-1-micro controller module；10-2-power module；
10-3-infrared receiving module；10-4-attitude transducer；10-5-motor drive module；
10-6-wireless communication module；11-columns；12-motor support bases；
13-IR remote controllers；14-ground monitoring computers.
Specific embodiment
As depicted in figs. 1 and 2, the power overhead network defect elimination unmanned plane body of the utility model, including bottom plate 9 and pass through
Column 11 is fixed on the rack 3 at 9 top of bottom plate, and the rack 3 includes central flat part and is arranged in central flat part four
Four wing sections in week, the end top of four wing sections is provided with motor support base 12, the motor support base 12
On be provided with motor 2, be fixedly connected with rotor 1 on the output shaft of the motor 2, the two sides of the bottom of the bottom plate 9 are symmetrical arranged
There are two mechanical arm 5, it is respectively connected with gripper 4 on each mechanical arm 5, the bottom of the bottom plate 9 is connected with camera cloud
Platform 6, camera 8 is connected on the camera holder 6, and the two sides of the not set mechanical arm 5 in the bottom of the bottom plate 9 are symmetrical arranged
There are two undercarriages 7, and the top of the bottom plate 9 is provided with console 10.
In the present embodiment, as depicted in figs. 1 and 2, the mechanical arm 5 is two degrees of freedom mechanical arm, and the mechanical arm 5 includes
It is fixedly connected on the large arm 5-1 of 9 bottom of bottom plate and is rotatably connected on the forearm 5-2 of the lower end large arm 5-1 by the first steering engine 5-3,
The output axis direction of the second steering engine 5-4, the second steering engine 5-4 and the output of the first steering engine 5-3 are provided on the forearm 5-2
Axis direction is perpendicular, and first gear 5-5 is connected on the output shaft of the second steering engine 5-4, passes through shaft on the forearm 5-2
It is connected with the second gear 5-6 being meshed with first gear 5-5, the gripper 4 includes the left side being connected on first gear 5-5
It is provided between half pawl 4-1 and the right side half the pawl 4-2, the left half pawl 4-1 and forearm 5-2 that are connected on second gear 5-6 and a left side
It is provided between half pawl 4-1 and forearm 5-2 hinged left half-connection bar 4-3, the right half pawl 4-2 and forearm 5-2 and right half
Pawl 4-2 and forearm 5-2 hinged right half-connection bar 4-4.
When it is implemented, the lower end the large arm 5-1 is connected with the first steering engine 5-3, on the output shaft of the first steering engine 5-3
It is connected with third gear, the forearm 5-2 is rotatably connected on the lower end large arm 5-1 by way of being meshed with third gear.
In the present embodiment, blade is provided on the inside of half pawl 4-2 of the left half pawl 4-1 and/or the right side.Make left half pawl in this way
4-1 and half pawl 4-2 of the right side can be oppositely arranged composition rotating knife.
In the present embodiment, the undercarriage 7 is fixedly connected by bolt with bottom plate 9.
In the present embodiment, the bottom plate 9, column 11, rack 3 and motor support base 12 are all made of hollow out carbon fiber board and are made.
Bottom plate 9, column 11, rack 3 and motor support base 12 are made using hollow out carbon fiber board, can reduce the electric power overhead
The weight of route defect elimination unmanned plane body, is easy to implement steady free flight.
When it is implemented, being integrated with control circuit in the console 10, in conjunction with Fig. 3, the control circuit includes micro-control
The device module 10-1 processed and power module 10-2 to power for power unit each in the control circuit, and and micro controller module
10-1 connects and the wireless communication module 10-6 for being wirelessly connected and communicating with ground monitoring computer 14；The microcontroller
The input of module 10-1 is terminated with the infrared receiving module 10-3 and use of the infrared signal for receiving the transmitting of IR remote controller 13
In the attitude transducer 10-4 that the posture to the power overhead network defect elimination unmanned plane body is detected, the camera 8
It is connect with the input terminal of micro controller module 10-1, the output of the micro controller module 10-1, which is terminated with, is respectively used to driving four
Four motor drive module 10-5 of a motor 2.
When it is implemented, the first steering engine 5-3 and the second steering engine 5-4 connect with the output end of micro controller module 10-1
It connects.
In the present embodiment, the power module 10-2 includes battery and connect with the output end of battery and be used for electric power storage
The voltage of pond output is converted to the voltage conversion circuit of voltage needed for each power unit in the control circuit.
Specific implementation is implemented, and the voltage of the battery output is 12V, and the voltage conversion circuit includes 12V to 5V electricity
Voltage conversion circuit and 5V to 3.3V voltage conversion circuit, the 12V voltage that the output end of the battery is power module 10-2 are defeated
Outlet, the output end of 5V to the 3.3V voltage conversion circuit are the 3.3V voltage output end of power module 10-2.
In the present embodiment, as shown in figure 4, the micro controller module 10-1 includes ARM microcontroller
STM32F103C8T6。
In the present embodiment, as shown in figure 5, the infrared receiving module 10-3 is NRF24L01 infrared receiving module, it is described
The power supply pin 1 of NRF24L01 infrared receiving module is connect with the 3.3V voltage output end of power module 10-2, described
The module control pin 2 of NRF24L01 infrared receiving module is connect with the 32nd pin of ARM microcontroller STM32F103C8T6,
The module chip select pin 3 of the NRF24L01 infrared receiving module and the 25th pin of ARM microcontroller STM32F103C8T6 connect
It connects, the module spi bus clock pins 4 and ARM microcontroller STM32F103C8T6's of the NRF24L01 infrared receiving module
The connection of 26th pin, the module SPI data-out pin 5 and ARM microcontroller of the NRF24L01 infrared receiving module
The 28th pin of STM32F103C8T6 connects, the module SPI data output pins 6 of the NRF24L01 infrared receiving module with
The 27th pin of ARM microcontroller STM32F103C8T6 connects, the modules interrupts signal of the NRF24L01 infrared receiving module
Output pin 7 is connect with the 33rd pin of ARM microcontroller STM32F103C8T6, the NRF24L01 infrared receiving module
Ground terminal pin 8 is grounded.
When it is implemented, the infrared remote control that surface personnel holds can be received by NRF24L01 infrared receiving module
The infrared signal that device 13 emits can be realized ground staff with IR remote controller 13 and control the power overhead network defect elimination unmanned plane
Body.
In the present embodiment, as shown in fig. 6, the attitude transducer 10-4 includes gyroscope MPU6050, the gyroscope
The 23rd pin of MPU6050 is connect with the 42nd pin of ARM microcontroller STM32F103C8T6, the gyroscope MPU6050's
23rd pin is connect with the 43rd pin of ARM microcontroller STM32F103C8T6.
In the present embodiment, as shown in fig. 7, the circuit structure of four motor drive module 10-5 is identical and includes
One end of the grid and resistance R5 of metal-oxide-semiconductor Q2, resistance R1, resistance R5, resistance R9, resistance R13 and capacitor C1, the metal-oxide-semiconductor Q2
Connection, and be grounded by resistance R9, the other end of the resistance R5 is the first terminals of motor drive module 10-5, described
The source electrode of metal-oxide-semiconductor Q2 is grounded, and the drain electrode of the metal-oxide-semiconductor Q2 is connected by the 12V voltage output end of capacitor C1 and power module 10-2
It connects, and is grounded by concatenated resistance R1 and resistance R13, the connecting pin of the resistance R1 and resistance R13 are motor drive module
The anode of the second terminals of 10-5, the motor 2 is connect with the 12V voltage output end of power module 10-2, the motor 2
Cathode is connect with the drain electrode of metal-oxide-semiconductor Q2；The first terminals of four motor drive module 10-5 respectively with ARM microcontroller
The 10th pin, the 11st pin, the 12nd pin and the connection of the 13rd pin of STM32F103C8T6, four motor drive modules
The second terminals of 10-5 respectively with the 14th pin of ARM microcontroller STM32F103C8T6, the 15th pin, the 16th pin and
The connection of 17th pin.
When it is implemented, the wireless communication module 10-6 is and the serial ports of ARM microcontroller STM32F103C8T6 (the
21 pins and the 22nd pin) connection GPRS wireless communication module.
Using the utility model in conjunction with the control circuit being arranged in the console 10, power overhead network defect elimination is constituted
Unmanned plane cooperates IR remote controller 13 using such power overhead network defect elimination unmanned plane, carries out power overhead network defect elimination
Method, comprising the following steps:
Step 1: the security risk of service personnel's line walking discovery power overhead network road；
Step 2: service personnel operates IR remote controller 13, controls the power overhead network defect elimination unmanned plane body and fly
It goes and hovers around the power overhead network there are foreign matter；
Step 3: camera 8 acquires the image of power overhead network and acquired image is transferred to microcontroller mould
Module 10-6 is transferred to ground monitoring computer 14 by wireless communication again by block 10-1, micro controller module 10-1；
Step 4: service personnel operates IR remote controller 13, according to the electric power overhead shown on ground monitoring computer 14
Foreign matter feature and suspension status on route remove foreign matter by the movement of mechanical arm 5 and gripper 4；
Step 5: service personnel operates IR remote controller 13 after foreign matter removes, the power overhead network defect elimination is controlled
Unmanned plane body returns to ground.
In conclusion constituting electric power frame in conjunction with the control circuit being arranged in the console 10 using the utility model
Ceases to be busy road defect elimination unmanned plane, such power overhead network defect elimination unmanned plane are integrated with the function of electric inspection process and defect elimination, can
Do not have a power failure it is quick observed in power overhead network rejected region by camera, by mechanical arm 5 and gripper 4 crawl or
It cuts to eliminate the defect that power overhead network road occurs.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still
Belong in the protection scope of technical solutions of the utility model.
Claims (5)
1. a kind of power overhead network defect elimination unmanned plane body, it is characterised in that: fixed including bottom plate (9) and by column (11)
Rack (3) at the top of bottom plate (9), the rack (3) include central flat part and central flat part surrounding are arranged in
Four wing sections, the end top of four wing sections are provided with motor support base (12), the motor support base (12)
On be provided with motor (2), be fixedly connected with rotor (1) on the output shaft of the motor (2), the two sides of the bottom of the bottom plate (9)
There are two being symmetrical arranged mechanical arm (5), it is respectively connected with gripper (4) on each mechanical arm (5), the bottom of the bottom plate (9)
Portion is connected with camera holder (6), is connected with camera (8) on the camera holder (6), and the bottom of the bottom plate (9) is not
The two sides that mechanical arm (5) is arranged are symmetrical arranged there are two undercarriage (7), are provided with console (10) at the top of the bottom plate (9).
2. a kind of power overhead network defect elimination unmanned plane body described in accordance with the claim 1, it is characterised in that: the mechanical arm
It (5) is two degrees of freedom mechanical arm, the mechanical arm (5) includes being fixedly connected on the large arm (5-1) of bottom plate (9) bottom and by the
One steering engine (5-3) is rotatably connected on the forearm (5-2) of the lower end large arm (5-1), is provided with the second steering engine on the forearm (5-2)
(5-4), the output axis direction of second steering engine (5-4) and the output axis direction of the first steering engine (5-3) are perpendicular, and described second
It is connected on the output shaft of steering engine (5-4) first gear (5-5), is connected with and the first tooth on the forearm (5-2) by shaft
The second gear (5-6) that wheel (5-5) is meshed, the gripper (4) include half pawl of a left side being connected on first gear (5-5)
(4-1) and half pawl of the right side (4-2) being connected on second gear (5-6) is arranged between left half pawl (4-1) and forearm (5-2)
There is a left half-connection bar (4-3) hinged with left half pawl (4-1) and forearm (5-2), right half pawl (4-2) and forearm (5-2)
Between be provided with the right half-connection bar (4-4) hinged with right half pawl (4-2) and forearm (5-2).
3. a kind of power overhead network defect elimination unmanned plane body according to claim 2, it is characterised in that: left half pawl
Blade is provided on the inside of (4-1) and/or right half pawl (4-2).
4. a kind of power overhead network defect elimination unmanned plane body described in accordance with the claim 1, it is characterised in that: the undercarriage
(7) it is fixedly connected by bolt with bottom plate (9).
5. a kind of power overhead network defect elimination unmanned plane body described in accordance with the claim 1, it is characterised in that: the bottom plate
(9), column (11), rack (3) and motor support base (12) are all made of hollow out carbon fiber board and are made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920386489.9U CN208915446U (en) | 2019-03-25 | 2019-03-25 | A kind of power overhead network defect elimination unmanned plane body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920386489.9U CN208915446U (en) | 2019-03-25 | 2019-03-25 | A kind of power overhead network defect elimination unmanned plane body |
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| Publication Number | Publication Date |
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| CN208915446U true CN208915446U (en) | 2019-05-31 |
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ID=66712990
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| CN201920386489.9U Expired - Fee Related CN208915446U (en) | 2019-03-25 | 2019-03-25 | A kind of power overhead network defect elimination unmanned plane body |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111092403A (en) * | 2020-02-16 | 2020-05-01 | 郑鹏艺 | Aerial working cable deicing unmanned aerial vehicle |
| CN111604910A (en) * | 2020-06-19 | 2020-09-01 | 天津工业大学 | Electric power overhauls foreign matter clearing device for unmanned aerial vehicle |
-
2019
- 2019-03-25 CN CN201920386489.9U patent/CN208915446U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111092403A (en) * | 2020-02-16 | 2020-05-01 | 郑鹏艺 | Aerial working cable deicing unmanned aerial vehicle |
| CN111092403B (en) * | 2020-02-16 | 2020-12-15 | 台州市阿里菜鸟电子商务有限公司 | Aerial working cable deicing unmanned aerial vehicle |
| CN111604910A (en) * | 2020-06-19 | 2020-09-01 | 天津工业大学 | Electric power overhauls foreign matter clearing device for unmanned aerial vehicle |
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