CN214153766U

CN214153766U - High-altitude power distribution overhead line live working platform based on unmanned aerial vehicle technology

Info

Publication number: CN214153766U
Application number: CN202022608948.9U
Authority: CN
Inventors: 叶飞; 叶弘宁
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-09-07
Anticipated expiration: 2030-11-12

Abstract

The utility model discloses an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique, it includes: the mounting platform is used for being mounted on the unmanned aerial vehicle; a first operation arm and a second operation arm mounted on the carrying table; the intelligent special appliance is detachably arranged on the first operating arm and/or the second operating arm; the intelligent special appliance comprises one or more of a wire breaker, a peeler, a wire fixer and a wire winder. The utility model discloses a live working platform can develop live working to overhead line to complex environment, receives environmental factor restriction few, improves live working ability, avoids the personal risk that live working staff direct operation equipment brought in conventional distribution live working, and security and economic nature are good.

Description

High-altitude power distribution overhead line live working platform based on unmanned aerial vehicle technology

Technical Field

The utility model relates to an electric power system technical field especially relates to an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique.

Background

Modern society and people's life have higher and higher requirements for power supply quality, and the power grid enterprise must adopt new technology to constantly improve power supply reliability, and the vast majority of user's power failure is caused by 10kV distribution system link at present, and the power failure of user can all be caused to the access of trouble, maintenance, construction and the industry of 10kV distribution network, can reduce user's power failure by a wide margin through the live working of 10kV distribution network to improve power supply reliability.

At present, the live-line work of a 10kV distribution network mainly utilizes an insulating rod and an insulating bucket arm vehicle to work, and the live-line work of a robot is also developed in recent years. Utilize insulator spindle and insulating bucket arm car all to need the staff to carry out the direct work, directly face live-wire apparatus, the safety risk that the staff electrocuted is big. The robot live working is with high costs and relies on insulating bucket arm car, and the robot need send to high-altitude operation point through insulating fill of insulating bucket arm car, and needs the staff at bucket arm fit-up work, because 10kV joins in marriage net power line most not on the roadside, insulating bucket arm car can't reach, especially mountain area, and many circuits distribute on the mountain, utilize robot live working to be difficult to develop work.

Disclosure of Invention

The utility model aims at solving above-mentioned problem, provide an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique, can develop live working to overhead line to complex environment, it is few to receive the environmental factor restriction, improves live working ability, avoids the personal risk that live working staff direct operation equipment brought in conventional distribution live working, and security and economic nature are good.

For realizing the above purpose of the utility model, the utility model provides an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique, it includes: the mounting platform is used for being mounted on the unmanned aerial vehicle; a first operation arm and a second operation arm mounted on the carrying table; the intelligent special appliance is detachably arranged on the first operating arm and/or the second operating arm; the intelligent special appliance comprises one or more of a wire breaker, a peeler, a wire fixer and a wire winder.

Further, still include a pair of rotary drive mechanism for driving first operation arm and second operation arm respectively relative unmanned aerial vehicle rotary motion.

The power output components of the pair of rotary driving mechanisms are respectively connected with the pair of rotary tables so as to drive the corresponding rotary tables to rotate relative to the carrying platform.

The first operating arm and the second operating arm are respectively and fixedly connected with the pair of rotating tables.

Further, still include and be used for driving first operation arm and second operation arm respectively relative unmanned aerial vehicle telescopic motion's a pair of flexible actuating mechanism.

The operating arm comprises a sleeve fixedly mounted on the rotating table and a telescopic rod which is arranged in the sleeve and can move relative to the sleeve, and a power output part of the telescopic driving mechanism is connected with the corresponding telescopic rod to drive the telescopic rod to move relative to the sleeve in a telescopic mode.

Further, the translation driving mechanism is used for driving the second operating arm to translate relative to the first operating arm.

And the top of the rotating platform corresponding to the second operating arm is arranged on the translation platform.

And the power output part of the translation driving mechanism is fixedly connected with the translation table.

Compared with the prior art, the utility model discloses an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique has following advantage:

1. the utility model discloses a platform, the instrument that carries through unmanned aerial vehicle carries out live working to high altitude distribution overhead line, because distribution network live working staff does not have direct contact live equipment, consequently, the personnel risk that staff need direct operation equipment to bring among the greatly reduced prior art.

2. The utility model discloses a platform, the instrument that carries through unmanned aerial vehicle carries out live working to distribution overhead line aloft, has effectively solved the problem that vehicle and staff can't reach the workplace among the prior art, has both reduced personnel's risk of operation, also makes the simple easy operation of whole work flow, reduces the live working cost, is the effective replenishment of joining in marriage net live working to prior art, has improved the reliability of distribution network power supply greatly, has better social and economic benefits.

The present invention will be described in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle live working platform according to an embodiment of the present invention (the working tools carried are a wire fixer and a winder);

fig. 2 is a schematic diagram of the embodiment of the present invention when the wire fixing device and the wire breaker carried by the unmanned aerial vehicle are used for performing live wire breaking operation;

fig. 3 is a schematic diagram of the embodiment of the present invention when the wire is stripped in an electrified manner by the stripper carried by the unmanned aerial vehicle;

fig. 4 is a schematic diagram of the embodiment of the present invention when the wire fixer and the winder carried by the unmanned aerial vehicle are used for live-wire connection;

fig. 5 is a schematic diagram of the embodiment of the present invention when the winder carried by the unmanned aerial vehicle is used for live-line bare conductor repairing operation;

fig. 6 is a schematic structural diagram of a wire fixer carried by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a peeler carried by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a winder carried by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a wire breaker carried by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a mounting table and an operation arm for mounting on an unmanned aerial vehicle (a translation driving mechanism for driving a second operation arm to translate is not shown) according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a first operating arm and a telescopic driving mechanism thereof according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a first operating arm according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a translation driving mechanism for driving the second operating arm to translate according to an embodiment of the present invention.

Detailed Description

The utility model provides an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique, it includes: the mounting platform is used for being mounted on the unmanned aerial vehicle; a first operation arm and a second operation arm mounted on the carrying table; the intelligent special appliance is detachably arranged on the first operating arm and/or the second operating arm; the intelligent special appliance comprises one or more of a wire breaker, a peeler, a wire fixer and a wire winder.

The utility model discloses a special utensil of intelligence that carries on corresponding live working to high altitude distribution overhead line on unmanned aerial vehicle for distribution network live working staff does not need direct contact live equipment, compares among the prior art staff and needs direct operating equipment, the utility model discloses but the personal risk that greatly reduced brought for the staff. Furthermore, the utility model discloses a platform, the special utensil of intelligence through unmanned aerial vehicle carries out live working to distribution overhead line aloft, the problem of vehicle and staff can't reach the workplace among the prior art has effectively been solved, the person risk of personnel's operation has both been reduced, also make the simple easy operation of whole work flow, reduce the live working cost, be the effective replenishment of joining in marriage net live working to prior art, the reliability of distribution network power supply has been improved greatly, better social and economic benefits have.

Specifically, as shown in fig. 1, the utility model discloses unmanned aerial vehicle adopts many rotor unmanned aerial vehicle 2, has carried intelligent control platform on the unmanned aerial vehicle, and intelligent control platform divide into host computer (not shown in the figure) and follows machine 1, and the host computer is arranged in ground end operating personnel hand, follows the machine and is fixed on many rotor unmanned aerial vehicle upper portion, follows through the host computer control and makes unmanned aerial vehicle flight and control each component that carries on unmanned aerial vehicle carry out corresponding action and/or carry out live working operation. The structure and the control mode of the intelligent control console are structures which are easy to realize by electrical engineers, and are not described in detail herein.

Consider that many rotor unmanned aerial vehicle need carry cable and/or intelligent special apparatus etc. so unmanned aerial vehicle generally adopts six rotors or the unmanned aerial vehicle structure that the oar wing quantity is more, all carry big dipper global positioning device or GPS on it, it can obtain the positional information of work place through communicating on with intelligent control platform to accessible intelligent control platform limits its work area, avoids leading to operating personnel mistake to fly to work on other electrified circuits because of the distribution site conditions is complicated.

In order to carry out corresponding live working to high altitude distribution overhead line through the special utensil of intelligence that carries on the unmanned aerial vehicle, install set-up platform 15 (see fig. 10) in many rotor unmanned aerial vehicle 2's fuselage bottom, install first operating arm 6 and the second operating arm 3 of being made by insulating material on the set-up platform, can install the special utensil of intelligence that is used for carrying out different live working functions respectively with detachably mode in first operating arm and second operating arm lower part, like line breaker 8, barker 10, wire fixer 7 and spooler 5 etc..

The structure of each intelligent special appliance detachably mounted on the first operating arm or the second operating arm can adopt a threaded connection structure, for example, a connecting arm of each intelligent special appliance is connected with the first operating arm or the second operating arm through threads; in addition, the connecting arm of each intelligent special appliance can be connected with the first operating arm or the second operating arm in a clamping mode. The structure that the connecting arm of each intelligent special appliance is connected with the first operating arm or the second operating arm and the joint is prevented from loosening is a structure which is easy to realize by mechanical personnel and is not described again.

As shown in fig. 6, the wire fixing device 7 has a vertical connecting arm for connecting with the operating arm, and upper and lower arms symmetrically mounted on the connecting arm, the lower arm is fixedly mounted at the bottom of the connecting arm, and the upper arm is driven by a motor (not shown in the figure, and when designed, the driving mechanism can be mounted on the connecting arm or other components) to move up and down relative to the lower arm (the moving direction can be shown in the direction of the arrow shown on the upper arm in fig. 6). The wire is fixed by controlling the upper arm and the lower arm, namely, the wire is clamped and fixed by utilizing the upper arm and the lower arm to be relatively closed, and the upper arm and the lower arm adopt a structure that the middle part is connected with the connecting arm and the left part and the right part are extended out, so that the wire is flexibly fixed by matching different angles. The wire holder 7 is a prior art electric wire holder structure, and the structure thereof will not be described in detail.

As shown in fig. 7, the dehider 10 has a vertical connecting arm for connecting with the operating arm, an annular jaw with an opening mounted at the bottom of the connecting arm, and a blade mechanism rotatable (in the direction of the arrow in fig. 7) about the center of the annular jaw. When the wire is arranged in the annular clamping jaw, the distance between the blade of the blade mechanism and the wire is automatically changed to strip the insulating layer of the wire, and the voltage sensor is arranged on the blade mechanism and used for judging whether the cutting of the insulating layer of the wire is finished or not so as to avoid the condition of accidentally injuring the wire body. The dehider 10 is a prior art electric dehider structure and its structure will not be described in detail herein.

As shown in fig. 8, the winder 5 has a vertical connecting arm for connecting with the operating arm, and a winding mechanism mounted at the bottom of the connecting arm, the winding mechanism has an annular clamping claw with an opening which can rotate around the center of the circular clamping claw (the rotation direction is shown by an arrow in fig. 8), the through hole at the center of the annular clamping claw is a through hole for clamping a wire, the winding wire for repairing is fixed after penetrating the winding wire into the through hole on the winder, and the winder realizes the winding operation of the wire by the winding mechanism rotating around the center of the circular clamping claw. The winder 5 is a prior art electric winder structure, and the structure thereof will not be described in detail.

As shown in fig. 9, the wire cutter 8 includes a vertical connecting arm for connecting with the operating arm, a pair of pliers blades mounted on both sides of the connecting arm, and a mechanical control mechanism for controlling the relative movement of the pair of pliers blades, and the mechanical control mechanism can be driven by a motor to close the pair of pliers blades so as to cut off the wire between the pair of pliers blades. Generally, the wire cutter 8 is used in combination with a wire holder 7, which is disposed beside the wire cutter and fixes the cut wire by the wire holder after the wire is cut by the wire cutter. The wire cutter 8 is a prior art electric wire cutter structure, and the structure thereof will not be described in detail.

In addition, a high-definition camera 4 is also installed on the unmanned aerial vehicle, and records corresponding actions of various action components (including but not limited to the first operating arm 6, the second operating arm 3 and intelligent special appliances installed on the operating arms) on the unmanned aerial vehicle and communicates with an intelligent control console, so that ground workers can monitor and operate the unmanned aerial vehicle at any time to perform corresponding operations. The design of high definition digtal camera adopts spherical wide angle camera, can realize high definition multidimension degree information acquisition.

During the application, special utensil of intelligence can be installed and dismantle according to the different work content that unmanned aerial vehicle needs to carry out to unmanned aerial vehicle live working platform selects the special utensil of intelligence of correspondence after, takes off to corresponding job site top by operating personnel control, slowly descends to corresponding in leading the utensil, and accomplishes appointed operation content according to the function of the special utensil of intelligence.

In actual operation, in order to make the special utensil of intelligence that unmanned aerial vehicle carried accomplish appointed operation content, the utility model discloses an electrified operation platform still includes the actuating mechanism that can drive the operating arm of connecting the special utensil of intelligence and carry out corresponding action, if, in order to make the special utensil of intelligence rotatory relatively unmanned aerial vehicle, electrified operation platform is including being used for driving a pair of rotary driving mechanism of

first operating arm

6 and 2 rotary motion of unmanned aerial vehicle of second operating arm 3 relative respectively.

Specifically, as shown in fig. 10, a pair of rotating tables, i.e., a first rotating table 62 and a second rotating table 32, are mounted on the mounting table to be rotatable relative thereto, power output members of a pair of rotation driving mechanisms are connected to the pair of rotating tables, respectively, to drive the corresponding rotating tables to rotate relative to the mounting table, the rotation angle may be 360 degrees, and upper portions of the first operating arm and the second operating arm are fixedly connected to lower surfaces of the pair of rotating tables, respectively. In the design, the rotary table can be installed on the carrying table through the connecting base, and the connecting base and the carrying table can be connected through a bolt or a screw, that is, the first rotary table 62 is connected with the carrying table 15 through the first connecting base 31, and the second rotary table 32 is connected with the carrying table 15 through the second connecting base 30. The rotary driving mechanism may adopt a structure (not shown in the figure) in which a servo motor drives a reduction gear to drive, and the structure is easily realized by a mechanic, and the structure is not described in detail herein. The corresponding rotating platform is driven to rotate through the rotary driving mechanism, so that the corresponding operating arm is driven to rotate relative to the lapping platform (or the unmanned aerial vehicle), and the intelligent special appliance installed on the operating arm is driven to rotate to perform corresponding operation.

In order to realize that the intelligent special appliance can stretch relative to the unmanned aerial vehicle, the hot-line work platform can further comprise a pair of telescopic driving mechanisms for driving the first operating arm 6 and the second operating arm 3 to respectively stretch relative to the unmanned aerial vehicle 2.

As shown in fig. 1-5 and 10-12, the first operating arm 6 of the present invention includes a sleeve 63 and a telescopic rod 64 disposed in the sleeve 63 and movable relative to the sleeve 63, wherein a power output component of the telescopic driving mechanism 65 corresponding to the first operating arm is connected to the telescopic rod to drive the telescopic rod to move relative to the sleeve in a telescopic manner, and the sleeve 63 is fixedly mounted on the first rotating platform 61.

When designing, flexible actuating mechanism can include: the electric motor 651, the reduction gear transmission mechanism 652 which is in transmission connection with the output shaft of the electric motor, the screw rod 653 which is connected with the power output shaft of the reduction gear transmission mechanism, a first component 654 (such as a nut) which is in threaded connection with the screw rod, and a second component 655 which is sleeved outside the screw rod and has the diameter larger than the external diameter of the screw rod, wherein the second component 655 is positioned below the first component, the upper surface of the second component is movably connected with the first component, and the lower surface of the second component is fixedly connected with the upper part of the telescopic rod 64. When the motor (for servo drive motor) during operation, realize the drive to the hob after the transmission through reduction gear, the hob has realized through self rotation that the first part rather than threaded connection reciprocates along its axial rotation, and the rotatory of first part reciprocates and has driven the second part along reciprocating of hob. During design, the outer diameter of the first part is smaller than that of the second part, the outer diameter of the second part is larger than that of the telescopic rod, and the telescopic rod is also provided with a through hole for sleeving the spiral rod. A guide groove (not shown) is provided in the inner wall of the sleeve 63 to move the second member along the guide groove of the sleeve, so that the second member does not rotate with the rotation of the first member and moves up and down along the screw only by the pushing action of the first member.

The utility model discloses the relative sleeve of telescopic link that also can adopt the first operating arm of other telescopic machanisms drive of prior art moves telescopically, no longer gives unnecessary details here.

The second operating arm 3 and the first operating arm 6 are of the same structure, that is, as shown in fig. 10, the second operating arm includes a sleeve 33 and a telescopic rod 34 disposed in the sleeve 33 and movable relative to the sleeve 33, wherein a power output part of the telescopic driving mechanism corresponding to the second operating arm is connected to the telescopic rod to drive the telescopic rod to move telescopically relative to the sleeve, and the sleeve 33 is fixedly mounted on the second rotating platform 32. The telescopic driving mechanism for driving the telescopic rod of the second operating arm to move relative to the sleeve in a telescopic manner is the same as the telescopic driving mechanism for driving the first operating arm, and the details are not repeated herein.

In order to realize that different intelligent special appliances carried on the unmanned aerial vehicle at the same time can change relative distance, namely can carry out translation relative to the unmanned aerial vehicle, the live working platform can further comprise a translation driving mechanism 31 for driving the second operating arm 3 to move in translation relative to the unmanned aerial vehicle 2.

Specifically, a translation stage 312 that can translate relative to the mounting stage 15 is disposed on the mounting stage 15 at a position corresponding to the second manipulation arm 3, and the top of the rotation stage 32 corresponding to the second manipulation arm is mounted on the translation stage 312. Further, since the second connecting seat 30 is mounted on the top of the second rotating platform 32, the top of the second connecting seat 30 is fixedly connected to the bottom of the translation stage 312, and the power output component of the translation driving mechanism 31 is fixedly connected to the translation stage 312.

Here, the translation driving mechanism 31 may adopt a structure as shown in fig. 13 (and the translation driving mechanism is not shown in fig. 10), and may be a lead screw mechanism including: a motor 313 driven by translation, a lead screw 314 connected with an output shaft of the motor, and a nut (not shown in the figure) connected with the lead screw in a threaded manner, wherein the translation table 312 is fixedly connected with the nut. Accordingly, a pair of guide rails 311 is attached to the mounting table 15, and both sides of the translation table 312 are slidably connected to the pair of guide rails 311. When the motor works, the translation stage 312 is driven to move along the screw rod, so as to drive the second operation arm on the translation stage to translate, and further change the distance between the second operation arm and the first operation arm. When the device is assembled, the length extending direction of the lead screw is parallel to or coincided with the direction of the central connecting line of the two operating arms.

According to the requirement of live working, when the translation-driven motor acts, the translation table is driven to do left-right translation motion relative to the unmanned aerial vehicle body, and the translation motion enables the rotating table and the telescopic rod to translate left and right along with the rotation, so that the intelligent special appliance installed on the telescopic rod is driven to translate left and right; when a driving motor of the rotary driving mechanism acts, the rotary table is driven to rotate relative to the unmanned aerial vehicle body, and the telescopic rod is driven to rotate along with the rotation, so that the intelligent special device installed on the telescopic rod is driven to rotate intelligently; when flexible actuating mechanism's driving motor moved, the telescopic link took place to reciprocate relative the unmanned aerial vehicle fuselage to the special utensil of intelligence of installation is along with reciprocating on the drive telescopic link.

The utility model discloses a live working platform that carries on unmanned aerial vehicle carries out high altitude distribution overhead line live working include through unmanned aerial vehicle to distribution overhead line carry on with electricity the step of disconnected lead wire operation and/or carry out with electricity the step of connecing the lead wire operation and/or carry out the step of electrified bare conductor repair operation to distribution overhead line through unmanned aerial vehicle. The general process of the operation mode is as follows: after the operating personnel receives the task and arrives near the workplace, fly the unmanned aerial vehicle live working platform to the overhead line top of waiting to maintain through intelligent control platform, utilize the mode control insulating light-duty operating arm of ground/camera observation to realize controlling, reciprocating and the rotation function to special utensil of intelligence, make special utensil of intelligence can be effectively close to waiting to maintain the wire. When the conductor is confirmed to enter the effective working range of the intelligent special appliance, an operator controls the intelligent special appliance to realize conductor operation through the intelligent control platform.

Next, a method of performing live working by the live working platform mounted on the unmanned aerial vehicle will be described in detail.

Wherein, when carrying out electrified disconnected lead wire operation to distribution overhead line through unmanned aerial vehicle, carry wire fixer and broken wire ware cooperation by unmanned aerial vehicle live working platform and carry out work: when the unmanned aerial vehicle flies to the operation wire, the wire fixer is controlled by the intelligent control console to move to the position of the wire to be maintained under the driving of the first operating arm. After the lead is fixed by the lead fixer, the intelligent control console controls the wire breaker to move and carries out wire breaking treatment on the lead, and after the wire breaker breaks the wire, the lead fixer fixes, pulls and separates the broken lead. The wire fixer, the wire breaker and the unmanned aerial vehicle are operated to carry out live working through cooperation of an operator through an above-ground video display device such as a camera for observation and an operation intelligent control console (host).

Specifically, carry out electrified disconnected lead wire operation's step including to distribution overhead line through unmanned aerial vehicle:

controlling an unmanned aerial vehicle carrying a wire fixer and a wire breaker to reach the upper part of a wire to be maintained of the overhead power distribution overhead line;

when the unmanned aerial vehicle reaches the position above the lead to be maintained, the lead to be maintained is fixed through a lead fixer carried by the unmanned aerial vehicle;

after the lead to be maintained is fixed by the lead fixer, the lead to be maintained is subjected to live-line disconnection processing through the wire breaker carried by the unmanned aerial vehicle.

Wherein, install each component of above-mentioned platform in advance bottom unmanned aerial vehicle's fuselage, if, the platform of taking up, be located the translation platform of platform one side and the first connecting seat of opposite side of taking up, install the second connecting seat on the translation platform, install the second revolving stage on the second connecting seat, install the second operation arm on the second revolving stage, install the first revolving stage on first connecting seat, install the first operation arm on first revolving stage and drive the translation actuating mechanism that the platform of taking up relatively removed of translation platform, the rotatory actuating mechanism that drives every revolving stage and correspond the connecting seat rotation relatively, the telescopic link that drives every operation arm corresponds the flexible actuating mechanism that removes of sleeve relatively.

When the unmanned aerial vehicle carries the wire fixer 7 and the wire breaker 8, the wire fixer is detachably mounted on a first operating arm positioned at the bottom of the unmanned aerial vehicle body; with broken line ware demountable installation on being located unmanned aerial vehicle fuselage bottom and with first operation arm parallel arrangement's second operation arm.

After unmanned aerial vehicle carried wire fixer and broken wire ware and arrived to treat to maintain wire 9 sky, fixed wire 9 of treating to maintain through wire fixer 7 that unmanned aerial vehicle carried, promptly, through making first operating arm relative unmanned aerial vehicle concertina movement and/or rotary motion to drive wire fixer through first operating arm and carry out corresponding flexible and/or rotary motion and the centre gripping and treat to maintain near the department of maintaining of wire 7.

Controlling the telescopic and/or rotational movement of a first manipulator arm on the drone relative to the drone comprises: controlling a telescopic driving mechanism connected with the first operating arm to act, so that the first operating arm moves relative to the unmanned aerial vehicle in a telescopic mode (namely, controlling a telescopic rod of the first operating arm to move up and down along the axial direction of a sleeve), and a wire fixer installed on the first operating arm (namely, installed on the telescopic rod) can reach the same horizontal plane of a wire to be maintained; when the wire fixer reaches the same horizontal plane of the wire to be maintained, the rotary driving mechanism connected with the first operating arm is controlled to act, the purpose of controlling the first operating arm to rotate relative to the unmanned aerial vehicle is achieved, so that the wire fixer can rotate to a proper angle, the wire to be maintained can be arranged in a pair of clamping jaws of the wire fixer in a penetrating mode, and then the wire to be maintained is clamped through controlling the pair of clamping jaws to move relatively.

After the wire is fixed by the wire fixer on the first operating arm to be maintained (as shown in fig. 2), the wire breaker that carries through unmanned aerial vehicle carries out electrified broken string processing to the wire of treating to maintain, and it includes: after the part, to be maintained, of the lead to be maintained is fixed by the lead fixing device, the second operating arm (i.e., the operating arm carrying the lead cutter) is moved towards the direction of the first operating arm by controlling the translation driving mechanism to move, and after the second operating arm moves to a proper position, the telescopic driving mechanism and/or the rotation driving mechanism connected with the second operating arm is controlled to move, so that the second operating arm moves telescopically and/or rotates relative to the unmanned aerial vehicle, the lead cutter 8 is driven by the second operating arm to move to a proper position and angle, the lead clamped by the lead fixing line enters a pair of jaws of the lead cutter 8, and then the lead is subjected to relaying processing by controlling the lead cutter 8 to move relative to the pair of jaws, namely, the lead is clamped and cut by the pair of jaws. And finally, controlling the unmanned aerial vehicle to clamp the disconnected lead through the lead fixer and pull the disconnected lead to separate so as to perform subsequent operation.

The utility model discloses except can carrying out electrified disconnected lead wire operation to distribution overhead line through unmanned aerial vehicle, can also carry out electrified lead wire operation that connects to distribution overhead line through unmanned aerial vehicle, promptly, with an external connection to electrified treating on the doubling wire. As shown in fig. 3 and 4, the unmanned aerial vehicle live working platform carries a peeler 10, a wire fixer 7 and a winder 5 in sequence to work: firstly, the electrified platform of unmanned aerial vehicle carries the barker to carry out work, and when unmanned aerial vehicle flew to operation wire 11 sky, the barker moved to the operation wire 11 department of treating the doubling under the drive of operation arm and carries out the operation of skinning. After the completion of skinning, unmanned aerial vehicle flies to ground, change intelligent special apparatus (wire fixer and spooler, the effect of wire fixer is realized avoiding external electric wire to drop at the flight in-process), unmanned aerial vehicle carries external electric wire to near the operation wire (same water flat line) of skinning, the wire spooler is put into to the translation function realization through the operation arm after will skinning, utilize the rotation action on the spooler, realize the winding fastening, accomplish external electric wire and the doubling work of the back wire of skinning. The realization of the operation function is that the working personnel observes and operates an intelligent control console (host) through the ground/camera to cooperatively carry out live working.

Specifically, carrying out electrified operation of connecting the lead wire to distribution overhead line through unmanned aerial vehicle includes following step:

controlling an unmanned aerial vehicle carrying a peeler and a winder to reach the upper part of a to-be-doubled conductor of an overhead power distribution overhead line;

when the unmanned aerial vehicle reaches the position above the wire to be doubled, peeling the wire to be doubled through a peeler carried by the unmanned aerial vehicle;

treat that the doubling wire is peeled off and handle the back, will treat that doubling wire and external wire winding fastening together through the spooler that unmanned aerial vehicle carried to carry out electrified lead wire processing that connects.

Firstly, a peeler is detachably mounted on a first operating arm or a second operating arm at the bottom of an unmanned aerial vehicle body, and the unmanned aerial vehicle carrying the peeler is controlled to reach the upper part of a wire to be doubled of a high-altitude power distribution overhead line; then, through controlling corresponding flexible actuating mechanism and rotary driving mechanism, make the barker that unmanned aerial vehicle carried reach suitable position and angle to wait that the doubling wire can enter into the clamping jaw of barker through the opening of barker one side in, then carry out the processing of skinning through control blade mechanism to the wire, form portion 12 of skinning.

After the conductors to be doubled are peeled, the unmanned aerial vehicle carrying the peeler is controlled to return to the ground. When the unmanned aerial vehicle returns to the ground, the peeler is detached, and the wire fixing device and the wire winder are replaced. When the wire winder is replaced, the wire fixer is detachably arranged on the first operating arm, and the wire winder is detachably arranged on the second operating arm parallel to the first operating arm. The unmanned aerial vehicle is controlled to carry the external electric wire and the winder to fly to the vicinity of a peeled wire to be doubled, the telescopic driving mechanism and the rotary driving mechanism which are connected with the second operating arm are controlled to act, the second operating arm moves towards the direction of the first operating arm to move relative to the unmanned aerial vehicle in a telescopic motion and/or a rotary motion mode until the winder on the second operating arm reaches a proper position and an angle, so that a peeling part of the peeled wire to be doubled and a peeling section of the external electric wire clamped by the wire fixer can enter the winder through an opening of the winder, the winder is controlled to rotate, the peeled wire to be doubled and the external electric wire are wound and fastened together through the rotating winder, and doubling work is finished.

Wherein, when installing wire fixer and spooler on unmanned aerial vehicle's the operation arm, both can install the wire fixer on first operation arm, install the spooler on second operation arm, also can install the wire fixer on second operation arm, install the spooler on first operation arm, carry out the doubling during operation, as required control operation arm's translation, rotation, flexible can.

The wire breaking operation and the wire connecting operation may be performed independently, or the wire connecting operation may be performed after the wire breaking operation according to the actual live-wire work.

The utility model discloses except can carry out foretell electrified disconnected lead wire, connect the lead wire operation to distribution overhead line through unmanned aerial vehicle, can also carry out electrified bare conductor work of repairing, promptly, unmanned aerial vehicle live working platform carries spooler 5 and carries out work, and when unmanned aerial vehicle fled to the operation wire and goes up, spooler 5 moved down to the wire department 14 of treating the repair at the drive of operation arm and carries out the wire reinforcement operation (as shown in fig. 5). The realization of the operation function is that the working personnel observes and operates an intelligent control console (host) through the ground/camera to cooperatively carry out live working.

Specifically, carry out electrified bare conductor operation of repairing to distribution overhead line through unmanned aerial vehicle includes:

controlling an unmanned aerial vehicle with a winder to reach the upper part of a to-be-repaired wire of the overhead power distribution overhead line;

when the unmanned aerial vehicle arrives at the position above the wire to be repaired, the wire to be repaired is reinforced through the winder carried by the unmanned aerial vehicle.

When the bare conductor is repaired in an electrified mode, the winder is detachably mounted on a first operating arm or a second operating arm at the bottom of the unmanned aerial vehicle body, and the unmanned aerial vehicle with the winder is controlled to reach the position above a conductor to be repaired of an overhead power distribution overhead line; then, through the corresponding flexible actuating mechanism and the rotary driving mechanism of control and operating arm connection, make the spooler that unmanned aerial vehicle carried reach suitable position and angle to the uncovered department of waiting to mend the wire can enter into the clamping jaw of spooler through the opening of spooler one side, then rotate through the drive spooler, thereby carry out the reinforcement to the uncovered department of wire.

Compared with the prior art, the utility model provides a personal risk that distribution network live working staff direct operation equipment brought, conventional live working adopts insulator spindle or insulating boom car, it needs staff direct contact equipment, the personal risk of electrocution is high, operating procedure is complicated, insulating boom car method relies on the boom car, especially in the mountain area, many job sites insulating boom car can't reach, can only develop work through having a power failure, utilize unmanned aerial vehicle live working platform live working on distributing the overhead line, the operating point that the vehicle can't reach has effectively been solved, the personal risk of personnel's operation has significantly reduced, and the simple easy operation of whole work flow, live working is with low costs, be the effective replenishment to current distribution network live working, distribution network power supply reliability can be greatly improved.

Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can modify the principle of the present invention, and therefore, various modifications performed according to the principle of the present invention should be understood as falling into the protection scope of the present invention.

Claims

1. The utility model provides an aerial distribution overhead line live working platform based on unmanned aerial vehicle technique which characterized in that includes:

the mounting platform is used for being mounted on the unmanned aerial vehicle;

a first operation arm and a second operation arm mounted on the carrying table;

the intelligent special appliance is detachably arranged on the first operating arm and/or the second operating arm;

the intelligent special appliance comprises one or more of a wire breaker, a peeler, a wire fixer and a wire winder.

2. The aerial power distribution overhead line live working platform of claim 1, further comprising a pair of rotary drive mechanisms for driving the first and second manipulator arms to respectively rotate relative to the drone.

3. The aerial distribution overhead line hot-line work platform as claimed in claim 2, wherein the mounting platform is provided with a pair of rotating platforms which can rotate relative to the mounting platform, and the power output components of the pair of rotary driving mechanisms are respectively connected with the pair of rotating platforms so as to drive the corresponding rotating platforms to rotate relative to the mounting platform.

4. The overhead power distribution overhead line hot-line work platform of claim 3, wherein the first and second manipulator arms are each fixedly attached to a pair of rotating platforms.

5. The aerial power distribution overhead line live working platform of any one of claims 1 to 4, further comprising a pair of telescopic driving mechanisms for driving the first operating arm and the second operating arm to respectively move telescopically relative to the unmanned aerial vehicle.

6. The aerial power distribution overhead line hot-line work platform as claimed in claim 5, wherein the operating arm comprises a sleeve fixedly mounted on the rotating platform and a telescopic rod arranged in the sleeve and capable of moving relative to the sleeve, and the power output part of the telescopic driving mechanism is connected with the corresponding telescopic rod to drive the telescopic rod to move telescopically relative to the sleeve.

7. The aerial power distribution overhead line hot-line work platform of any one of claims 1 to 4, further comprising a translation drive mechanism for driving the second manipulator arm in translation relative to the first manipulator arm.

8. The aerial distribution overhead line hot-line work platform as claimed in claim 7, wherein a translation stage capable of translating relative to the mounting stage is arranged on the mounting stage at a position corresponding to the second operating arm, and a top of a rotation stage corresponding to the second operating arm is mounted on the translation stage.

9. The aerial power distribution overhead line hot-line work platform of claim 8, wherein the power take-off component of the translation drive mechanism is fixedly connected with the translation stage.