JP2020167819A - Pilot rope attaching/detaching device of drone for power transmission line extension work - Google Patents

Abstract

To safely and surely pass a rope between steel towers by separating a connecting portion of a drone and a pilot rope from each other by remote control and preventing disconnection of the rope due to erroneous operation during flight.SOLUTION: A pilot rope attaching/detaching device for connecting a rope R to be passed between steel towers to a drone D supports a hook 4 on a supporting frame 3 hung from the drone D and is configured to be rotatable between a rope mounting position for suspending the rope R and a rope detaching position for separating the rope R by a battery driven motor 5 operated by remote control of a remote controller 2. A rope lock mechanism 9 detects change in predetermined load on the hook 4. The hook 4 detects increase in load that suspends a rope R, locks a hanging position of the hook 4 to prevent detachment operation of the rope R by the remote controller 2, and detects decrease in the load received by an operator of the rope R to release detaching operation of the rope R by the remote controller 2.SELECTED DRAWING: Figure 4

Description

According to the present invention, in the construction of a transmission line between towers, when the pilot rope is passed between the towers prior to the transmission line, the pilot rope is attached to fly the drone, and the worker receives the rope on the reached tower. It relates to a rope attachment / detachment device for separating from a drone.

In the extension work of high-voltage transmission lines, a pilot rope connecting the transmission lines is passed between the transmission towers prior to erection of the transmission lines between the transmission towers. Conventionally, helicopters of actual machines and remote controls have been used for wire extension work that overcomes obstacles in the topography such as forests, rivers, and canyons where workers have difficulty entering due to the long span of the transmission tower and the living environment of neighboring residents. Is done. However, it may not always be appropriate in terms of cost, safety, and impact on the living environment of residents.
For this reason, in recent years, lines have been extended using radio-controlled drones. The work procedure using the drone is to connect the tip of the rope to the drone, attach weights to the rope to prevent interference with the propeller due to the lifting of the rope, and fly the drone toward the adjacent tower. When approaching the tower, the worker receives the rope suspended from the tower while keeping a distance from the drone, cuts the rope with Takaeda scissors, etc. to separate it from the drone, and moves the end of the rope from the tower to the ground. Lower, wind up the rope with a winch, and pass the transmission line connected to the rope (Patent Documents 1 and 2).

JP 2016-208625 JP-A-06-276634

In the above-mentioned conventional rope drawing work by a drone, since the rope is cut and separated from the drone, the rope is shortened and hinders reuse, whereas the operator is required to reduce the shortening of the rope. If the drone is brought close to the drone, there is a risk of contact with the operator, and there is a risk of letting go of the rope and dropping it because the rope is separated while being held.
Therefore, the present invention is safe by remotely disconnecting the connection portion between the drone and the rope, without cutting the rope, without bringing the drone close to the operator, and preventing the rope from falling due to an erroneous operation during flight. An object of the present invention is to provide a rope attachment / detachment device that reliably receives a rope.

In order to solve the above problems, the pilot rope attachment / detachment device for the drone for wire drawing work of the present invention causes the drone D to which the rope R is connected to fly between the spans of the steel towers T1 and T2, passes the rope R, and passes the rope R to the rope R. In the wire extension work to erection the connected transmission line, it is possible to move between the hanging position where the rope R can be hung on the support frame 3 suspended from the drone D and the release position where the rope R can be detached. The hook 4 is supported, and the battery-powered motor 5 is remotely operated by the wireless communication means 2 to move the hook 4. The rope lock mechanism detects a predetermined load change applied to the hook 4, and suspends the hook 4 by hindering the release operation of the rope R by the wireless communication means 2 based on the increase in the load obtained by hooking the rope R on the hook 4. While locking to the lowered position, the operator unlocks based on the decrease in the load received by the rope R.

Since the present invention remotely separates the rope from the drone without cutting it, there is no problem in reusing the rope, and it is sufficient to receive the rope suspended from overhead while keeping a distance from the drone. This eliminates the need to bring the drone close to the operator, allowing the operator to safely and reliably receive the rope. Also, if the rope is suspended on the hook, even if the rope is accidentally detached during the flight of the drone, the locking means will prevent the rope R from detaching, the rope will not fall off from the drone, and the vicinity of the iron tower reached. When the operator receives the rope, it is unlocked and the rope can be disconnected from the hook.

It is a perspective view of the pilot rope attachment / detachment device which concerns on embodiment of this invention. It is a front view of the main body of FIG. It is a side view of the main body of FIG. It is a rear view which cut out a part of the main body in which a hook is a hanging position. It is explanatory drawing which shows the operation of the rope lock mechanism. It is the schematic of the use state of the pilot rope attachment / detachment device of FIG.

An embodiment of the present invention will be described with reference to the drawings.
In FIGS. 1 and 6, the pilot rope attachment / detachment device includes a main body 1 connected to the drone D, and a remote controller 2 capable of Wi-Fi connection to the main body 1 for remote control of the main body 1.
In FIGS. 1 to 4, the main body 1 includes a substantially cylindrical case 3 having a horizontal central axis, a hook 4 rotatably supported by a pivot 3a along the central axis in the case 3, and a hook 4. A motor 5 that rotates, a power supply unit 6 that drives the motor 5, a gear mechanism 7 that transmits the rotation of the motor 5 to the hook 4, an eye clevis 8 that is a connection fitting for the suspension wire W connected to the drone D, and a hook. It is provided with a rope lock mechanism 9 that locks the rope according to a change in the load of the rope R applied to 4, limit switches 10 and 11 that detect the position of the hook 4, and a control board 12.

The case 3 constitutes a support frame for incorporating each element, has a closed substantially cylindrical box shape, divides the inside into three front and rear chambers in the axial direction, and includes a pair of opposed support plates 3b for supporting the pivot 3a. The lower end of the case 3 is provided with a rope through groove 3c cut in a substantially chevron cross section that is recessed in the radial direction and extends in the axial direction. At the center of both slopes of the rope through groove 3c facing each other, a pair of facing through holes 3d for inserting and removing the hook 4 are provided. A pair of handles 3f are provided on both sides of the case 3. A power switch 13 is provided on the front surface of the case 3, and a status display LED 14 having four different lighting colors at substantially equal intervals in the lateral direction is provided on the upper surface of the front surface of the case 3.

The hook 4 is rotatable between a hanging position where the base end can be hooked on the pivot 3a between the support plates 3b of the case 3 along the plate surface and a release position where the rope R can be detached. Supported by. The hook 4 extends from the base end portion in the radial direction of the case 3, then bends in a sickle shape, and bends and extends in an arc shape along the peripheral edge of the case 3. When the hook 4 projects from one through hole 3d of the case 3 into the rope through groove 3c, hangs the rope R, and is inserted into the other through hole 3d, the hook 4 surrounds the rope R together with the inclined surface of the rope through groove 3c and separates. Hang it impossible.

In the motor 5, the rotating shaft 5a is parallel to the pivot 3a and is fixed in the case 3. The motor 5 is powered by a dry battery in a holder of a power supply unit 6 fixed to the front surface of a support plate 3b on the front side of the case 3.

The gear mechanism 7 includes a small gear 7a fixed around the rotary shaft 5a of the motor 5 and a large gear 7b rotatably supported around the pivot 3a and fixed to the hook 4 to mesh with the small gear 7a. ..

The rope lock mechanism 9 includes a swivel bolt 15 that rotatably fixes the eye clevis 8 to the case 3 by penetrating the case 3 together with the base portion 8a of the eye clevis 8, and a bag nut 16 screwed into the case 3. It is sandwiched between the washer 17 and the spring receiving cylinder 18 that can slide along the axis of the swivel bolt 15 along the axis, and the spring receiving cylinder 18 and the washer 17, and presses the spring receiving cylinder 18 against the upper part of the inner surface of the case 3. A coil spring 19 and a limit switch 20 for detecting the position of the cap nut 16 are provided. When the hanging wire W extending from the drone D is connected to the eye clevis 8 and the rope R is hung on the hook 4, the hinge of the limit switch 20 that descends integrally with the case 3 while compressing the coil spring 19 by the load of the rope R. When the lever 20a is separated from the bag nut 16 and turned off, the operation of the "open" operation button switch of the hook 4 is invalidated and the rope R is prevented from coming off.

The limit switch 10 is turned on when the hinge lever 10a is pressed against the hook 4 at the release position where the hook 4 is housed in the case 3, and the limit switch 11 is turned on by the hook 4 penetrating the through hole 3d and the rope through groove. The hinge lever 11a is pressed against the hook 4 at the hanging position across the 3c to turn it on.

The control board 12 includes a communication unit for Wi-Fi connection with the remote controller 2, and is a power source for the motor 5 while restricting the rotation position of the hook 4 by limit switches 10 and 11 based on the instruction of wireless operation of the remote controller 2. The operation of the hook 4 is controlled by turning on and off the portion 6.

The remote controller 2 has a power switch 21, an "open" operation button switch 22a for moving the hook 4 to the release position, a "close" operation button switch 22b for moving the hook 4 to the hanging position, and four corresponding to the main body 1. It is equipped with two LEDs 23, and has a built-in power supply (not shown) and a communication unit for Wi-Fi connection.

In this rope attachment / detachment device, when the power switches 13 and 21 of the main body 1 and the remote controller 2 are turned on, the yellow LEDs 14 and 23 for turning on the power and the green LEDs 14 and 23 for establishing the Wi-Fi connection light up. Here, when the "open" operation button switch 22a of the remote controller 2 is pushed down, the hook 4 is driven by the motor 5 to rotate to the release position, and the hinge lever 10a of the limit switch 10 at the release position is pushed by the hook 4 to limit. The switch 10 is turned on, and the blue LEDs 14 and 23 are lit. In this state, when the tip of the rope R is inserted into the rope through groove 3c of the case 3 and the "close" operation button switch 22 of the remote controller 2 is pushed down, the hook 4 is driven by the motor 5 and rotates to the hanging position. , The hinge lever 10a of the limit switch 10 at the release position is separated from the hook 4, the limit switch 10 is turned off, and the blue LEDs 14 and 23 are turned off. On the other hand, when the hook 4 reaches the hanging position, the hinge lever of the limit switch 11 is pushed by the hook 4 to operate ON, and the red LEDs 14 and 23 light up. In this way, the eye clevis 8 of the main body 1 to which the rope R is attached is connected to the hanging wire W connected to the lower part of the drone D.

In the wire drawing process, the drone is operated by flight to move the tip of the rope R onto the steel tower T2 on which the transmission line is stretched. At this time, since the eye clevis 8 is rotatable with respect to the case 3, twisting of the rope R is prevented. As shown in FIG. 5 (B), the load of the rope R is applied to the hook 4, the coil spring 19 is compressed, and the hinge lever 20a of the limit switch 20 lowered integrally with the case 3 is separated from the bag nut 16 to be the limit switch. Since 20 is turned off, the circuit including the "open" operation button switch 22a of the hook 4 is opened, the operation of the "open" operation button switch 22a is disabled, and the opening of the hook 4 is prevented. This state is displayed by blinking the blue LEDs 14 and 23 and the red LEDs 14 and 23.

When the drone D reaches the flight destination steel tower T2 and the worker P on the steel tower T2 grabs the rope R suspended from the drone D near overhead, the load applied to the main body of the rope R is reduced. As shown in 5 (A), the limit switch 20 rises relatively integrally with the case 3 while the coil spring 19 returns and expands, the hinge lever 20a presses against the bag nut 16, and the limit switch 20 operates ON. As a result, the "open" operation button switch 22a of the hook 4 can be unlocked and the rope R can be separated. At this time, the blinking of the blue LEDs 14 and 23 and the red LEDs 14 and 23 disappears, and the red LED lights up. As a result, even if the "open" operation button switch 22a is pressed by mistake during the flight of the drone, the rope R can be prevented from falling. Further, when the operator on the tower T2 cannot receive the rope R, the rope lock mechanism 9 does not change the load, so that the hook 4 is locked in the closed state even if the open operation button switch is operated. Prevents the rope R from falling. Further, since the main body 1 can be remotely controlled by the remote controller 2, the operator can receive the rope R suspended from the drone D while maintaining the distance from the drone D, so that a contact accident can be prevented.

1 Main body 2 Remote control 3 Case 3a Pivot 3b Support plate 3c Rope through groove 3d Through hole 3f Handle 4 Hook 5 Motor 5a Rotating shaft 6 Power supply 7 Gear mechanism 7a Small gear 7b Large gear 8 Eye clevis 8a Base 9 Rope lock mechanism 10 Switch 11 Limit switch 12 Control board 13 Power switch 14 LED
15 Swivel bolt 16 Bag nut 17 Washer 18 Spring receiver 19 Coil spring 20 Limit switch 21 Power switch 22a "Open" operation button switch 22b "Close" operation button switch 23 LED
D drone W hanging wire

Claims (4)

A support frame suspended from the drone in the wire extension work to fly the drone connected to the rope between the towers, pass the rope, and erection the transmission line connected to this rope,
A hook that is supported by the support frame and can move between a hanging position where the rope can be hung and a release position where the rope can be detached.
A battery-powered motor that moves the hook,
A wireless communication means for hooking and detaching the rope by remotely controlling the rotation of the motor and moving the hook.
While detecting a predetermined load change applied to the hook and locking the hook to the hanging position by preventing the rope from being detached by the wireless communication means based on the increase in the load of hooking the rope on the hook, the work A pilot rope attachment / detachment device for a drone for wire drawing work, which comprises a rope lock mechanism that unlocks a rope based on a decrease in the load received by a person. The rope lock mechanism includes a spring member that is deformed by a predetermined load applied to the hook, and a spring member.
A displacement member that displaces according to the deformation and restoration of this spring member,
The pilot rope attachment / detachment device for a drone for wire drawing work according to claim 1, further comprising a limit switch that turns ON or OFF in response to the displacement of the displacement member to lock the hook to the suspended position. The displacement member includes a swivel bolt that movably connects a connection fitting for connecting to the drone's airframe to the upper part of the support frame so as to be movable in the horizontal direction according to the behavior of the rope.
Equipped with a nut to screw into this swivel bolt,
The spring member is a coil spring that is interposed between the nut and the support and is compressed and deformed with the hook suspending the rope.
The pilot rope attachment / detachment device for a drone for wire drawing work according to claim 2, wherein the limit switch detects a relative displacement between the support frame and the swivel bolt. A limit switch that detects the hanging position of the hook and
A limit switch that detects the detached position of the hook and
The pilot rope attachment / detachment device for a drone for wire drawing work according to claim 2 or 3, further comprising an LED that indicates a hooked rope fastening state, a detaching state, and a detaching lock state.

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