RU2690697C1 - Method of mounting markers fixed on wires and lightning protective cables of overhead transmission lines, using unmanned aerial vehicles, marker and clamp - Google Patents

Abstract

FIELD: electric power engineering.SUBSTANCE: invention relates to the field of electric power industry, and more specifically to methods of assembling markers fixed on wires and lightning protective cables of overhead transmission lines using unmanned aerial vehicles. Above markers are used to warn pilots of aircraft on passing of wires and lightning protection cables of overhead power lines, as well as to prevent collision of birds with wires and lightning protection cables. Method of marker installation is performed by means of unmanned aerial vehicles (UAV). Adjustable grippers fixed on UAV load-bearing structure retain marker, then radio signal includes electric motors with propeller-type propellers, marker is lifted and transported to mounting point. After the UAV positioning over the wire or lightning protection cable, the grip is released and the marker with the wedge-shaped slot in the lower part is released, performing the initial gripping of the wire or rope with the marker, with subsequent automatic fixation of the marker by means of clamps.EFFECT: technical result consists in easier gripping, positioning and fixation of the marker.6 cl, 11 dwg

Description

The invention relates to the field of electric power industry, and more specifically to methods of mounting markers mounted on wires and lightning protection cables of overhead power lines using unmanned aerial vehicles. The above markers are used to warn aircraft pilots of the passage of wires and lightning protection cables of overhead power lines, as well as to prevent birds from colliding with wires and lightning protection cables.

There is a method of mounting the wire with the help of aircraft, mainly two helicopters, which consists in picking up the wire to the external suspension of the helicopters, lifting and transporting them to the place of installation. After it is laid, the helicopters are uncoupled. Each helicopter picks up one of the ends of a wire laid out on the ground, lifts these ends with helicopters to form a half-loop, pulls together the helicopters to a safe distance and maintains it during transportation. Hang over the place of installation, lowering the helicopters put the lower part of the half-loop on the ground, then laying both branches half-loop by moving the helicopters over the place in opposite directions with a decrease. Attach the ends of the wire to the cables of the traction mechanisms installed on both sides of the installation site, which preload the wires and, after unloading the external hangers of the helicopters, uncouple the ends of the wires from them, and then perform the final tension of the wire by the traction mechanisms (see RF Patent No. 2091944 IPC H02G 1/02 (1995.01), 1997).

This technical solution uses manned aircraft, which significantly increases the cost and complicates, and in some cases makes it impossible, the installation process, in particular the wires, for example, in difficult mountain conditions or at passages through bodies of water, etc. In addition, the installation of markers on overhead power lines using aircraft operated by man, for example, helicopters, is very difficult due to the need to equip them with special mounting tools, which is difficult to implement with the existing helicopter fleet.

There is also known a method of mounting the wire with the help of aircraft, mainly two helicopters, consisting in the fact that by means of devices attached to helicopters for placing a reserve of the wire and for supporting the rolled wire by moving the helicopters, it is carried out sequentially its installation operations. The first helicopter with the unrolling device and the drum with the wire installed in it serves the released end of the wire to the near support, attach it to it and move the first helicopter in the direction to the far support. They stop it above the middle part of the span, and near the near support they fill the attached portion of the wire into a roller hooked to the second helicopter. After that, move both helicopters in the direction of the far support. When the first helicopter arrives at it, the second helicopter stops above the middle part of the span, and the first is the unrolling device with a drum on the ground. Attach to the wire cable traction mechanism, located behind the far support, disconnect the wire from the unrolling device, which is removed by the first helicopter, and pull the wire traction mechanism. The second roller helicopter supports the wire above ground obstacles, and after the stretching is completed, the second helicopter unloads the roller and releases it from the wire (see RF Patent No. 2153748, IPC H02G 1/02 (2000.01), 2000).

This method of mounting the wire with the help of aircraft has all the drawbacks of the above analogue, and the use of two helicopters further complicates and increases the cost of installation.

There are other methods and devices for installation and expansion of wires (RF patent No. 20155591, H02G 1/02, 1994; RF patent No. 2064214, H02G 1/02, 1996; RF patent No. 2481683, H02G 1/02, 2013 .)

The above solutions have all the drawbacks of the above analogues.

There is a method of mounting markers mounted on wires and lightning protection cables of overhead power lines using unmanned aerial vehicles. The method consists in using an unmanned aerial vehicle (UAV), which is controlled manually or automatically using an on-board computer via radio. The marker, made in the form of an inseparable spherical, or ellipsoid, or pin-shaped, or cone-shaped, or other geometrical figure of the element, holds the UAV with adjustable grips attached to the supporting structure. Then, over the radio signal, electric motors with propeller screws, also mounted on the UAV supporting structure, are turned on, pick up the marker and transport it to the installation site. At the same time, the UAV is maneuvered in such a way that it hangs over the wire or the lightning protection cable of the overhead power line in the position when the wire or lightning cable enters the bottom slot made in the marker. In this state, a radio signal is used to activate a tool that transmits mechanical forces to the clamps, by means of which the marker is fixed on a wire or lightning cable. The entire installation process is removed on a video camera mounted on an external rod on the surface of the marker. After the installation process is completed, the adjustable grippers are freed from holding the marker, the unit is raised over the power transmission line and transported to the parking lot (see RF Patent No. 2644420, IPC H02G 7/05 (2006.01), 2018, paragraph 4 of the formula). This decision was made as a prototype.

The disadvantage of this method is the difficulty of capturing, positioning and fixing the marker, because requires great accuracy of maneuvering and long-term retention of the unmanned aerial vehicle in one place.

The disadvantage of the clamping device that implements the method according to patent No. 2644420, when an instrument is activated by a radio signal, which transfers mechanical forces to the clamps (bolt nut), by means of which the marker is fixed on the wire or lightning cable, is the difficulty of gripping and high labor-consuming positioning and fixing marker.

Known marker, made in the form of a one-piece spherical element, having a slot in the lower part with a clip installed in it, which can be fixed in the closed position by means of an external influence on it with a tool that ensures the transmission of mechanical forces. Due to the external impact on the marker clamps, it is fixed on the wire or lightning protection cable of an overhead transmission line (see RF Patent No. 2644420, IPC H02G 7/05 (2006.01), 2018, paragraph 4 of the formula). This decision was made as a prototype for the marker.

A disadvantage of the known marker is the need to use an external force with a tool on the marker clips, which leads to a high labor intensity of its fixation.

Known spring clip, which is a clothespin. The clamp contains a spring and levers interconnected by a cylindrical hinge in the middle, fitted with a pair of opposing legs joined together and a pair of sections that perform the function of a handle, and a helical spring mounted on a rod having a handle. The latter moves from the first free position to the second, in which the spring is compressed and acts between the sections that function as a handle (see British Patent No. 1451919, IPC 7 B25B 5/04, B25B 5/06, F16B 2/02, 1976) .

The disadvantages of analogue include the absence of a clamp of the compressed position of the clamp, which leads to unreliable fixation of the clamp and the lack of automatic fixation.

Known clamp for fastening the product, which contains the housing and the handle. The body is made monolithic and U-shaped. In one of the two shoulders of the case, on the inside of the shoulder, there is a spring-loaded tongue with a handle located on the outside of this shoulder, and a spring-loaded latch with a trigger mounted on one end of the latch. On the spring-loaded tongue, a groove is made under the cylindrical head of the latch located at the opposite end of the latch, the axis of symmetry of which is perpendicular to the axis of symmetry of the tongue. In the second shoulder of the case is the latch position of the product. As a result, reliability of fastening and operation efficiency is increased, automation of the fixation process, compactness and low weight, strength and rigidity of the case, manufacturability in manufacturing, and clamp unification is increased. (see RF patent №2177567, IPC F16B 2/18, F16B 21/06, E05B 55/08 (2000.01), 2001).

Known clamp provides automatic positioning and fixation, but mainly for products of rectangular cross-section. Does not provide reliable capture of the product, i.e. reliable hit in the U-shaped groove of the housing. In addition, because the protruding part of the spring-loaded trigger, providing the beginning of the automatic fixation of the product, does not occupy the entire contact area, the product having an insufficient transverse size, for example, a rope, may not reach the protruding part of the trigger, which means the mechanism will not work.

 The technical problem solved by the claimed method is to simplify the installation process of fixing the marker.

The problem is solved due to the fact that in the known method of mounting markers mounted on wires and lightning protection cables of overhead power lines using unmanned aerial vehicles, which consists in the fact that in manual control mode or in automatic control mode using an onboard computer over the radio controlled the grippers attached to the supporting structure of the unmanned aerial vehicle hold the marker, then, by radio signal, turn on motors with propeller screws s, lift the marker and transport it to the installation site, while maneuvering the unmanned aircraft in such a way that it hangs in a position where the wire or lightning cable is located under the bottom slot made in the marker, in accordance with the invention, after the positioning of the unmanned aerial vehicle over the wire or lightning cable, release the grip and drop a marker on the wire or cable with a wedge-shaped slot in the lower part, making the initial grip of the wire or cable m arker, followed by automatic fixation of the marker by means of clamps.

 The technical problem solved by the claimed devices is to simplify the design and ensure reliable and fast fixation of the marker on the power transmission line remotely, by means of a UAV.

The technical problem is solved due to the fact that in the known marker, made in the form of a spherical element, having a clamp installed therein and a slot made in the lower part of the marker, in accordance with the invention, the marker is detachable, provided with an additional clamp interconnected with the first clamp , the slot in the lower part of the marker is made wedge-shaped, and the center of gravity of the spherical element is located at a distance from 0.02 to 0.2 radius below the bearing surface of the wedge-shaped slot.

The clamps are spring loaded, automatic action with the possibility of locking in the open state

The stated technical problem is solved due to the fact that a clamp has been developed that contains a carrier element on which the mechanism of forced opening is fixed and two axes on which grippers are mounted, which can be rotated relative to the indicated axes, the grippers are fitted with mating toothed sectors and receiving cuts located under jagged sectors; in the upper part, each of the claws is connected to a forced-opening mechanism, while a compression spring is fixed between the claws fixed to supports rigidly connected to the claws, the clip is provided with an actuation element made in the form of a trigger mechanism representing two rocker arms hinged between themselves and with grippers.

The mechanism of forced disclosure is made in the form of a crank disk with the first ends of the arcuate rods fixed on it and the other ends of the grips are hinged.

The crank disk of the force-opening mechanism is rigidly connected to the shaft to ensure the rotation of the crank disk.

The technical result from the use of all the essential features of the proposed method is to simplify the capture, positioning and fixation of the marker. Use for the implementation of the method of an unmanned aerial vehicle carrying out a drop on the wire or cable of a marker having a wedge-shaped slot in the lower part, due to which the initial wire or cable is gripped by a marker, and then the marker is automatically fixed by means of two interconnected clamps, which allows to simplify considerably gripping, positioning and fixing the marker on a wire or cable, improve and simplify the technology while reducing the time of this operation, ensuring reliable marker installation.

Since the UAV performs a quick reset of the marker on the wire, its piloting time over the wire is minimal and thus the technology of installing the marker is simplified.

The reliability of the wire entering the marker slot is ensured by making a slot in the lower part of the marker that has a wedge-shaped shape.

The reliability of the cable getting into the groove of the trigger mechanism and the impact on the trigger mechanism is ensured by the wedge-shaped form of the marker slot and the presence of two interconnected clamps.

Due to the implementation of the marker, equipped with two clamps, each of which contains a carrier element, on which the mechanism of forced opening and two axes are fixed, on which grippers are installed, which can be rotated relative to the indicated axes, the grippers are equipped with mating toothed sectors and receiving cuts located jagged sectors; in the upper part, each of the claws is connected to a forced-opening mechanism, while a compression spring is fixed between the claws fixed to supports rigidly connected to the claws, the clip is provided with an actuation element made in the form of a trigger mechanism representing two rocker arms hinged between themselves and with grippers, fast and reliable marker fixation is provided

The invention is illustrated by drawings:

 FIG. 1 - 3 is a schematic representation of the method of mounting the marker on the wire of an overhead transmission line, made in accordance with the present invention, where

Figure 1 - marker captured UAV,

FIG. 2 - UAV with a marker hovering over the wire,

FIG. 3 - disconnect and reset the marker on the wire;

4 is a General view of the marker attached to the wire;

FIG. 5 is a cross section of the marker with a view of one clip;

FIG. 6 is a view A of FIG. five;

FIG. 7 is a front view of the clamp;

FIG. 8 is a side view of the clamp;

FIG. 9 - clamp to the platoon position;

Figure 10 - clamp in the closed position;

11 - clamp in the position of sustainable disclosure.

The inventive method of mounting markers mounted on wires and lightning protection cables of overhead power lines using unmanned aerial vehicles is implemented using the following devices: marker 1, equipped with two clamps 2 (see figure 4).

Marker 1 is made in the form of a detachable spherical element consisting of the upper part 1-1 and the lower part 1-2. Marker 1 is provided with clamps 2 installed in its lower part 1-2. A wedge-shaped slot 3 is made in the lower part 1-2 of the marker. To prevent the ball from rotating around the wire, the weight of the marker is distributed so that the center of gravity O _{1 of the} marker is located at a distance of 0, 02 to 0.2 of radius R 3-1 lower wedge supporting surface slot 3. Due to this, when attaching the marker to the wire axis line denoted marker wire or cable lightning O ₂ is located above the geometric center of the marker, which coincides with the center of gravity O ₁ sha Oring element.

Clips 2 are spring-loaded, automatic action with the possibility of locking in the open state. The design of the clips 2 installed in the marker 1 is the same, so one of the clips is described. Clamp 2 contains the carrier 4 (see Fig. 6), on which the mechanism of forced opening 5 and two axes 6-1, 6-2 are fixed. On the axes 6-1, 6-2, the grippers 7-1, 7-2 are installed, which can be rotated relative to the axes 6-1 and 6-2, respectively. The grippers 7-1, 7-2 are equipped with mating toothed sectors 8-1, 8-2 and receiving notches 9-1, 9-2 located at the lower ends of the grips 7-1, 7-2 under the toothed sectors. Receiving notches 9-1, 9-2 when connecting the grippers 7-1, 7-2 form a hole in the shape of a circle. In the upper part, each of the claws 7-1, 7-2 is connected to a forced-opening mechanism 4. A compression spring 10 is mounted between the claws 7-1, 7-2, mounted on supports 11, 12 rigidly connected to the clamps 7-1, 7 -2 The clamp 2 is provided with a trigger element 13, made in the form of a trigger mechanism. The trigger mechanism consists of two rocker arms 14, 15, pivotally connected to each other and with clamps 7-1, 7-2 (see Fig. 7, 9, 10, 11).

Clips 2 are installed in the lower part 1-2 of the marker at a distance from each other (see Fig. 4). The clamps 2 are installed so that the lower ends 16-1, 16-2 grippers 7-1, 7-2 and rocker arms 14, 15 are located in the wedge-shaped slot 3 and provide fixation of the wire or cable.

The mechanism of forced disclosure 5 of each of the clips 2 is made in the form of a crank disk 16 with the first ends 17 of the arcuate treads 18-1, 18-2 fixed on it hingedly, the other ends 19 of the torsions are hinged to the upper parts of the 20 grippers 7-1, 7- 2

The crank disk 16 of the force-opening mechanism 5 of each of the clamps is rigidly connected to the shaft 21, the free end of which extends beyond the outer surface of the marker ball and has the shape of a surface that provides the possibility of rotation by means of a wrench (see Fig. 2). By connecting the clips 2 to the shaft 21, the interconnection of said clips between them and the coordinated control of the clips upon unlocking to remove the marker is ensured.

The method consists in performing a sequence of the following operations:

In the manual control mode or in the automatic control mode using an on-board computer using a radio signal, first the grippers 22, which are fixed to the supporting structure of the unmanned aerial vehicle (UAV) 23, hold (rigidly fix) the marker 1 in its upper part 24 (see Fig. 1 ).

Pre-clamps 2 marker 1 are in the position of the platoon (figure 5). To do this, using the shaft 21, the crank disk 16 is turned counterclockwise in the plane of the type of mechanism corresponding to the image in FIG. 7, 9, 10, 11, as a result of which the grippers 7-1, 7-2 of the two clips simultaneously rotate around the axes 6-1, 6-2. At this time, fixed on the claws 7-1, 7-2 of the rocker arms 14, 15 of the trigger mechanism, interconnected through the axis 24, are rotated, so that the axis 24 of the connection of the rocker arms descends to the lowest position (see Fig. 9). The trigger mechanism is held in the platoon position due to abutting protrusions 25, 26, made on the rocker arms 14, 15 of the trigger mechanism, on the one hand, and the elastic force of the compression spring 10 - on the other side.

The radio signal includes electric motors with propeller screws on the UAV supporting structure 23, lifts the marker 1 and transports it to the place of installation on the overhead power line. At the same time, the unmanned aerial vehicle 23 is maneuvered in such a way that it hangs over the wire or lightning cable of the overhead power line in the position when the wire or lightning cable is located under the wedge-shaped slot 3 of the marker 1. Then they give the command to reset and the UAV 23, releasing the grippers 22 , resets marker 1 to a wire or cable.

When a wire or cable gets into the wedge-shaped slot 3 of the marker 1, the wire (cable) contacts the rocker arms 14, 15 of the trigger mechanism (the wire strikes the beam 14, 15 at the point of their connection between each other) and the trigger mechanism works. The rocker arms 14, 15 rotate upward relative to the axes 27, 28 and release the grippers 7-1, 7-2, which also begin to rotate under the influence of the tension force of the compression spring 10. The lower ends 29 of the grippers 7-1, 7-2 are closed and the wire is fixed in the hole formed by the receiving notches 9-1, 9-2 (see Fig. 10). The marker is fixed on the wire. By performing the marker, with the center of gravity O ₁ located at a distance from 0.02 to 0.2 of radius R below the supporting surface 3-1 of the wedge-shaped slot 3, when the marker is fixed on the wire, the axial line indicated by the marker of the wire or lightning cable O ₂ is above the geometric center of the marker coinciding with the center of gravity O ₁ spherical element. Thus, unauthorized rotation of the marker 1 around the wire and its fall until the clamps 2 are closed is prevented and the marker is in a stable position during operation.

If the center of gravity is located at a distance less than 0.02 R from the support surface 3-1 of the wedge-shaped slot, the marker may roll over on the wire, the sediments will fall into the clips 2, which will lead to their failure. If the center of gravity is located at a distance of more than 0.2 R from the support surface 3-1 of the wedge-shaped slot, the marker can swing under the action of the wind. In this case, the clips 2 will grind the wire. Range selection is also dictated by industry requirements, which require the wire or cable to pass through the center of the marker.

After completion of the process of dropping the marker 1, the unmanned aerial vehicle 23 is transported to the place of its parking.

On the supporting structure of the unmanned aerial vehicle 23 4 ÷ 16 electric motors with propeller screws can be fixed, providing the carrying capacity of the unmanned aircraft within 1 ÷ 15 kg.

To ensure the removal of the marker device from the wire for the line maintenance time, the clamps 2 are brought to a stable open position by means of the shaft 21, turning the crank plate 16 clockwise in the plane of the mechanism corresponding to the image in FIG. 7, 9-11, until it stops. In this case, the elastic force of the compression spring, due to the special design of the arcuate bollards 18-1, 18-2, works to hold the clamp. Due to the fact that the thrust 18-1, 18-2 have an arcuate shape, when you rotate the line of the axes of the crankshaft and the disk-crank 16 turns into a negative angle, after which the spring begins to turn the crank disk 16 in the other direction. In this case, arcuate thrusts abut each other.

The proposed method of mounting markers mounted on wires and lightning protection cables of overhead power lines, using unmanned aerial vehicles, can significantly simplify and simplify the installation process.

The installation of markers on wires and cables of overhead power lines is stipulated in the Manual of Civil Airfields of the Russian Federation (REGA RF-94), approved by order of the Ministry of Transport of Russia of 09.09.1994 N DV-98, and serves to ensure that pilots are warned about the passage of wires and lightning protection cables of overhead power lines, and also allows you to prevent the collision of birds with wires and lightning protection cables, while excluding their death. Implementation of the proposed method is most relevant when passing overhead power lines in remote local conditions (crossing over water obstacles, mountainous terrain, intensive urban development, etc.).

Claims (6)

1. The method of mounting markers mounted on wires and lightning protection cables of overhead power lines using unmanned aerial vehicles, which consists in the fact that in manual control mode or in automatic control mode using an onboard computer over the radio channel adjustable hooks attached to the supporting structure of the unmanned the aircraft, hold the marker, then, by radio signal, turn on electric motors with propeller screws, lift the marker and transport it to the place of installation, At that, the unmanned aerial vehicle is maneuvered in such a way that it hangs in a position where the wire or lightning cable of the power line is located under the bottom slot made in the marker, characterized in that after positioning the unmanned aircraft over the wire or lightning cable, the gripper is released and dropped on a wire or cable marker having a wedge-shaped slot at the bottom, carrying out the initial grip of the wire or cable with a marker, followed by automatic fixation marker through clamps. 2. A marker made in the form of a spherical element having a clamp installed in it and a slot made in the lower part of the marker, characterized in that the marker is made detachable, provided with an additional clip interconnected with the first clamp, the slot in the lower part of the marker is made wedge-shaped, and The center of gravity of the spherical element is located at a distance from 0.02 to 0.2 radius below the bearing surface of the wedge-shaped slot. 3. The marker according to claim 2, characterized in that the clamps are spring-loaded, automatic action with the possibility of locking in the open state. 4. A marker clamp containing a carrier element on which the mechanism of forced opening is fixed and two axes on which grippers are installed, which can be rotated relative to the indicated axes, the grippers are provided with mating gear sectors and receiving notches located under the gear sectors; in the upper part, each of the claws is connected to a forced-opening mechanism, while a compression spring is fixed between the claws fixed to supports rigidly connected to the claws, the clip is provided with an actuation element made in the form of a trigger mechanism representing two rocker arms hinged between themselves and with grippers. 5. Clamp according to claim 4, characterized in that the mechanism of forced disclosure is made in the form of a crank disc with the first ends of the arcuate rods fixed on it pivotally, the other ends of which are pivotally connected to the upper parts of the grips. 6. Clamp on PP. 4, 5, characterized in that the crank disc of the mechanism of forced opening is rigidly connected to the shaft of rotation of the crank disc.

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