CN114039303B - Unmanned aerial vehicle attaches and hangs operating system - Google Patents
Unmanned aerial vehicle attaches and hangs operating system Download PDFInfo
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- CN114039303B CN114039303B CN202111031774.7A CN202111031774A CN114039303B CN 114039303 B CN114039303 B CN 114039303B CN 202111031774 A CN202111031774 A CN 202111031774A CN 114039303 B CN114039303 B CN 114039303B
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- 230000007246 mechanism Effects 0.000 claims description 29
- 238000009434 installation Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
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- 230000002349 favourable effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention is suitable for the technical field of power grid operation, and provides an unmanned aerial vehicle attaching and hanging operation system and an unmanned aerial vehicle body; the unmanned aerial vehicle is used as a carrier, has the characteristics of good maneuverability, easy control, high efficiency, low high-altitude operation risk, and high-low altitude and boundary cable compatible operation; the flexible take-off and landing assembly is arranged, so that the unmanned aerial vehicle body can stably land, take off and land, and stably fly and hover; be equipped with flexible operation subassembly, unmanned aerial vehicle body gesture stability and smooth off-line when being favorable to the operation.
Description
Technical Field
The invention belongs to the technical field of power grid operation, and particularly relates to an unmanned aerial vehicle attaching and hanging operation system.
Background
The unmanned plane is called as an unmanned plane for short, is a unmanned plane which is controlled by using a radio remote control device and a self-contained program control device, or is fully or intermittently operated autonomously by a vehicle-mounted computer;
the overhead cable attaching and hanging operation of the existing power grid is basically finished by using an attaching and hanging machine by professionals, and for the overhead cable, the overhead attaching and hanging operation is generally finished by lengthening a handheld rod; for a high-altitude cable with a certain height, the high-altitude attaching and hanging operation is usually completed by means of arrival of tool equipment such as an escalator, an aerial ladder, a tower crane and the like; for higher border cables, the attaching and hanging operation cannot be completed due to the unreachable tool equipment; the high-low altitude cable attaching and hanging operation mode has the problems of poor maneuverability, low efficiency, high risk of personnel high-altitude operation, more operation resources required to be scheduled, incapability of operating at high-altitude boundaries and the like.
Disclosure of Invention
The invention provides an unmanned aerial vehicle attaching and hanging operation system, and aims to solve the problems of poor maneuverability and low efficiency of the existing cable attaching and hanging operation.
The invention is realized in such a way that an unmanned aerial vehicle attaches and hangs the operating system, comprising:
an unmanned aerial vehicle body;
the attaching and hanging operation assembly is used for attaching and hanging operation at high altitude of the cable, is arranged below the body of the unmanned aerial vehicle body and comprises an attaching and hanging machine.
Preferably, the attaching and hanging operation assembly is installed under the unmanned aerial vehicle body through a mounting interface assembly arranged on the attaching and hanging operation assembly, the mounting interface assembly is detachably connected with the unmanned aerial vehicle body, and a plug interface electrically connected with the unmanned aerial vehicle body is arranged on the mounting interface assembly.
Preferably, the flexible lifting assembly is further arranged on the lower surface of the mounting interface assembly and comprises a first steering engine, a steering engine support, a first connecting head and a first connecting rod mechanism, the steering engine support is fixedly connected with the mounting interface assembly, the first steering engine is fixedly arranged on the steering engine support, the first connecting head is fixedly connected with the attaching operation assembly, the first connecting head is arranged in a clamping groove of the steering engine support and is hinged to the steering engine support, two guide holes are formed in one side of the first connecting head on the steering engine support, the first connecting rod mechanism comprises a first crank, a first connecting rod and a first push rod, one end of the first crank is fixed on a rotating shaft of the first steering engine, the other end of the first crank is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to the two first push rods, the two first push rods are respectively inserted into the two guide holes, the length of one first push rod is longer than the other first push rod, and jacks which are respectively matched with the two first push rods are formed in the first connecting head.
Preferably, a top vision assembly is installed below the side of the mounting interface assembly, and is used for observing surrounding scene conditions in real time and providing real-time scene reference for flight control.
Preferably, the mounting interface assembly is provided with a mounting antenna, and the mounting antenna is transmitted and interacted with the unmanned aerial vehicle body through the mounting interface assembly.
Preferably, the attaching and hanging machine is arranged at one end of the mounting rod, and the other end of the mounting rod is fixedly connected with the first connecting head.
Preferably, the power supply assembly is used for supplying power to the hanging operation assembly, and the power supply assembly is installed in the installation rod.
Preferably, the side view visual component is arranged on the attaching machine and is used for collecting a visual picture of the relative position between the attaching machine and the cable.
Preferably, the attaching operation assembly further comprises an attaching control assembly and an attaching antenna, the attaching control assembly and the attaching antenna are both installed on the attaching machine, the attaching control assembly is used for completing action execution and control of the attaching machine, and the attaching control assembly is in transmission and interaction with the mounting antenna in a wireless connection mode through the attaching antenna.
Preferably, the flexible operation assembly comprises a base, a second connector, a second steering engine, a second connecting rod mechanism, a spring and a guide rod, wherein the base is fixedly installed on the attaching machine, one end of the second connector is fixedly connected with the installation rod, the other end of the second connector is correspondingly matched with an installation hole formed in the base, the second connecting rod mechanism comprises a second crank, a second connecting rod and a second push rod, the second steering engine is fixedly installed in the base, one end of the second crank is fixed on a rotating shaft of the second steering engine, the other end of the second crank is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with one end of the second push rod, the other end of the second push rod is rotatably connected with the end of the second connector, a spring is arranged between the base and the second connector, the guide rod is fixedly installed on the side of the second installation hole, and an arc-shaped hole for the guide rod to penetrate is formed in the second connecting rod.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
the unmanned aerial vehicle is used as a carrier to drive the auxiliary hanging machine to carry out cable auxiliary hanging operation, so that the unmanned aerial vehicle can adapt to cables with different heights, has high safety, good maneuverability, easy control, high efficiency, low risk of high-altitude operation, single resource coordination and high-low altitude and boundary line cable operation;
the unmanned aerial vehicle is provided with a flexible take-off and landing assembly, which comprises a first steering engine, a steering engine bracket, a first connecting head and a first connecting rod mechanism, and when the unmanned aerial vehicle body takes off and lands, the attached and hung operation assembly is in a rotatable movable state, so that the stable landing and take-off of the unmanned aerial vehicle body is ensured; when the unmanned aerial vehicle body flies and is in an operation state, the attached operation assembly is in a rigid constraint state, so that stable flying and hovering operation of the unmanned aerial vehicle body is ensured;
the flexible operation assembly comprises a base, a second connector, a second steering engine, a second connecting rod mechanism, a spring and a guide rod, and when the auxiliary hanging operation is carried out, the auxiliary hanging machine is in a flexible state, so that the self-adaption between the auxiliary hanging machine and a cable is facilitated, and the stability of the unmanned aerial vehicle body relative to the posture of the auxiliary hanging operation assembly is also facilitated; after the attaching and hanging operation, the attaching and hanging machine and the cable are in a separated state, so that smooth wire-off is facilitated; and when the device returns, the auxiliary hanging machine is in a rigid connection state, so that the device is favorable for the stability of flight, the device is provided with a top vision assembly for observing the surrounding scene conditions in real time, providing real-time scene reference for flight control, and the device is provided with a side vision assembly for collecting the vision picture of the relative position between the auxiliary hanging machine and the cable, so that the device is favorable for controlling and adjusting the auxiliary hanging operation.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of an embodiment of the present invention in another state;
fig. 3 is a schematic structural diagram of the installation of the unmanned aerial vehicle body and the hanging operation assembly according to the embodiment of the invention;
FIG. 4 is a schematic diagram of the construction of an attached job component and mount interface component according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a schematic illustration of the structure of a flexible take-off and landing assembly in an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of the present invention with an additional view of a hanging job assembly and a mounting interface assembly;
FIG. 8 is a schematic structural view of a flexible work assembly according to an embodiment of the present invention;
fig. 9 is a partial enlarged view of fig. 7.
FIG. 10 is a schematic view of another perspective structure of a flexible work assembly according to an embodiment of the present invention;
FIG. 11 is a schematic view of a mounting hole on a base according to an embodiment of the present invention.
Reference numerals annotate: the unmanned aerial vehicle comprises a 1-unmanned aerial vehicle body, a 2-attaching operation component, a 3-mounting interface component, a 4-flexible lifting component, a 5-top vision component, a 6-mounting antenna, a 7-power component, an 8-side vision component, a 9-attaching machine, a 10-flexible operation component, an 11-attaching control component, a 12-attaching antenna, a 13-guide rod, a 14-spring, a 15-base, a 16-second connector, a 17-second steering engine, a 18-second connecting rod mechanism, a 19-first connecting rod mechanism, a 20-first steering engine, a 21-first connecting head and a 22-mounting hole.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Example 1
The embodiment of the invention provides an unmanned aerial vehicle attaching and hanging operation system, which is shown in figures 1-6 and comprises the following steps:
the unmanned aerial vehicle body 1 belongs to direct application of the existing unmanned aerial vehicle technology, and is not described in detail, and the unmanned aerial vehicle has the advantages of strong operability, capability of taking off and landing vertically and stable hovering in the air;
the attaching operation component 2 is used for cable high-altitude attaching operation, is arranged under the body of the unmanned aerial vehicle body 1 and comprises an attaching machine 9, the attaching machine 9 is in the prior art, is already applied in the prior power grid operation, and is not described in detail herein, further, the attaching operation component 2 is arranged under the unmanned aerial vehicle body 1 through a mounting interface component 3 arranged on the attaching operation component 2, the mounting interface component 3 is detachably connected with the unmanned aerial vehicle body 1, in the embodiment, a lock catch connection mode is preferably adopted, an inserting interface electrically connected with the unmanned aerial vehicle body 1 is arranged on the mounting interface component 3, the function and the function of carrying out platform information interaction and instruction transmission with the unmanned aerial vehicle body 1 are provided, a mounting antenna 6 is arranged on the mounting interface component 3, the mounting antenna 6 carries out transmission and interaction with the unmanned aerial vehicle body 1 through the mounting interface component 3, the attaching operation component 2 further comprises an attaching control component 11 and an attaching antenna 12, the attaching control component 11 and the attaching antenna 12 are both arranged on the attaching machine 9, the attaching control component 11 is used for completing the action execution and control of the attaching machine 9, the attaching control component 11 is used for transmitting and interacting with the mounting antenna 6 in a wireless connection mode through the attaching antenna 12, the attaching control component 11 comprises a controller, a circuit board and other elements, the same control principle as that of the existing full-automatic optical cable attaching machine 9 is directly applied to the prior art, the repetition is not performed, a top vision component 5 is arranged below the side of the mounting interface component 3 and used for observing the surrounding situation in real time, a real-time scene reference is provided for flight control, a vision component 8 is arranged on the attaching machine 9 and used for collecting the relative position vision picture between the attaching machine 9 and a cable, in this embodiment, preferably, the top vision assembly 5 and the test vision assembly are respectively in wireless connection with the unmanned aerial vehicle body 1, and the pictures are transmitted to the terminal platform in real time, when the device is used, the unmanned aerial vehicle is used as a carrier to drive the auxiliary hanging machine 9 to carry out cable auxiliary hanging operation, cables with different heights can be adapted, the device is high in safety, good in maneuverability, easy to control, high in efficiency, low in risk of high-altitude operation, single in resource coordination, and the characteristics of high-altitude and boundary cables are taken into consideration.
Further, as shown in fig. 4-6, the flexible lifting assembly 4 is further included, it is installed on the lower surface of the mounting interface assembly 3, it includes first steering wheel 20, steering wheel support, first connector 21 and first link mechanism 19, the steering wheel support is fixedly connected with one end of the first link, preferably adopt the screw to fix, first steering wheel 20 is fixedly installed on the steering wheel support, preferably adopt the bolt to install, first connector 21 is fixedly connected with attaching to the operation assembly 2, preferably adopt the welded fastening, first connector 21 is located in the draw-in groove of the steering wheel support and hinged with the steering wheel support, the first link mechanism 19 includes first crank, first connecting rod and first push rod on one side of the first connector 21, first crank one end is fixed on the pivot of the first steering wheel 20, the other end of the first crank is hinged with one end of the first link, in this embodiment, preferably two first push rods are arranged at intervals up and down, two first push rods are inserted into two guide holes respectively, one first push rod is longer than the first push rod 21, when the first connector 21 is provided with two first push rods, the first push rod is in a certain angle of rotation when the first connector 21 is formed, the first push rod is in a certain rotation state, the first push rod is in the first connection mechanism is in a certain rotation state, when the first connector is in the first connection with the first connector 21 is in a certain rotation state; when the first steering engine 20 rotates by a certain angle b, a shorter first push rod of the first connecting rod mechanism 19 is driven to be inserted into a corresponding jack of the first connecting head 21, and the two first push rods form a rigid constraint state for the first connecting head 21, so that the attached operation assembly 2 is in a rotatable activity state when the unmanned aerial vehicle body 1 takes off and lands off, and the stable landing and landing of the unmanned aerial vehicle body 1 are ensured; when the unmanned aerial vehicle body 1 flies and is in an operation state, the attached operation assembly 2 is in a rigid constraint state, so that stable flying and hovering operation of the unmanned aerial vehicle body 1 is ensured.
Example 2
The embodiment of the invention provides an unmanned aerial vehicle attaching and hanging operation system, which is shown in figures 1-6 and comprises the following steps:
the unmanned aerial vehicle body 1 belongs to direct application of the existing unmanned aerial vehicle technology, and is not described in detail, and the unmanned aerial vehicle has the advantages of strong operability, capability of taking off and landing vertically and stable hovering in the air;
the attaching operation component 2 is used for cable high-altitude attaching operation, is arranged under the body of the unmanned aerial vehicle body 1 and comprises an attaching machine 9, the attaching machine 9 is in the prior art, is already applied in the prior power grid operation, and is not described in detail herein, further, the attaching operation component 2 is arranged under the unmanned aerial vehicle body 1 through a mounting interface component 3 arranged on the attaching operation component 2, the mounting interface component 3 is detachably connected with the unmanned aerial vehicle body 1, in the embodiment, a lock catch connection mode is preferably adopted, an inserting interface electrically connected with the unmanned aerial vehicle body 1 is arranged on the mounting interface component 3, the function and the function of carrying out platform information interaction and instruction transmission with the unmanned aerial vehicle body 1 are provided, a mounting antenna 6 is arranged on the mounting interface component 3, the mounting antenna 6 carries out transmission and interaction with the unmanned aerial vehicle body 1 through the mounting interface component 3, the attaching operation component 2 further comprises an attaching control component 11 and an attaching antenna 12, the attaching control component 11 and the attaching antenna 12 are both arranged on the attaching machine 9, the attaching control component 11 is used for completing the action execution and control of the attaching machine 9, the attaching control component 11 is used for transmitting and interacting with the mounting antenna 6 in a wireless connection mode through the attaching antenna 12, the attaching control component 11 comprises a controller, a circuit board and other elements, the same control principle as that of the existing full-automatic optical cable attaching machine 9 is directly applied to the prior art, the repetition is not performed, a top vision component 5 is arranged below the side of the mounting interface component 3 and used for observing the surrounding situation in real time, a real-time scene reference is provided for flight control, a vision component 8 is arranged on the attaching machine 9 and used for collecting the relative position vision picture between the attaching machine 9 and a cable, in this embodiment, preferably, the top vision assembly 5 and the test vision assembly are respectively in wireless connection with the unmanned aerial vehicle body 1, and the pictures are transmitted to the terminal platform in real time, when the device is used, the unmanned aerial vehicle is used as a carrier to drive the auxiliary hanging machine 9 to carry out cable auxiliary hanging operation, cables with different heights can be adapted, the device is high in safety, good in maneuverability, easy to control, high in efficiency, low in risk of high-altitude operation, single in resource coordination, and the characteristics of high-altitude and boundary cables are taken into consideration.
Further, as shown in fig. 4-6, the flexible lifting assembly 4 is further included, which is mounted on the lower surface of the mounting interface assembly 3, and includes a first steering engine 20, a steering engine bracket, a first connecting head 21 and a first connecting rod mechanism 19, the steering engine bracket is fixedly connected with the mounting interface assembly 3, preferably fixed by screws, the first steering engine 20 is fixedly mounted on the steering engine bracket, preferably mounted by bolts, the first connecting head 21 is fixedly connected with the attaching operation assembly 2, preferably fixed by welding, the first connecting head 21 is disposed in a clamping groove of the steering engine bracket and hinged with the steering engine bracket, two guide holes are formed in one side of the first connecting head 21 on the steering engine bracket, the first connecting rod mechanism 19 includes a first crank, a first connecting rod and a first push rod, one end of the first crank is fixed on a rotating shaft of the first steering engine 20, the other end of the first crank is hinged with one end of the first connecting rod, the two first push rods are respectively inserted into the two guide holes, the first push rod is longer than the other first push rod, and when the first connecting head 21 is provided with two jacks which are matched with the first connecting heads 21, and the first connecting head 21 is in a certain angle, and when the first connecting head 21 is rotatably matched with the first connecting head 20 is rotatably formed; when the first steering engine 20 rotates by a certain angle b, a shorter first push rod of the first connecting rod mechanism 19 is driven to be inserted into a corresponding jack of the first connecting head 21, and the two first push rods form a rigid constraint state for the first connecting head 21, so that the attached operation assembly 2 is in a rotatable activity state when the unmanned aerial vehicle body 1 takes off and lands off, and the stable landing and landing of the unmanned aerial vehicle body 1 are ensured; when the unmanned aerial vehicle body 1 flies and is in an operation state, the attached operation assembly 2 is in a rigid constraint state, so that stable flying and hovering operation of the unmanned aerial vehicle body 1 is ensured.
Furthermore, the attaching and hanging machine 9 is installed at one end of the installation rod, the other end of the installation rod is fixedly connected with the first connecting head 21, and the attaching and hanging machine further comprises a power supply assembly 7 for supplying power to the attaching and hanging operation assembly 2, and the power supply assembly 7 is installed in the installation rod.
Example 3
The embodiment of the invention provides an unmanned aerial vehicle attaching and hanging operation system, which is shown in figures 1-11 and comprises the following steps:
the unmanned aerial vehicle body 1 belongs to direct application of the existing unmanned aerial vehicle technology, and is not described in detail, and the unmanned aerial vehicle has the advantages of strong operability, capability of taking off and landing vertically and stable hovering in the air;
the attaching operation component 2 is used for cable high-altitude attaching operation, is arranged under the body of the unmanned aerial vehicle body 1 and comprises an attaching machine 9, the attaching machine 9 is in the prior art, is already applied in the prior power grid operation, and is not described in detail herein, further, the attaching operation component 2 is arranged under the unmanned aerial vehicle body 1 through a mounting interface component 3 arranged on the attaching operation component 2, the mounting interface component 3 is detachably connected with the unmanned aerial vehicle body 1, in the embodiment, a lock catch connection mode is preferably adopted, an inserting interface electrically connected with the unmanned aerial vehicle body 1 is arranged on the mounting interface component 3, the function and the function of carrying out platform information interaction and instruction transmission with the unmanned aerial vehicle body 1 are provided, a mounting antenna 6 is arranged on the mounting interface component 3, the mounting antenna 6 carries out transmission and interaction with the unmanned aerial vehicle body 1 through the mounting interface component 3, the attaching operation component 2 further comprises an attaching control component 11 and an attaching antenna 12, the attaching control component 11 and the attaching antenna 12 are both arranged on the attaching machine 9, the attaching control component 11 is used for completing the action execution and control of the attaching machine 9, the attaching control component 11 is used for transmitting and interacting with the mounting antenna 6 in a wireless connection mode through the attaching antenna 12, the attaching control component 11 comprises a controller, a circuit board and other elements, the same control principle as that of the existing full-automatic optical cable attaching machine 9 is directly applied to the prior art, the repetition is not performed, a top vision component 5 is arranged below the side of the mounting interface component 3 and used for observing the surrounding situation in real time, a real-time scene reference is provided for flight control, a vision component 8 is arranged on the attaching machine 9 and used for collecting the relative position vision picture between the attaching machine 9 and a cable, in this embodiment, preferably, the top vision assembly 5 and the test vision assembly are respectively in wireless connection with the unmanned aerial vehicle body 1, and the pictures are transmitted to the terminal platform in real time, when the device is used, the unmanned aerial vehicle is used as a carrier to drive the auxiliary hanging machine 9 to carry out cable auxiliary hanging operation, cables with different heights can be adapted, the device is high in safety, good in maneuverability, easy to control, high in efficiency, low in risk of high-altitude operation, single in resource coordination, and the characteristics of high-altitude and boundary cables are taken into consideration.
Further, as shown in fig. 4-6, the flexible lifting assembly 4 is further included, which is mounted on the lower surface of the mounting interface assembly 3, and includes a first steering engine 20, a steering engine bracket, a first connecting head 21 and a first connecting rod mechanism 19, the steering engine bracket is fixedly connected with the mounting interface assembly 3, preferably fixed by screws, the first steering engine 20 is fixedly mounted on the steering engine bracket, preferably mounted by bolts, the first connecting head 21 is fixedly connected with the attaching operation assembly 2, preferably fixed by welding, the first connecting head 21 is disposed in a clamping groove of the steering engine bracket and hinged with the steering engine bracket, two guide holes are formed in one side of the first connecting head 21 on the steering engine bracket, the first connecting rod mechanism 19 includes a first crank, a first connecting rod and a first push rod, one end of the first crank is fixed on a rotating shaft of the first steering engine 20, the other end of the first crank is hinged with one end of the first connecting rod, the two first push rods are respectively inserted into the two guide holes, the first push rod is longer than the other first push rod, and when the first connecting head 21 is provided with two jacks which are matched with the first connecting heads 21, and the first connecting head 21 is in a certain angle, and when the first connecting head 21 is rotatably matched with the first connecting head 20 is rotatably formed; when the first steering engine 20 rotates by a certain angle b, a shorter first push rod of the first connecting rod mechanism 19 is driven to be inserted into a corresponding jack of the first connecting head 21, and the two first push rods form a rigid constraint state for the first connecting head 21, so that the attached operation assembly 2 is in a rotatable activity state when the unmanned aerial vehicle body 1 takes off and lands off, and the stable landing and landing of the unmanned aerial vehicle body 1 are ensured; when the unmanned aerial vehicle body 1 flies and is in an operation state, the attached operation assembly 2 is in a rigid constraint state, so that stable flying and hovering operation of the unmanned aerial vehicle body 1 is ensured.
Furthermore, the attaching and hanging machine 9 is installed at one end of the installation rod, the other end of the installation rod is fixedly connected with the first connecting head 21, and the attaching and hanging machine further comprises a power supply assembly 7 for supplying power to the attaching and hanging operation assembly 2, and the power supply assembly 7 is installed in the installation rod.
Further, as shown in fig. 7-11, the flexible operation assembly 10 further comprises a flexible operation assembly 10, the flexible operation assembly 10 comprises a base 15, a second connector 16, a second steering engine 17, a second connecting rod mechanism 18, a spring 14 and a guide rod 13, wherein the base 15 is fixedly installed on the attaching and hanging machine 9, preferably by adopting a screw, one end of the second connector 16 is fixedly connected with an installation rod, preferably by adopting a screw, the other end of the second connector 16 is correspondingly matched with an installation hole 22 formed in the base 15, the second connecting rod mechanism 18 comprises a second crank, a second connecting rod and a second push rod, the second steering engine 17 is fixedly installed in the base 15, one end of the second crank is fixed on a rotating shaft of the second steering engine 17, the other end of the second crank is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with one end of the second push rod, the other end of the second push rod is rotatably connected with the end of the second connector 16, in this embodiment, preferably, the second push rod passes through the through hole formed at the end of the second connector 16, the part of the second push rod located in the second connector 16 is in threaded connection with a nut, the part of the second push rod located outside the second connector 16 is provided with a convex ring, the sizes of the nut and the convex ring are both larger than the size of the through hole, the second push rod is rotationally connected with the second connector 16, a spring 14 is arranged between the base 15 and the second connector 16, in this embodiment, preferably, the spring 14 is sleeved on a hole pipe forming a mounting hole 22 on the base 15, two ends of the spring 14 respectively collide with the second connector 16 and the base 15, a guide rod 13 is fixedly mounted on the side edge of the base 15 located at the second mounting hole 22, an arc hole for the guide rod 13 to pass through is formed on the second connector 16, when the second steering engine 17 rotates by a certain angle c during use, the second connecting head 16 is driven to move by the second connecting rod mechanism 18, the second connecting head 16 and the mounting hole 22 on the base 15 form clearance fit, and the second connecting head 16 is flexibly and movably connected in the movable range of the guide rod 13 and the arc-shaped hole (flexible state) through the elasticity of the spring 14; when the second steering engine 17 rotates for a certain angle d, the second connecting head 16 and the base 15 are further driven to be in a maximum separation state (a wire-releasing state) by the second connecting rod mechanism 18, at the moment, the arc-shaped hole on the second connecting head 16 is separated from the guide rod 13, when the second steering engine 17 rotates for a certain angle e, the second connecting head 16 and the mounting hole 22 on the base 15 are driven to be in a constraint state (a rigid connection state) by the second connecting rod mechanism 18, at the moment, under the pulling force of the second push rod, the second connecting head 16 moves close to the base 15 and tightly props against the base 15, the pulling force of the second push rod is larger, the extrusion force between the second connecting head 16 and the base 15 is larger, so that the second connecting head 16 cannot freely rotate to form rigid constraint, and the attaching and hanging machine 9 is in a flexible state during attaching and hanging operation, so that the self-adaption between the attaching and hanging machine 9 and the cable is beneficial to the gesture stability of the unmanned aerial vehicle body 1 relative to the attaching and hanging operation assembly 2; after the attaching and hanging operation, the attaching and hanging machine 9 and the cable are in a separated state, so that smooth wire-off is facilitated; when returning, the attaching and hanging machine 9 is in a rigid connection state, which is beneficial to the stability of flight.
In summary, the working principle of the invention is as follows: when the unmanned aerial vehicle is used as a carrier, the unmanned aerial vehicle is used for driving the auxiliary hanging machine 9 to carry out cable auxiliary hanging operation, cables with different heights can be adapted, the safety is high, the unmanned aerial vehicle has the characteristics of good maneuverability, easy control, high efficiency, low risk of high-altitude operation, single resource coordination, high-altitude and boundary cable operation, the flexible take-off and landing assembly 4 is arranged, the flexible take-off and landing assembly comprises a first steering engine 20, a steering engine bracket, a first connecting head 21 and a first connecting rod mechanism 19, and when the unmanned aerial vehicle body 1 takes off and lands off, the auxiliary hanging operation assembly 2 is in a rotatable active state, so that the stable landing and landing of the unmanned aerial vehicle body 1 is ensured; when the unmanned aerial vehicle body 1 flies and is in an operation state, the attaching and hanging operation assembly 2 is in a rigid constraint state, so that stable flying and hovering operation of the unmanned aerial vehicle body 1 is guaranteed, and the unmanned aerial vehicle is provided with the flexible operation assembly 10, wherein the flexible operation assembly 10 comprises a base 15, a second connector 16, a second steering engine 17, a second connecting rod mechanism 18, a spring 14 and a guide rod 13, and when the unmanned aerial vehicle is in attaching and hanging operation, the attaching and hanging machine 9 is in a flexible state, so that the self-adaptability between the attaching and hanging machine 9 and a cable is facilitated, and the gesture stability of the unmanned aerial vehicle body 1 relative to the attaching and hanging operation assembly 2 is also facilitated; after the attaching and hanging operation, the attaching and hanging machine 9 and the cable are in a separated state, so that smooth wire-off is facilitated; when the device returns, the attaching and hanging machine 9 is in a rigid connection state, so that the device is favorable for the stability of flight, the top vision assembly 5 is arranged for observing the surrounding situation in real time, providing real-time situation reference for flight control, and the side vision assembly 8 is arranged for collecting the vision picture of the relative position between the attaching and hanging machine 9 and the cable, so that the device is favorable for controlling and adjusting the attaching and hanging operation.
It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts, as some steps may be performed in other order or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or communication connection shown or discussed as being between each other may be an indirect coupling or communication connection between devices or elements via some interfaces, which may be in the form of telecommunications or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention. It will be apparent that the described embodiments are merely some, but not all, embodiments of the invention. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present invention or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, which also falls within the scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle attaches and hangs operation system, characterized by comprising:
an unmanned aerial vehicle body;
the attaching and hanging operation assembly is used for cable high-altitude attaching and hanging operation, is arranged below the body of the unmanned aerial vehicle body and comprises an attaching and hanging machine;
a flexible take-off and landing assembly and a flexible working assembly;
the attaching and hanging operation assembly is arranged below the unmanned aerial vehicle body through a mounting interface assembly arranged on the attaching and hanging operation assembly, the mounting interface assembly is detachably connected with the unmanned aerial vehicle body, and a plug interface electrically connected with the unmanned aerial vehicle body is arranged on the mounting interface assembly;
the flexible lifting assembly is arranged on the lower surface of the mounting interface assembly and comprises a first steering engine, a steering engine support, a first connecting joint and a first connecting rod mechanism, the steering engine support is fixedly connected with the mounting interface assembly, the first steering engine is fixedly arranged on the steering engine support, the first connecting joint is fixedly connected with the attaching operation assembly, the first connecting joint is arranged in a clamping groove of the steering engine support and is hinged with the steering engine support, two guide holes are formed in one side of the first connecting joint on the steering engine support, the first connecting rod mechanism comprises a first crank, a first connecting rod and a first push rod, one end of the first crank is fixed on a rotating shaft of the first steering engine, the other end of the first crank is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the two first push rods, the two first push rods are respectively inserted into the two guide holes, the length of one first push rod is longer than that of the other first push rod, and jacks respectively matched with the two first push rods are formed in the first connecting joint;
the flexible operation subassembly includes base, second connector, second steering wheel, second link mechanism, spring and guide bar, base fixed mounting is on attaching the machine, second connector one end and installation pole fixed connection, the mounting hole that the second connector other end was seted up on with the base corresponds the cooperation, second link mechanism includes second crank, second connecting rod and second push rod, fixed mounting has the second steering wheel in the base, and second crank one end is fixed in the pivot of second steering wheel, and the second crank other end is articulated with second connecting rod one end, and the second connecting rod other end is articulated with a second push rod one end, and the second push rod other end is connected with second connector tip rotation, be equipped with the spring between base and the second connector, be located second mounting hole side fixed mounting on the base and have the guide bar, the arc hole that supplies the guide bar to run through has been seted up on the second connector.
2. The unmanned aerial vehicle attachment system of claim 1, wherein a top view assembly is mounted below the side of the mount interface assembly for viewing ambient situational conditions in real time, providing real-time situational reference for flight control.
3. The unmanned aerial vehicle attachment system of claim 1, wherein the mount interface assembly has mounted thereon a mount antenna that communicates with and interacts with the unmanned aerial vehicle body via the mount interface assembly.
4. The unmanned aerial vehicle attachment system of claim 1, wherein the attachment is mounted to one end of a mounting bar, and the other end of the mounting bar is fixedly connected to the first connector.
5. The unmanned aerial vehicle attachment work system of claim 4, further comprising a power supply assembly for supplying power to the attachment work assembly, the power supply assembly being mounted within the mounting bar.
6. The unmanned aerial vehicle attachment work system of claim 1, wherein the attachment machine is provided with a side view vision assembly for acquiring a visual picture of the relative position between the attachment machine and the cable.
7. The unmanned aerial vehicle attach and hang operation system of claim 1, wherein the attach and hang operation assembly further comprises an attach and hang control assembly and an attach and hang antenna, the attach and hang control assembly and the attach and hang antenna are both installed on the attach and hang machine, the attach and hang control assembly is used for completing action execution and control of the attach and hang machine, and the attach and hang control assembly is in wireless connection with the mount antenna through the attach and hang antenna for transmission and interaction.
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| CN202111031774.7A CN114039303B (en) | 2021-09-03 | 2021-09-03 | Unmanned aerial vehicle attaches and hangs operating system |
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| CN202111031774.7A CN114039303B (en) | 2021-09-03 | 2021-09-03 | Unmanned aerial vehicle attaches and hangs operating system |
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| CN114039303B true CN114039303B (en) | 2024-01-23 |
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| CN118315875B (en) * | 2024-06-07 | 2024-09-10 | 国网山东省电力公司济南供电公司 | An electromagnetically connected bypass cable intelligent access device and method for drones |
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| GB398531A (en) * | 1932-03-12 | 1933-09-12 | Thomas Herbert Coggins | Improvements in and connected with motor driven propeller units for barges, boats and the like |
| US5056742A (en) * | 1987-11-13 | 1991-10-15 | The Boeing Company | Modular rudder pedal and brake control assembly for aircraft |
| JP2020100171A (en) * | 2018-12-19 | 2020-07-02 | 一般財団法人電力中央研究所 | Unmanned aerial vehicle |
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